Path navigation methods, devices, computer equipment, storage media and program products

Abstract

This application relates to a path navigation method, apparatus, computer device, storage medium, and program product. The method includes: firstly, acquiring information from an optical positioner indicating that the area of ​​the object to be calibrated is within the detection area of ​​the optical positioner; secondly, calibrating the object in response to a calibration operation command corresponding to the object; thirdly, acquiring the first pose information of the medical device and the site of interest identified by the optical positioner after successful calibration; and finally, determining first navigation prompt information based on the first pose information and a pre-set surgical navigation planning path for the site of interest, and displaying the first navigation prompt information on the navigation interface. Using this method, surgical operations can be performed based on the navigation prompt information, reducing surgical risks.

Description

Technical Field

[0001] This application relates to the field of computer-assisted surgical technology, and in particular to a path navigation method, apparatus, computer device, storage medium, and program product. Background Technology

[0002] In the medical field, doctors need to have a strong foundation in imaging and extensive surgical experience to perform trauma surgery.

[0003] Because surgical procedures rely entirely on the surgeon's experience, there is a significant risk involved. Therefore, reducing surgical risks has become an urgent problem to be solved in this field. Summary of the Invention

[0004] Therefore, it is necessary to provide a path navigation method, device, computer equipment, storage medium, and program product that can reduce surgical risks during surgical procedures, addressing the aforementioned technical problems.

[0005] Firstly, this application provides a path navigation method. The method includes:

[0006] Acquire the pose information of the object to be calibrated sent by the optical position measuring instrument; the pose information is the information recognized by the optical position measuring instrument when the area where the object to be calibrated is located is within the detection area of ​​the optical position measuring instrument;

[0007] In response to the calibration operation command corresponding to the object to be calibrated, the object to be calibrated is calibrated;

[0008] After the object to be calibrated is successfully calibrated, the first pose information of the medical device and the part of interest identified by the optical positioner is obtained;

[0009] Based on the first pose information and the pre-set surgical navigation planning path for the region of interest, the first navigation prompt information is determined and displayed in the navigation interface.

[0010] In one embodiment, the method further includes:

[0011] In response to an operation command on the navigation reset control on the navigation interface, a 3D model of the part of interest is displayed;

[0012] After the object to be calibrated is successfully calibrated, the second pose information of the part of interest sent by the optical position measuring instrument is obtained;

[0013] The reset information is displayed in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

[0014] In one embodiment, the method further includes:

[0015] The third pose information of the object to be calibrated, sent by the optical position measuring instrument, is obtained after the object to be calibrated is implanted with the part of interest.

[0016] Based on the third pose information, a second navigation prompt is displayed in the navigation interface; the second navigation prompt is used to adjust the parameters of the object to be calibrated being implanted into the region of interest.

[0017] In one embodiment, the method further includes:

[0018] In response to an operation command for a lock pin hole in the lock pin hole list, the lock pin hole is designated as the target lock pin hole, and the first location identifier of the target lock pin hole is displayed in the navigation interface;

[0019] The fourth pose information of the object to be calibrated, sent by the optical position measuring instrument, is obtained after the object to be calibrated is implanted into the part of interest.

[0020] Based on the fourth pose information, the pose information of the object to be calibrated is adjusted until the extension line of the object to be calibrated displayed in the navigation interface coincides with the extension line of the target lock hole, and the second position identifier of the object to be calibrated in the navigation interface coincides with the first position identifier.

[0021] In one embodiment, the method further includes:

[0022] If the object to be calibrated undergoes deformation after being implanted into the region of interest, then in response to the operation command of the calibration control on the navigation interface, the fifth pose information of the object to be calibrated is obtained after the probe slides on the surface of the object to be calibrated.

[0023] Based on the fifth pose information, the 3D model displayed on the navigation interface is moved; the moved 3D model coincides with the position area corresponding to the fifth pose information.

[0024] In one embodiment, the method further includes:

[0025] If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a first preset brightness.

[0026] If the positional information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface at a second preset brightness; the first preset brightness is different from the second preset brightness.

[0027] Secondly, this application also provides a path navigation device. The device includes:

[0028] The first acquisition module is used to acquire the pose information of the object to be calibrated sent by the optical position measuring instrument; the pose information is the information recognized by the optical position measuring instrument when the area where the object to be calibrated is located is within the detection area of ​​the optical position measuring instrument.

[0029] The first calibration module is used to calibrate the object to be calibrated in response to the calibration operation command corresponding to the object to be calibrated.

[0030] The second acquisition module is used to acquire the first pose information of the medical device and the part of interest identified by the optical positioner after the object to be calibrated is successfully calibrated.

[0031] The first determining module is used to determine the first navigation prompt information based on the first pose information and the pre-set surgical navigation planning path of the part of interest, and to display the first navigation prompt information in the navigation interface.

[0032] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the above-described method.

[0033] Fourthly, this application also provides a computer-readable storage medium. This computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0034] Fifthly, this application also provides a computer program product. This computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described methods.

