Surgical positioning guidance method, device, equipment and medium

Abstract

The embodiments of the present application provide a surgical positioning and guidance method, apparatus, equipment and medium. The method includes determining the coordinate information of the guide workpiece in the coordinate system of the optical module based on the coordinates of the first vector, the coordinates of the second vector and the angle of rotation of the first vector around the second vector; converting the coordinate information of the guide workpiece in the coordinate system of the optical module to obtain its coordinate information in the coordinate system of the preoperative image according to the coordinate system conversion relationship; and then displaying the guide workpiece in the preoperative image; through the cooperation of the reflective ball of the positioning workpiece and the positioning ball of the guide workpiece, the real-time position of the guide workpiece can be determined intelligently, accurately and quickly, and the guiding path of the guide workpiece can be displayed in real time on the digital human body, thereby improving the accuracy and quality of the surgery and reducing the difficulty and risk of the surgery.

Description

Technical Field

[0001] The embodiments of the present application relate to, but are not limited to, the medical field, and in particular to surgical positioning and guidance methods, devices, equipment, and media. Background Art

[0002] Image-guided surgical navigation technology uses a variety of medical image information and augmented reality technology to provide doctors with highly visual navigation information. Existing surgical navigation systems have simple guidance and positioning devices that can only perform mechanical navigation and positioning, and cannot meet the needs of complex surgical operating environments. For example, the positioning guidance device cannot simulate the guidance path on the patient's digital body in real time to provide the physician with a real-time display of the puncture progress along this path and whether the target lesion can be punctured. The interventional physician cannot adjust the guidance angle of the positioning guidance device based on clinical experience and the patient's breathing. If the physician adjusts the positioning angle, the system will not know the puncture result of the terminal positioning guidance device, which cannot solve the clinical problem of blind puncture by the interventional physician. Summary of the Invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The purpose of this application is to solve one of the technical problems existing in the related art to at least a certain extent. The embodiments of this application provide surgical positioning guidance methods, devices, equipment and media, which can reflect the guidance workpiece in the image in real time and accurately.

[0005] An embodiment of a first aspect of the present application provides a surgical positioning and guiding method, which is applied to a surgical positioning and guiding device, wherein the surgical positioning and guiding device includes a positioning workpiece and a guiding workpiece, wherein the positioning workpiece includes a plurality of reflective balls, and the guiding workpiece includes a positioning ball, wherein the reflective balls and the positioning ball constitute an optical module; the surgical positioning and guiding method includes the following steps:

[0006] Obtaining the conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image;

[0007] Obtaining the coordinates of a first vector, the coordinates of a second vector, and the angle of rotation of the first vector around the second vector, where the first vector is a vector formed by the positioning sphere and the origin of the coordinate system of the optical module, and the second vector is a normal vector of a projection plane formed by the plurality of reflective spheres;

[0008] Determining coordinate information of the guide workpiece in the coordinate system of the optical module according to the coordinates of the first vector, the coordinates of the second vector, and the angle at which the first vector rotates around the second vector;

[0009] According to a conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image, the coordinate information of the guide workpiece in the coordinate system of the preoperative image is converted from the coordinate information of the guide workpiece in the coordinate system of the optical module;

[0010] The guide workpiece is displayed in the preoperative image according to the coordinate information of the guide workpiece in the coordinate system of the preoperative image.

[0011] In certain embodiments of the first aspect of the present application, acquiring a conversion relationship between a coordinate system of the optical module and a coordinate system of the preoperative image includes:

[0012] Acquire first coordinate values ​​of a plurality of auxiliary reflective balls of the auxiliary tool in the coordinate system of the optical module and second coordinate values ​​in the coordinate system of the preoperative image;

[0013] A conversion relationship between a coordinate system of the optical module and a coordinate system of the preoperative image is determined according to the first coordinate value and the second coordinate value.

