Method for registering an intraoperative hip joint in a patient space with an image space

Abstract

The application provides a method and device for registering an intraoperative hip joint in a patient space and an image space, electronic equipment and a computer readable storage medium. The registration method comprises: performing a translation transformation according to a first acetabular rotation center fitted in the image space and a second acetabular rotation center fitted in the patient space; performing a first rotation transformation according to the angle between a first reference vector formed by a first anterior superior iliac spine and the first acetabular rotation center in the image space and a second reference vector formed by a second anterior superior iliac spine and the second acetabular rotation center in the patient space; and performing a second rotation transformation according to the rotation angle of a group of points formed by points selected on both sides of the first reference vector in the image space and corresponding points in the patient space. The fitting of the acetabular rotation center improves the accuracy of the translation transformation. The rotation transformation is performed by the reference vector formed by the feature significant anterior superior iliac spine and the acetabular rotation center, which further improves the accuracy of the rotation transformation.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically to a method, apparatus, electronic device, and computer-readable storage medium for registering the hip joint in patient space and image space during surgery, applicable to robot-assisted total hip replacement surgery. Background Technology

[0002] In robot-assisted surgery, a surgical plan needs to be developed preoperatively based on images of the patient's body parts. During the surgery, the surgical robot executes this plan, assisting the surgeon in performing a high-precision operation. In this process, the precise positioning of the surgical robot on the patient's body to the location planned by the surgeon in the surgical plan is crucial for the successful execution of the surgical procedure.

[0003] In robot-assisted total hip replacement surgery, trackers are fixedly mounted on both the surgical robot and the patient's surgical site. The navigation system's camera uses the trackers to determine their relative positions. This process requires establishing a correlation between the surgical site in patient space and image space; that is, configuring the surgical site in both spaces.

[0004] Current registration processes typically employ two-stage registration. In the first stage, a set of point pairs selected by the surgeon in both image and patient spaces are used for coordinate transformation to perform primary registration between the two spaces. Then, a second stage of registration is performed by iteratively acquiring a set of point clouds on the exposed bone surfaces in the patient space and comparing them with the nearest neighbor points on the bone structure surfaces in the image space. This two-stage registration process yields relatively good registration results, although the second stage is highly dependent on the accuracy of the first stage. Summary of the Invention

[0005] The accuracy of existing first-level registration relies entirely on the point pairs selected by the surgeon in the image space and patient space, and the selection of these point pairs is inherently subject to significant errors. Therefore, to reduce the impact of point pair selection on the accuracy of first-level registration and improve overall registration accuracy, this application provides an intraoperative hip joint registration method in patient space and image space. The registration method includes:

[0006] A method for registering the hip joint in patient space and image space during surgery, characterized in that the registration method includes:

[0007] Based on the coordinates of the first acetabular rotation center fitted in image space and the second acetabular rotation center fitted in patient space, a translation transformation is performed;

[0008] A first rotational transformation is performed based on the angle between the first reference vector formed by the first anterior superior iliac spine and the first acetabular rotation center in the image space and the second reference vector formed by the second anterior superior iliac spine and the second acetabular rotation center in the patient space.

[0009] A second rotation transformation is performed based on the rotation angle of a pair of points selected along both sides of the first reference vector in the image space and the corresponding points in the patient space around the first reference vector.

[0010] According to some embodiments of this application, the translation transformation includes:

[0011] The first acetabular rotation center is fitted based on a set of first acquisition points randomly selected on the first acetabular joint surface in the hip joint image.

[0012] The second acetabular rotation center is fitted based on a set of second acquisition points randomly selected on the second acetabular articular surface in the exposed patient's hip joint.

[0013] A translation transformation is performed based on the coordinate difference between the second acetabular rotation center and the first acetabular rotation center.

[0014] According to some embodiments of this application, the first rotational transformation includes:

[0015] A first reference vector is defined with the first anterior superior iliac spine in the hip joint image as the endpoint and the first acetabular rotation center as the starting point.

[0016] A second reference vector is defined with the patient's second anterior superior iliac spine as the endpoint and the second acetabular rotation center as the starting point;

[0017] A rotation transformation is performed based on the angle between the first reference vector and the second reference vector.