[0035] The aforementioned path navigation method, apparatus, computer equipment, storage medium, and program product first acquire information from the optical positioner indicating that the area of ​​the object to be calibrated is within its detection area. In response to a calibration operation command for the object, the object is calibrated. After successful calibration, the first pose information of the medical device and the site of interest (ROI) identified by the optical positioner is acquired. Finally, based on the first pose information and a pre-set surgical navigation planning path for the ROI, a first navigation prompt is determined and displayed on the navigation interface. In traditional techniques, surgical procedures rely entirely on the surgeon's experience, which can lead to surgical risks. The method of this application first acquires information about the object to be calibrated using an optical positioner, calibrates the object, and then obtains corresponding surgical navigation prompts based on the acquired first pose information of the medical device and ROI, as well as the surgical navigation planning path. Surgical procedures can be performed based on these navigation prompts, reducing surgical risks. Attached Figure Description

[0036] Figure 1 One of the flowcharts of a path navigation method provided in this application embodiment;

[0037] Figure 2 A second schematic flowchart illustrating a path navigation method provided in an embodiment of this application;

[0038] Figure 3 The third flowchart illustrates a path navigation method provided in this application embodiment;

[0039] Figure 4 The fourth flowchart illustrates a path navigation method provided in this application embodiment;

[0040] Figure 5 Fifth of a flowchart illustrating a path navigation method provided in this application embodiment;

[0041] Figure 6 A flowchart illustrating a path navigation method provided in this application is shown in Figure 6.

[0042] Figure 7 A structural diagram of a path navigation device provided in an embodiment of this application;

[0043] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] In one embodiment, Figure 1 This is a flowchart illustrating one of the path navigation methods provided in this application. The method includes the following steps:

[0046] S101. Obtain the pose information of the object to be calibrated sent by the optical positioner; the pose information is the information recognized by the optical positioner when the area where the object to be calibrated is located is within the detection area of ​​the optical positioner.

[0047] The object to be calibrated may include a sleeve or an intramedullary nail. Position information may include the position information of the object to be calibrated. The sleeve can be used to determine the location and orientation of the surgical channel, and the intramedullary nail can be used for implantation into the bone cavity.

[0048] In this embodiment of the application, the computer device can obtain the pose information of the object to be calibrated sent by the optical position measuring instrument. The pose information may include information recognized by the optical position measuring instrument when the area where the object to be calibrated is located is within the detection area of ​​the optical position measuring instrument.

[0049] It should be noted that users can log in to the navigation system on their computer devices after authentication. After successful login, users can create, delete, and view medical records. To create a new medical record, click the "Add" button to upload the record. A "Successful upload" message will appear if the upload is successful, and a "Failed upload" message will appear if the upload fails. To delete a medical record, move the mouse over the record; a "Delete" button will appear. Clicking the "Delete" button will bring up a confirmation dialog box. Clicking "OK" will delete the uploaded medical record. To view a record, move the mouse over it and click on the record to display the patient's information. Double-clicking the target case file on the navigation interface of the navigation system will take you to "Tool Calibration". "Tool Calibration" contains two parts: "Tool Coordinate Diagram" and "Tool Calibration". The "Tool Coordinate Diagram" displays the pose information of the optical positioner's detection area and the tool to be calibrated. Double-clicking the coordinate diagram of the tool to be calibrated allows you to view the coordinate position of the tool within the optical positioner's detection area from multiple perspectives. The "Tool Calibration" section displays a "List of Tools to be Calibrated". The right side of the navigation interface displays the 3D model of the tool to be calibrated, allowing you to track the calibration process.

[0050] For example, when calibrating an intramedullary nail, first, ensure the optical ball is placed on the reference frame, which is then installed proximally to the intramedullary nail. Since there are multiple locking holes at the distal end of the intramedullary nail, the first locking hole can be defined as "1", the second as "2", and so on. To calibrate the first locking hole at the distal end of the intramedullary nail, double-click the target case file on the navigation system, enter "Tool Calibration," click "Intramedullary Nail Module" in the "Tools to be Calibrated List," and select locking hole "1". Ensure the locking hole calibration tool is firmly clamped to the first locking hole at the distal end of the intramedullary nail to measure its diameter, and input this diameter into the input box displayed for locking hole "1" in the "Intramedullary Nail Module." Ensure the intramedullary nail is placed within the detection area of ​​the optical positioner. Then, the two position sensors on the left and right sides of the optical positioner perform triangulation on the spatial coordinates of each optical ball within the detection area of ​​the optical positioner, and the computer equipment can obtain the position information of the distal locking hole "1" of the intramedullary nail sent by the optical positioner.