[0014] In certain embodiments of the first aspect of the present application, determining a conversion relationship between a coordinate system of the optical module and a coordinate system of the preoperative image based on the first coordinate value and the second coordinate value includes:

[0015] Determining a plurality of first coordinate values ​​within a preset time period as a target coordinate value;

[0016] Determine the respiratory cycle according to the maximum value of the target coordinate value;

[0017] The first coordinate value and the second coordinate value are sampled in stages based on the respiratory cycle to determine a conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image.

[0018] In certain embodiments of the first aspect of the present application, the coordinate information of the guide workpiece in the coordinate system of the optical module is determined based on the coordinates of the first vector, the coordinates of the second vector and the angle of rotation of the first vector around the second vector, which is expressed by the following formula: P'=P*cosθ+(N×P)sinθ+N(N·P)(1-cosθ), wherein P is the first vector, N is the second vector, θ is the angle of rotation of the first vector around the second vector, and P' is the coordinate information of the guide workpiece in the coordinate system of the optical module.

[0019] In certain embodiments of the first aspect of the present application, the coordinates of the first vector are expressed as (px, py, pz), the coordinates of the second vector are expressed as (ax, by, cz), and the coordinate information of the guide workpiece in the coordinate system of the optical module is expressed as (px', py', pz'), wherein px' = px*cosθ+(ay*pz-az*py)sinθ+ax(ax*px+ay*py+az*pz)(1-cosθ), py' = py*cosθ+(ax*pz-az*px)sinθ+ay(ax*px+ay*py+az*pz)(1-cosθ), pz' = pz*cosθ+(ax*py-ay*px)sinθ+az(ax*px+ay*py+az*pz)(1-cosθ).

[0020] An embodiment of the second aspect of the present application is a surgical positioning guide device, which applies the surgical positioning guide method as described above; the surgical positioning guide device includes a positioning workpiece and a guiding workpiece, the positioning workpiece includes a plurality of reflective balls located on the projection plane, the guiding workpiece includes a positioning ball, and the reflective balls and the positioning ball constitute an optical module.

[0021] In certain embodiments of the second aspect of the present application, the surgical positioning guide device also includes a mounting member, the positioning workpiece is arranged on one side of the mounting member, a probe is provided at one end of the mounting member, one end of the mounting member is also movably connected to the guide workpiece, and the mounting member is provided with a display screen for displaying images.

[0022] In certain embodiments of the second aspect of the present application, the guide workpiece further includes a first clamping jaw, a second clamping jaw, a first adjusting clip, a second adjusting clip, a locking member for locking the guide workpiece, and a reset spring for resetting the guide workpiece to a preset position; the first clamping jaw is connected to the first adjusting clip, the second clamping jaw is connected to the second adjusting clip, the first adjusting clip and the second adjusting clip are spliced, the reset spring is located inside the first adjusting clip and the second adjusting clip, and the locking member is connected to the reset spring through a gear.

[0023] An embodiment of the third aspect of the present application is an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the surgical positioning guidance method as described above when executing the computer program.

[0024] An embodiment of the fourth aspect of the present application is a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the surgical positioning guidance method as described above.

[0025] The above scheme has at least the following beneficial effects: through the cooperation of the reflective ball of the positioning workpiece and the positioning ball of the guide workpiece, the real-time position of the guide workpiece can be determined intelligently, accurately and quickly, and the guide path of the guide workpiece can be displayed in real time on the digital human body, so that the physician can clearly grasp the real-time posture of the guide workpiece, and can clearly judge whether the puncture path is wrong, solving the problem of blind puncture and improving the accuracy and quality of the puncture operation. The surgical positioning guide device reduces the difficulty and risk of the operation, and also reduces the dependence of the operation on professional experience and ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0027] Figure 1 is a step diagram of a surgical positioning and guidance method provided in an embodiment of the present application;

[0028] Figure 2 is a structural diagram of a surgical positioning guide device provided in an embodiment of the present application;

[0029] Figure 3 It is a structural diagram of the guide workpiece;

[0030] Figure 4 It is a structural diagram pointing to the other direction of the workpiece;

[0031] Figure 5 It is a schematic diagram of adjusting the position of a guide workpiece of a surgical positioning guide device;

[0032] Figure 6 This is a schematic diagram of guiding a workpiece for adjusting its position. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0034] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and the like in the specification, claims, or accompanying drawings are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0035] The embodiments of the present application are further described below with reference to the accompanying drawings.