[0018] According to some embodiments of this application, the second rotational transformation includes:

[0019] The set of point pairs is projected in the image space onto a first plane that is perpendicular to the first reference vector and where the first acetabular rotation center is located, to obtain a set of projected point pairs;

[0020] Based on the set of projection points, a rotational transformation is performed on the rotation angle with the first acetabular rotation center and the first reference vector as the axis.

[0021] According to some embodiments of this application, the number of the set of point pairs is at least 1 pair.

[0022] According to some embodiments of this application, the translation transformation further includes: fitting a first acetabular rotation radius based on the set of first acquisition points;

[0023] The difference between the distance from the points selected along both sides of the first reference vector in the image space to the first acetabular rotation center and the first acetabular rotation radius is less than a set threshold.

[0024] According to some embodiments of this application, the number of the first set of collection points or the number of the second set of collection points is in the range of 10-20.

[0025] According to some embodiments of this application, the number of the first set of sampling points or the second set of sampling points meets the set dispersion requirements.

[0026] According to another aspect of this application, an intraoperative registration device for the hip joint in patient space and image space is also provided, the registration device comprising:

[0027] The translation transformation module is used to perform translation transformation based on the coordinates of the first acetabular rotation center fitted in the image space and the second acetabular rotation center fitted in the patient space.

[0028] The first rotation transformation module is used to perform a first rotation transformation based on the angle between the first reference vector formed by the first anterior superior iliac spine and the first acetabular rotation center in the image space and the second reference vector formed by the second anterior superior iliac spine and the second acetabular rotation center in the patient space.

[0029] The second rotation transformation module is used to perform a second rotation transformation based on the rotation angle of a pair of points selected along both sides of the first reference vector in the image space and the corresponding points in the patient space around the first reference vector.

[0030] According to another aspect of this application, an electronic device for intraoperative hip joint registration in patient space and image space is also provided, comprising:

[0031] One or more processors;

[0032] Storage device for storing one or more programs;

[0033] When the one or more programs are executed by the one or more processors, the one or more processors implement the above registration method.

[0034] 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 registration method.

[0035] The hip joint registration method provided in this application, which aligns the hip joint in patient space and image space, incorporates the feature points of the acetabular rotation center and the anterior superior iliac spine. Since the acetabular rotation center and the anterior superior iliac spine need to be determined during the surgical planning process for hip replacement surgery, this application does not add extra workload. Using the acetabular rotation center instead of the operator-selected point pair for translation transformation improves the accuracy of the translation transformation. Furthermore, using the vector formed by the distinctive anterior superior iliac spine and the acetabular rotation center for rotation transformation further improves the accuracy of the rotation transformation. Attached Figure Description

[0036] 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.

[0037] Figure 1 A flowchart of a registration method according to an example embodiment of this application is shown;

[0038] Figure 2 A schematic diagram of the acetabular joint surface is shown according to an example embodiment of this application;

[0039] Figure 3 This diagram illustrates a set of first acquisition points according to an example embodiment of this application;

[0040] Figure 4 A schematic diagram of a first rotational transformation according to an example embodiment of this application is shown;

[0041] Figure 5 A schematic diagram of a second rotational transformation according to an example embodiment of this application is shown;

[0042] Figure 6 This diagram illustrates a block diagram of a registration apparatus according to an example embodiment of this application.

[0043] Figure 7 A block diagram of an electronic device for registering a hip joint in patient space and image space during surgery, according to an example embodiment of this application, is shown. Detailed Implementation

[0044] 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.

[0045] 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.

[0046] 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.

[0047] As mentioned earlier, the common practice in the first-level registration process is to collect a certain number of points on the exposed bone surface of the surgical site in the patient space, and simultaneously determine the corresponding points in the image space, thus forming a point pair. Assuming a point pair has N points, and each point pair contains P points in the image space... i The coordinates can be represented as (Px) i Py i Pz i ), i = 1, 2, ..., N. Correspondingly, the corresponding point Q in the patient space. i The coordinates can be represented as (Qx) j Qy i Qz j ), j = 1, 2...N.