[0036] An embodiment of the present application provides a surgical positioning guide device.

[0037] Reference Figure 2 The surgical positioning guide device includes a mounting part 20, a positioning workpiece 10 and a guide workpiece 50. The positioning workpiece 10 includes a plurality of reflective balls 11 located on the projection plane. The guide workpiece 50 includes a positioning ball 55. The reflective balls 11 and the positioning balls 55 constitute an optical module.

[0038] Specifically, the positioning workpiece 10 of the embodiment of the present application includes four reflective balls 11. Of course, in other embodiments, the number of reflective balls 11 can be other numbers, such as 3; the number of reflective balls 11 ranges from 3 to 8.

[0039] The guide workpiece 50 of the embodiment of the present application includes a positioning ball 55. Of course, in other embodiments, the number of positioning balls 55 can be other numbers, such as 2; the number of positioning balls 55 satisfies the requirement of being greater than or equal to one.

[0040] The guide workpiece 50 includes a positioning ball 55, designated as positioning ball P. Positioning ball 55P is mounted on the guide workpiece 50 and is used for posture calculation and real-time tracking of the guide workpiece 50. The positioning workpiece 10 includes four reflective balls 11, designated as reflective ball A, reflective ball B, reflective ball C, and reflective ball D. The line connecting reflective balls A and B is parallel to the initial position of the guide workpiece 50, i.e., line AB is parallel to line OP.

[0041] The reflective ball 11 can be detected and tracked in real time by an optical sensing device. The optical sensing device has an optical positioning and navigation system with extremely high precision and a non-interpolation measurement rate of 335Hz. It consists of two cameras, which capture real-time video images through the cameras, and identify and track the reflective ball 11, reflective planes and infrared lights in the real-time video images. It can simultaneously observe reflective and / or active reference points (infrared lights) and use triangulation to calculate their positions. When several reference points are fixed to the marking points, the system can determine the data of its six degrees of freedom (x, y, z, α, β, γ). The positioning space is 520mm*80mm*95mm. The system is compatible with passive image-guided surgical tools.

[0042] The positioning workpiece 10 is arranged on one side of the mounting member 20. A probe 30 is arranged at one end of the mounting member 20. Specifically, the probe 30 is a B-ultrasound probe.

[0043] One end of the mounting member 20 is also movably connected to a guide workpiece 50 . The guide workpiece 50 is mounted on the mounting member 20 via a rotating shaft, and the guide workpiece 50 can rotate around the rotating shaft.

[0044] The other end of the mounting member 20 is provided with a mounting seat 21. The surgical positioning guide device can be mounted on the robotic arm through the mounting seat 21.

[0045] The mount 20 is provided with a display screen 40 for displaying images, for example, a preoperative image and a digitized and imaged guide workpiece 50 .

[0046] Reference Figure 3 and Figure 4 Specifically, the guide workpiece 50 also includes a first clamping jaw 51, a second clamping jaw 52, ​​a first adjusting clip 53, a second adjusting clip 54, a locking member 56 for locking the guide workpiece 50, and a reset spring for resetting the guide workpiece 50 to a preset position; the first clamping jaw 51 is connected to the first adjusting clip 53, the second clamping jaw 52 is connected to the second adjusting clip 54, the first adjusting clip 53 and the second adjusting clip 54 are spliced, the reset spring is located inside the first adjusting clip 53 and the second adjusting clip 54, and the locking member 56 is connected to the reset spring through a gear.