[0048] Theoretically, the transformation matrix between the two coordinate systems can be obtained by selecting four pairs of points that are not on the same plane in the two spaces. With the goal of minimizing this transformation matrix, it can be obtained using the following formula:

[0049]

[0050] The transformation matrix M is a 4×4 homogeneous matrix consisting of parameters for rotation around the three coordinate axes and translation along the three coordinate axes. The transformation matrix M can typically be represented as:

[0051]

[0052] Where T = {Δx, Δy, Δz} are the translation components, and R is the rotation component. Based on the calculated transformation matrix M, the positions in patient space and image space can be registered.

[0053] In the process of calculating the transformation matrix based on a selected set of point pairs, due to the special structure of the hip joint, it is difficult to achieve the same acquisition position when acquiring point pairs in the image space and the patient space for the same object point, resulting in a relatively large registration error. In order to improve accuracy, a large number of point pairs are required, which will significantly increase the workload of the surgeon.

[0054] To reduce the number of point pairs and improve the registration accuracy, this application provides a method for registering the hip joint in patient space and image space during surgery. This method can improve the accuracy of the first-level registration without increasing the surgeon's workload, thus providing a good foundation for the second-level registration.

[0055] Figure 1 A flowchart of a registration method according to an example embodiment of this application is shown.

[0056] like Figure 1 As shown, the registration method provided in this application includes the following steps:

[0057] Step S110: Perform a translation transformation based on the coordinates of the first acetabular rotation center fitted in the image space and the second acetabular rotation center fitted in the patient space.

[0058] Figure 2 A schematic diagram of the acetabular joint surface according to an example embodiment of this application is shown. Figure 2 As shown in the image, the hip joint has a unique structure, with the acetabular articular surface 200 (i.e., the acetabular fossa) exhibiting spherical characteristics. Therefore, based on the spherical characteristics of the acetabular articular surface 200, the acetabular rotation center and acetabular rotation radius can be fitted using a certain number of randomly selected sampling points on the spherical surface.

[0059] For example, a certain number of points are collected along the acetabular joint surface to form a set of collection points C. i i = 1, 2, ..., m. Data collection point C i The coordinates can be represented as C i =(Cx i Cy i ,Cz i A set of sampling points C were randomly selected from the acetabular articular surface of the hip joint. i Using the least squares method, the acetabular rotation center C0 and the acetabular rotation radius r can be fitted using the following formula.

[0060]

[0061] A set of collection points C i The number m can be 10-20. Collection point C iThe points need to meet a set dispersion requirement. For example, the distance between points must be greater than a set value. According to some embodiments of this application, the set distance can be 5 mm.

[0062] According to the example embodiments of this application, the first acetabular rotation center C is fitted in the image space. P0 Fit the second acetabular rotation center C in the patient space. Q0 This allows the second acetabular rotation center C to be rotated. Q0 With the first acetabular rotation center C P0 The coordinate difference is used as the translation component of the translation transformation.

[0063] Figure 3 A schematic diagram of a set of first acquisition points according to an example embodiment of this application is shown. See also Figure 3 In the image space, a certain number of points are collected along the first acetabular joint surface 200 to form a set of first collection points 210. After fitting using the least squares method described above, the first acetabular rotation center C of the acetabular joint surface in the image space can be obtained. P0 Similarly, in the patient space, the second acetabular rotation center C of the acetabular joint surface in the patient's exposed hip joint can be obtained by fitting a set of second acquisition points randomly selected by the operator on the second acetabular joint surface using the least squares method described above. Q0 Rotate the second acetabulum center C Q0 With the first acetabular rotation center C P0 The coordinate difference is used as the translation component T, which can be used for translation transformation. The translation component T can be expressed as: T = {C} Q0 xC P0 x, C Q0 yC P0 y, C Q0 zC P0 z}.

[0064] In this application, the point used as the translation transformation component corresponds to the first acetabular rotation center C. P0 Second acetabular rotation center C Q0 It is obtained through multi-point ball fitting, and its accuracy is significantly improved compared to the accuracy of selecting corresponding points on the patient's hip joint surface and the hip joint surface in the image by the operator respectively.