[0047] The mounting member 20 is provided with an electric claw, and the surgical positioning guide device is mounted on the electric claw through a first clamping jaw 51 and a second clamping jaw 52. The guide workpiece 50 is opened and closed by the driving of the electric claw to guide the puncture equipment and to separate the guide workpiece 50 from the puncture equipment after the guidance is completed.

[0048] The locking member 56 is a locking screw. Tightening the locking member 56 locks the guide workpiece 50, fixing it in position relative to the mounting member 20 and preventing it from moving relative to the mounting member 20. Loosening the locking member 56 allows the guide workpiece 50 to move. A return spring automatically returns the guide workpiece 50 to a preset position after movement, making the surgical positioning guide device more flexible to use.

[0049] Reference Figure 1 The surgical positioning guide device can implement the following surgical positioning guide method, which includes but is not limited to the following steps:

[0050] Step S100, obtaining preoperative images, planning a surgical path based on the preoperative images, and obtaining a planned path;

[0051] Step S200, obtaining a conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image;

[0052] Step S300, obtaining the coordinates of the first vector, the coordinates of the second vector, and the angle of rotation of the first vector around the second vector;

[0053] Step S400 , determining coordinate information of the guide workpiece 50 in the coordinate system of the optical module according to the coordinates of the first vector, the coordinates of the second vector, and the angle of rotation of the first vector around the second vector;

[0054] Step S500 , based on the conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image, the coordinate information of the guide workpiece 50 in the coordinate system of the optical module is converted into the coordinate information of the guide workpiece 50 in the coordinate system of the preoperative image;

[0055] Step S600 , displaying the guide workpiece 50 in the preoperative image according to the coordinate information of the guide workpiece 50 in the coordinate system of the preoperative image;

[0056] Step S700 , calibrating the current path according to the planned path and adjusting the position of the guide workpiece 50 .

[0057] In step S100, preoperative images of the patient are acquired using a CT scanner. An experienced physician plans a surgical path based on the preoperative images to obtain a planned path. Alternatively, the preoperative images are input into a neural network-based path planning model, which intelligently and automatically plans a surgical path based on the preoperative images to obtain a planned path.

[0058] Of course, in other embodiments, the preoperative images can be images obtained through magnetic resonance imaging (MRI), positron emission computed tomography (PET), digital subtraction angiography (DSA), and 2D\3D endoscopic images.

[0059] Regarding step S200 , in order to achieve real-time positioning synchronization of the guide workpiece 50 , it is necessary to unify the spatial position relationship between the optical module and the preoperative image.

[0060] Obtaining the conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image includes but is not limited to the following steps:

[0061] Acquire first coordinate values ​​of the plurality of auxiliary reflective balls 11 of the auxiliary tool in the coordinate system of the optical module and second coordinate values ​​in the coordinate system of the preoperative image;

[0062] A conversion relationship between a coordinate system of the optical module and a coordinate system of the preoperative image is determined according to the first coordinate value and the second coordinate value.

[0063] Specifically, the auxiliary tool is a flexible structure tool. In this embodiment, the auxiliary tool includes five auxiliary reflective balls 11, and the auxiliary tool is fixed on the surface of the human abdomen model along a fixed axis.

[0064] Define the coordinate system of the optical module as Cottm, and the coordinate system of the preoperative image as Cicnm; obtain the position information of each auxiliary reflective ball 11 in the coordinate system of the optical module in sequence, that is, the first coordinate value, recorded as Pj (j = 1, 2, .. 5); and obtain the position information of each auxiliary reflective ball 11 in the coordinate system of the preoperative image in the same order, that is, the second coordinate value, recorded as Pi (i = 1, 2, .. 5).

[0065] It can be obtained that the first coordinate value and the second coordinate value satisfy the following relationship: Picnm=Rottm-icnm*Pottm+Tottm-icnm, where Rottm-icnm is a 3*3 rotation matrix and Tottm-icnm is a 3*1 translation vector; and then the conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image is obtained.

[0066] In addition, considering that there are different amplitudes of respiratory movements in the abdomen in actual clinical applications, in order to minimize the registration error, it is necessary to use the dynamic periodic registration method to unify the spatial positions of the respiratory segments.

[0067] Determining a conversion relationship between a coordinate system of the optical module and a coordinate system of the preoperative image based on the first coordinate value and the second coordinate value includes but is not limited to the following steps:

[0068] Determining a plurality of first coordinate values ​​within a preset time period as a target coordinate value;

[0069] Determine the breathing cycle according to the maximum value of the target coordinate value;

[0070] The first coordinate value and the second coordinate value are sampled in stages based on the respiratory cycle to determine a conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image.

[0071] Specifically, since the normal human breathing cycle is about 3-5s, in order to ensure the accuracy of the breathing cycle, multiple first coordinate values ​​of the auxiliary reflective ball 11 within a 20s time period are recorded as target coordinate values; a breathing cycle is determined based on the maximum value of the target coordinate value.

[0072] Based on the respiratory cycle, the first coordinate value and the second coordinate value are sampled in stages to obtain the corresponding transformation relationship TMottm-icnm{k=1,2,..N}. Corresponding TMottm-icnm is used for spatial position unification in different respiratory stages, that is, [Psiem,1]=TMottm-icnm*[Pottm,1], where TMottm-icnm is a 4*4 spatial transformation matrix.

[0073] In combination with the above-mentioned Ticnm-ottm calculation, the real-time synchronous display of the guide workpiece 50 in the coordinate system of the preoperative image can be achieved.

[0074] For step S300 and step S400, regarding the real-time calculation of the end posture of the guide workpiece 50, in order to reduce the calculation error caused by the structure, the two reflective balls 11 (reflective ball A and reflective ball B) of the positioning workpiece 10 in the default initial state are in the same direction as the end of the guide workpiece 50, that is, AB∥OP; then the real-time posture of the end of the guide workpiece 50 is calculated based on the position information of the positioning ball 55.

[0075] Because the positioning ball 55 is fixed relative to the guide workpiece 50, the relative positional relationship between the positioning ball 55 and the guide workpiece 50 in the initial state can be determined by projecting the positioning ball 55 onto the projection plane. Furthermore, the angular relationship between the projection points of the guide workpiece 50 and the positioning ball 55 and the diagnosis point can be determined in the initial state. The diagnosis point can be directly calibrated by the end of the robotic arm. Each time the positioning ball 55 moves, the real-time position of the guide workpiece 50 can be directly calculated based on the angle at which the line connecting the projection points rotates around the normal vector of the projection plane.

[0076] Obtain the coordinates of the first vector, the coordinates of the second vector, and the angle of rotation of the first vector around the second vector; wherein, the first vector is the vector formed by the origin of the coordinate system of the positioning ball 55 and the optical module, and the first vector is defined as P; the second vector is the normal vector of the projection plane formed by multiple reflective balls 11, and the second vector is defined as N.

[0077] Reference Figure 5 and Figure 6 , define the first vector P as rotating about the second vector N by an angle θ to obtain a new vector P'. Then, based on the coordinates of the first vector, the coordinates of the second vector, and the angle of rotation of the first vector about the second vector, the coordinate information of the guide workpiece 50 in the coordinate system of the optical module is determined, expressed as follows: P' = P*cosθ + (N×P)sinθ + N(N·P)(1-cosθ), where θ is the angle of rotation of the first vector about the second vector, and P' is the coordinate information of the guide workpiece 50 in the coordinate system of the optical module.