[0065] In the registration method of this application, to simplify the registration process, after completing the translation transformation, based on the structural characteristics of the hip joint itself, the line connecting the feature point anterior superior iliac spine and the rotation center of the acetabulum is used as the reference vector for further rotation transformation. The first anterior superior iliac spine and the first rotation center of the acetabulum in the image space constitute the first reference vector. The second anterior superior iliac spine and the second rotation center of the acetabulum in the patient space constitute the second reference vector. The rotation transformation matrix can be decomposed into a first rotation component and a second rotation component. The first rotation component is the angle between the second reference vector and the first reference vector. The second rotation component is the rotation angle of the selected point pair around the first reference vector.

[0066] Step S120: Perform a first rotation transformation based on the angle between the first reference vector formed by the first anterior superior iliac spine and the first acetabular rotation center in the image space and the second reference vector formed by the second anterior superior iliac spine and the second acetabular rotation center in the patient space.

[0067] The anterior superior iliac spine is a prominent feature of the hip joint. Although it is not exposed in the patient space, the surrounding muscle tissue is relatively thin, allowing for accurate palpation to locate this feature, which serves as the second anterior superior iliac spine. Q Similarly, in image space, the anterior superior iliac spine also has very obvious features and can be accurately picked in the image by judgment (for example, the operator can easily obtain it by clicking the mouse), serving as the first anterior superior iliac spine S. P In image space, the first acetabular rotation center C P0 With the first anterior superior iliac spine S P Construct the first reference vector B P It can be represented as: B P =C P0 –S P In the patient space, the second acetabular rotation center C Q0 With the first anterior superior iliac spine S Q Construct the second reference vector B Q , can be represented as B Q =C Q0 –S Q .

[0068] Figure 4 A schematic diagram of a first rotational transformation according to an example embodiment of this application is shown. Figure 4 As shown, after translation transformation, the second acetabular rotation center C of the acetabular joint surface in the patient space... Q0 With the first acetabular rotation center C in image space P0 Coincidence is defined as C0. The first reference vector is B. P With the second reference vector B Q The axis is A B , can be represented as:

[0069]

[0070] Furthermore, the first reference vector B P To B Q The position needs to be around A B Rotation angle θ B It can be represented as:

[0071]

[0072] Furthermore, the first rotation component R1 between the patient space and the image space can be obtained using the Rodrigues rotation formula, expressed as:

[0073] R1 = B P +sinθ B (A B ×B P )+(1-cosθ B A B ×(A B ×B P )

[0074] In calculating the first rotational component, this application introduces a vector formed by the acetabular rotation center and the anterior superior iliac spine. Because the anterior superior iliac spine has distinct structural features, its extraction accuracy is inherently higher compared to other points. Furthermore, the anterior superior iliac spine is relatively far from the acetabular rotation center, further mitigating the impact of positional errors on the calculation of the rotational component.

[0075] Step S130: Perform a second rotation transformation based on the rotation angle of a pair of points selected along both sides of the first reference vector in the image space and the corresponding points in the patient space around the first reference vector.

[0076] Figure 5 A schematic diagram of a second rotational transformation according to an example embodiment of this application is shown. Figure 5 As shown, after the first rotation transformation, the second reference vector B in the patient space... O Rotation and the first reference vector B in image space P Overlap, can be defined as Figure 5 The first reference vector B is shown in the figure. Here, the rotation angle of a set of point pairs located on both sides of the first reference vector B, selected according to the image space and the patient space, about the first reference vector B can be used as the second rotation component. The number of point pairs can be one or more.

[0077] For example, such as Figure 5 As shown, in the image space, two points are taken on the acetabular joint surface on both sides of the first reference vector B, which can be represented as P. iP j The distance from each point to the acetabular rotation center and the rotation radius must be consistent within a set range. For example, the difference between the distance from each point to the acetabular rotation center and the rotation radius should be less than a set threshold to ensure that the selected point is located on the acetabular joint surface as much as possible. The set threshold can be set according to actual needs, such as 1mm, 2mm, etc., and this application does not limit it. Correspondingly, in the patient space, select points related to P i P j Corresponding point Q i Q j .