[0078] The coordinates of the first vector are expressed as (px, py, pz), the coordinates of the second vector are expressed as (ax, by, cz), the coordinate information of the guide workpiece 50 in the coordinate system of the optical module is expressed as (px', py', pz'), and N×P=(ay*pz-az*py,ax*pz-az*px,ax*py-ay*px), N·P=ax*px+ay*py+az*pz; then, px'=px*cosθ+(ay*pz-az*py)sinθ+ax(ax*px+ay*py+az*pz)(1-cosθ), py'=py*cosθ+(ax*pz-az*px)sinθ+ay(ax*px+ay*py+az*pz)(1-cosθ), pz'=pz*cosθ+(ax*py-ay*px)sinθ+az(ax*px+ay*py+az*pz)(1-cosθ).

[0079] In step S500 , according to the conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image, the coordinate information of the guide workpiece 50 in the coordinate system of the optical module is converted to the coordinate information of the guide workpiece 50 in the coordinate system of the preoperative image.

[0080] In step S600 , the guide workpiece 50 is displayed in the preoperative image according to the coordinate information of the guide workpiece 50 in the coordinate system of the preoperative image, and is displayed on the display screen 40 to provide an intuitive perspective for the doctor.

[0081] For step S700, by extending the guide line of the guide workpiece 50 in the preoperative image of the display screen 40, the current path is calibrated according to the planned path to calibrate whether the current puncture path is correct, so that the doctor can adjust the position of the guide workpiece 50.

[0082] Through the above embodiment, through the cooperation of the reflective ball 11 of the positioning workpiece 10 and the positioning ball 55 of the guide workpiece 50, the real-time position of the guide workpiece 50 can be determined intelligently, accurately and quickly, and the guide path of the guide workpiece 50 can be displayed on the digital human body in real time, so that the physician can clearly grasp the real-time posture of the guide workpiece 50 and can clearly judge whether the puncture path is wrong, thereby solving the problem of blind puncture and improving the accuracy and quality of the puncture operation. The surgical positioning guide device reduces the difficulty and risk of the operation, and also reduces the dependence of the operation on professional experience and ability.

[0083] An embodiment of the present application provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the surgical positioning and guidance method described above when executing the computer program.

[0084] The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0085] In general, for the hardware structure of the electronic device, the processor can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0086] The memory can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory and is called by the processor to execute the methods of the embodiments of this application.

[0087] The input / output interface is used to realize information input and output.

[0088] The communication interface is used to realize the communication interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0089] The bus transmits information between the various components of the device (such as the processor, memory, input / output interface, and communication interface). The processor, memory, input / output interface, and communication interface communicate with each other within the device through the bus.

[0090] An embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for executing the surgical positioning and guidance method described above.

[0091] It should be appreciated that the method steps in the embodiments of the present invention can be implemented or executed by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable memory. The method can use standard programming techniques. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system. However, if desired, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, for this purpose, the program can be run on a programmed application-specific integrated circuit.

[0092] Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by the context. The processes described herein (or variations and / or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors, by hardware, or a combination thereof. The computer program includes a plurality of instructions that can be executed by one or more processors.

[0093] Further, the method can be implemented in any type of computing platform that is operably connected to a suitable computer, including but not limited to a personal computer, a smartphone, a mainframe, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, etc. Various aspects of the present invention can be implemented as machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and / or write storage medium, RAM, ROM, etc., so that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the process described herein. In addition, the machine-readable code, or portions thereof, can be transmitted over a wired or wireless network. When such media includes instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor, the invention described herein includes these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention also includes the computer itself.

[0094] The computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data that is stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the converted data represents a physical and tangible object, including a specific visual depiction of the physical and tangible object produced on the display.