[0078] P pair i -Q i P j -Q j Project the image onto a plane O that passes through the first acetabular rotation center C0 and is perpendicular to the first reference vector B, to obtain the projection point pair P. i '-Q i '、P j '-Q j '.like Figure 5 As shown, on plane 0, point P i Transform to point Q i rotation angle φ i Point P j Transform to point Q j rotation angle φ j Theoretically, the rotation angle φ can be obtained using a set of point pairs. Figure 5 In the illustrated embodiment, two sets of point pairs are selected. The number of point pairs can be determined based on accuracy requirements or actual operating conditions. For multiple sets of point pairs, the number can be determined based on multiple obtained rotation angles (e.g., φ). i φ j The final rotation angle φ is determined according to statistical estimates (e.g., average, maximum, etc.). Therefore, the second rotation transformation R2 can be expressed as: a rotation transformation with the first acetabular rotation center C0 as the rotation center and the first reference vector B as the rotation axis in the coordinate system formed by plane O and the first reference vector B. Specifically, it is expressed as follows:

[0079]

[0080] After the above translation transformation, first rotation transformation, and second rotation transformation, the registration from patient space to image space can be achieved through the transformation matrix M = T × R1 × R2.

[0081] Figure 6 A block diagram illustrating the composition of a registration apparatus according to an example embodiment of this application is shown.

[0082] According to another aspect of this application, a registration device for the hip joint in patient space and image space during surgery is provided. Figure 6 As shown, the registration device 600 includes a translation transformation module 610, a first rotation transformation module 620, and a second rotation transformation module 630.

[0083] The translation transformation module 610 can be used to perform translation transformations based on the coordinates of a first acetabular rotation center fitted in image space and a second acetabular rotation center fitted in patient space. For example, the first acetabular rotation center can be fitted based on a set of first acquisition points randomly selected on the first acetabular joint surface in the hip joint image. The second acetabular rotation center can be fitted based on a set of second acquisition points randomly selected on the second acetabular joint surface in the exposed patient hip joint. A translation transformation is then performed based on the coordinate difference between the second acetabular rotation center and the first acetabular rotation center.

[0084] The first rotation transformation module 620 can be used to perform a first rotation transformation based on the angle between a first reference vector formed by the first anterior superior iliac spine and the first acetabular rotation center in image space and a second reference vector formed by the second anterior superior iliac spine and the second acetabular rotation center in patient space. For example, the first reference vector can be defined with the first anterior superior iliac spine in the hip joint image as the endpoint and the first acetabular rotation center as the starting point, and the second reference vector can be defined with the second anterior superior iliac spine in the patient's image as the endpoint and the second acetabular rotation center as the starting point. Thus, a rotation transformation can be performed based on the angle between the first and second reference vectors.

[0085] The second rotation transformation module 630 can be used to perform a second rotation transformation based on the rotation angle of a pair of points selected in the image space along both sides of the first reference vector and their corresponding points in the patient space around the first reference vector. For example, the selected pair of points can be projected in the image space onto a first plane perpendicular to the first reference vector, where the first acetabular rotation center is located, to obtain a pair of projected points. The rotation transformation is then performed based on the rotation angle of the projected point pairs about the first acetabular rotation center and the first reference vector as axes.

[0086] Figure 7 A block diagram of an electronic device for registering a hip joint in patient space and image space during surgery, according to an example embodiment of this application, is shown.

[0087] This application also provides an electronic device 800 for registering the hip joint in patient space and image space during surgery. Figure 7 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.

[0088] like Figure 7As 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).

[0089] The storage unit 820 stores program code, which can be executed by the processing unit 810, causing the processing unit 810 to perform the registration method of the hip joint in patient space and image space according to the embodiments of this application as described in this specification.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0094] 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 method for registering the hip joint in patient space and image space.

[0095] The hip joint registration method provided in this application introduces the feature points acetabular rotation center and anterior superior iliac spine in the patient space and image space. Since the acetabular rotation center and anterior superior iliac spine need to be determined during the surgical planning of hip replacement surgery, this application does not add extra workload. Based on this, the acetabular rotation center is obtained through least-squares fitting instead of the point pairs selected by the operator for translation transformation, improving the accuracy of the translation transformation. Furthermore, rotation transformation is performed using a vector composed of the distinctive anterior superior iliac spine and the acetabular rotation center, further improving the accuracy of the rotation transformation. During the entire registration process, the number of point pairs that the operator needs to select can be reduced from 4-6 sets to 1-2 sets, which helps reduce the operator's workload, thereby obtaining more corresponding point pairs and ensuring the accuracy of the rotation transformation.