[0095] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0096] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present application, and these equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A surgical positioning and guiding method, characterized in that: The invention is applied to a surgical positioning guide device, which includes a positioning workpiece, a guide workpiece, and a mounting member. The positioning workpiece includes a plurality of reflective balls, the guide workpiece includes a positioning ball, and the reflective balls and the positioning balls constitute an optical module. The positioning workpiece is arranged on one side of the mounting member, and one end of the mounting member is also movably connected to the guide workpiece. The surgical positioning guide method includes the following steps: Obtaining the conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image; Obtaining the coordinates of a first vector, the coordinates of a second vector, and the angle of rotation of the first vector around the second vector, where the first vector is a vector formed by the positioning sphere and the origin of the coordinate system of the optical module, and the second vector is a normal vector of a projection plane formed by the plurality of reflective spheres; Determining coordinate information of the guide workpiece in the coordinate system of the optical module according to the coordinates of the first vector, the coordinates of the second vector, and the angle at which the first vector rotates around the second vector; According to a conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image, the coordinate information of the guide workpiece in the coordinate system of the preoperative image is converted from the coordinate information of the guide workpiece in the coordinate system of the optical module; The guide workpiece is displayed in the preoperative image according to the coordinate information of the guide workpiece in the coordinate system of the preoperative image.

2. A surgical positioning and guiding method according to claim 1, characterized in that: The conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image is obtained, including: Acquire first coordinate values ​​of a plurality of auxiliary reflective balls of the auxiliary tool in the coordinate system of the optical module and second coordinate values ​​in the coordinate system of the preoperative image; A conversion relationship between a coordinate system of the optical module and a coordinate system of the preoperative image is determined according to the first coordinate value and the second coordinate value.

3. A surgical positioning and guiding method according to claim 2, characterized in that: Determining a conversion relationship between a coordinate system of the optical module and a coordinate system of the preoperative image according to the first coordinate value and the second coordinate value includes: Determining a plurality of first coordinate values ​​within a preset time period as a target coordinate value; Determine the respiratory cycle according to the maximum value of the target coordinate value; The first coordinate value and the second coordinate value are sampled in stages based on the respiratory cycle to determine a conversion relationship between the coordinate system of the optical module and the coordinate system of the preoperative image.

4. A surgical positioning and guiding method according to claim 1, characterized in that: The coordinate information of the guide workpiece in the coordinate system of the optical module is determined based on the coordinates of the first vector, the coordinates of the second vector and the angle of rotation of the first vector around the second vector, which is expressed by the following formula: P'=P*cosθ+(N×P)sinθ+N(N·P)(1-cosθ), wherein P is the first vector, N is the second vector, θ is the angle of rotation of the first vector around the second vector, and P' is the coordinate information of the guide workpiece in the coordinate system of the optical module.

5. A surgical positioning and guiding method according to claim 4, characterized in that: The coordinates of the first vector are expressed as (px, py, pz), the coordinates of the second vector are expressed as (ax, by, cz), and the coordinate information of the guide workpiece in the coordinate system of the optical module is expressed as (px', py', pz'), wherein px'=px*cosθ+(ay*pz-az*py)sinθ+ax(ax*px+ay*py+az*pz)(1-cosθ), py'=py*cosθ+(ax*pz-az*px)sinθ+ay(ax*px+ay*py+az*pz)(1-cosθ), pz'=pz*cosθ+(ax*py-ay*px)sinθ+az(ax*px+ay*py+az*pz)(1-cosθ).

6. A surgical positioning guide device, characterized in that: Apply the surgical positioning and guiding method as described in any one of claims 1 to 5.

7. A surgical positioning guide device according to claim 6, characterized in that: A probe is provided at one end of the mounting member, and the mounting member is provided with a display screen for displaying images.

8. The surgical positioning guide device according to claim 6, characterized in that: The guide workpiece further includes a first clamping jaw, a second clamping jaw, a first adjusting clip, a second adjusting clip, a locking member for locking the guide workpiece, and a return spring for returning the guide workpiece to a preset position; The first clamping jaw is connected to the first adjusting clip, the second clamping jaw is connected to the second adjusting clip, the first adjusting clip and the second adjusting clip are spliced, the return spring is located inside the first adjusting clip and the second adjusting clip, and the locking member is connected to the return spring through a gear.

9. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the surgical positioning and guidance method according to any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium, characterized in that Computer-executable instructions are stored, and the computer-executable instructions are used to execute the surgical positioning guidance method according to any one of claims 1 to 5.

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