[0096] 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 for registering the hip joint in patient space and image space during surgery, characterized in that, The registration method includes: Based on the coordinates of the first acetabular rotation center fitted in image space and the second acetabular rotation center fitted in patient space, a translation transformation is performed; A first rotational transformation is performed based on the angle between the first reference vector formed by the first anterior superior iliac spine and the first acetabular rotation center in the image space and the second reference vector formed by the second anterior superior iliac spine and the second acetabular rotation center in the patient space. A second rotation transformation is performed based on the rotation angle of a pair of points selected along both sides of the first reference vector in the image space and the corresponding points in the patient space around the first reference vector. The translation transformation includes: The first acetabular rotation center is fitted based on a set of first acquisition points randomly selected on the first acetabular joint surface in the hip joint image. The second acetabular rotation center is fitted based on a set of second acquisition points randomly selected on the second acetabular articular surface in the exposed patient's hip joint. Based on the coordinate difference between the second acetabular rotation center and the first acetabular rotation center, a translation transformation is performed; The first rotational transformation includes: A first reference vector is defined with the first anterior superior iliac spine in the hip joint image as the endpoint and the first acetabular rotation center as the starting point. A second reference vector is defined with the patient's second anterior superior iliac spine as the endpoint and the second acetabular rotation center as the starting point; Perform a rotation transformation based on the angle between the first reference vector and the second reference vector; The second rotational transformation includes: The set of point pairs is projected in the image space onto a first plane that is perpendicular to the first reference vector and where the first acetabular rotation center is located, to obtain a set of projected point pairs; Based on the set of projection points, a rotational transformation is performed on the rotation angle with the first acetabular rotation center and the first reference vector as the axis.

2. The registration method according to claim 1, characterized in that, The number of points in a set is at least one.

3. The registration method according to claim 1, characterized in that, The translation transformation further includes: fitting the first acetabular rotation radius based on the set of first acquisition points; The difference between the distance from the points selected along both sides of the first reference vector in the image space to the first acetabular rotation center and the first acetabular rotation radius is less than a set threshold.

4. The registration method according to claim 1, characterized in that, The number of the first set of collection points or the number of the second set of collection points is in the range of 10-20.

5. The registration method according to claim 1, characterized in that, The number of the first set of sampling points or the second set of sampling points meets the set dispersion requirement.

6. A device for registering the hip joint in patient space and image space during surgery, characterized in that, The registration device includes: The translation transformation module is used to perform translation transformation based on the coordinates of the first acetabular rotation center fitted in the image space and the second acetabular rotation center fitted in the patient space. The first rotation transformation module is used to perform a first rotation transformation based on the angle between the first reference vector formed by the first anterior superior iliac spine and the first acetabular rotation center in the image space and the second reference vector formed by the second anterior superior iliac spine and the second acetabular rotation center in the patient space. The second rotation transformation module is used to perform a second rotation transformation based on the rotation angle of a pair of points selected along both sides of the first reference vector in the image space and the corresponding points in the patient space around the first reference vector. The translation transformation module fits a first acetabular rotation center based on a set of first acquisition points randomly selected on the first acetabular joint surface in the hip joint image, fits a second acetabular rotation center based on a set of second acquisition points randomly selected on the second acetabular joint surface in the exposed patient's hip joint, and performs a translation transformation based on the coordinate difference between the second acetabular rotation center and the first acetabular rotation center. The first rotation transformation module defines a first reference vector with the first anterior superior iliac spine in the hip joint image as the endpoint and the first acetabular rotation center as the starting point, and defines a second reference vector with the patient's second anterior superior iliac spine as the endpoint and the second acetabular rotation center as the starting point. The rotation transformation is performed based on the angle between the first reference vector and the second reference vector. The second rotation transformation module projects the set of point pairs in the image space onto a first plane that is perpendicular to the first reference vector and where the first acetabular rotation center is located, to obtain a set of projected point pairs. Based on the rotation angle of the set of projected point pairs with the first acetabular rotation center and the first reference vector as the axis, a rotation transformation is performed.

7. An electronic device, characterized in that, include: One or more processors; 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 registration method according to any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the registration method according to any one of claims 1-5.

Images