[0051] For example, when the object to be calibrated is a sleeve, firstly, it is necessary to ensure that the optical ball is placed on the reference frame, the reference frame is installed on the sleeve, the front end of the sleeve tool is inserted into the insertion hole of the guide tube calibration tool, the front end of the sleeve is tightly fitted with the bottom of the insertion hole of the guide tube calibration tool, and the sleeve and guide tube calibration tool are placed within the detection area of ​​the optical positioner. After double-clicking the target case file on the navigation system, enter "Tool Calibration," and click "Sleeve Module" in the "List of Tools to be Calibrated" under "Tool Calibration." Then, the two position sensors on the left and right sides of the optical positioner perform triangulation measurements on the spatial coordinates of each optical ball within the detection area of ​​the optical positioner, and the computer equipment can obtain the sleeve's pose information sent by the optical positioner.

[0052] S102. In response to the calibration operation command corresponding to the object to be calibrated, calibrate the object to be calibrated.

[0053] In this embodiment, the corresponding object to be calibrated can be selected by clicking on the "List of Tools to be Calibrated," and then the "Start Calibration" button can be clicked. The computer device responds to the calibration operation command corresponding to the object to be calibrated and calibrates the object. Throughout the calibration process, the calibration progress is displayed at the bottom of the navigation interface. If the calibration is successful, "Calibration Successful" is displayed; if the calibration fails, "Calibration Failed" is displayed. The placement position of the object to be calibrated can be checked, and recalibration can be performed.

[0054] For example, when the object to be calibrated is a sleeve, you can click "Sleeve Module" in the "Tools to be Calibrated List," and then click the "Start Calibration" button. The computer device will respond to the calibration operation command corresponding to the sleeve and calibrate the sleeve. When the object to be calibrated is the first locking hole at the distal end of an intramedullary nail, you can click "Intramedullary Nail Module" in the "Tools to be Calibrated List," select locking hole "1," and then click the "Start Calibration" button. The computer device will respond to the calibration operation command corresponding to the first locking hole at the distal end of the intramedullary nail and calibrate the first locking hole at the distal end of the intramedullary nail. You can also click the "Replace" button in the "Intramedullary Nail Module" to reselect the intramedullary nail to be used, and then perform calibration.

[0055] S103. After the calibration of the object to be calibrated is successful, obtain the first pose information of the medical device and the part of interest identified by the optical positioner.

[0056] Among them, medical devices may include surgical tools such as incision tools, and the site of interest may include the wound site.

[0057] In this embodiment of the application, after the object to be calibrated is successfully calibrated, the medical device and the part of interest are placed in the detection area of ​​the optical positioner for identification, and the computer device can obtain the first pose information of the medical device and the part of interest identified by the optical positioner.

[0058] For example, in trauma surgery, medical devices may include incision tools, and the site of interest may include the patient's wound site. After successful calibration of the object to be calibrated, the computer device can acquire the first-position information of the incision tool and the patient's wound site identified by the optical positioning instrument.

[0059] S104. Based on the first pose information and the pre-set surgical navigation planning path for the part of interest, determine the first navigation prompt information and display the first navigation prompt information in the navigation interface.

[0060] The pre-set surgical navigation planning path for the region of interest may include a pre-set surgical navigation planning path for the trauma site.

[0061] In this embodiment, the computer device can determine the first navigation prompt information based on the first pose information and the pre-set surgical navigation planning path for the part of interest, and display the first navigation prompt information in the navigation interface, and perform surgical operations based on the first navigation prompt information.

[0062] For example, in trauma surgery, the first navigation prompt information may include the vertical distance between the tip of the incision tool and the extension line of the pre-set surgical navigation planning path for the trauma site, the angle between the extension line of the incision tool and the extension line of the pre-set surgical navigation planning path for the trauma site, the distance between the tip of the incision tool and the needle insertion point of the pre-set surgical navigation planning path for the trauma site, the length of the pre-set surgical navigation planning path for the trauma site, and the straight-line distance from the tip of the incision tool to the target point of the pre-set surgical navigation planning path for the trauma site.

[0063] Following the description of the trauma surgery above, the computer equipment, based on the first-position information of the incision tool and the patient's wound site, as well as the pre-set surgical navigation planning path for the wound site, can determine the content of the first navigation prompt information. A red line and a blue sphere are displayed on the navigation interface. The red line represents the pre-set surgical navigation planning path for the wound site, and the blue sphere represents the needle insertion point of the pre-set surgical navigation planning path for the wound site. The incision tool can be moved according to the content of the first navigation prompt information. When the tip of the incision tool reaches the needle insertion point of the pre-set surgical navigation planning path for the wound site, there is an angle formed by the extension line of the incision tool and the extension line of the planning path. When the degree of this angle is greater than a threshold, a green cone will be displayed on the navigation interface; when the angle is less than the threshold, the 3D model of the incision tool in the navigation interface will turn blue, and the medullary reaming operation can be performed according to this method. It should be noted that navigation data information is present on the left side of the navigation interface, which can accurately display the real-time movement data of the incision tool.

[0064] In the aforementioned path navigation method, the optical positioner first acquires information indicating that the area of ​​the object to be calibrated is within its detection area. Then, in response to a calibration operation command for the object, the object is calibrated. After successful calibration, the first pose information of the medical device and the region of interest (ROI) identified by the optical positioner is acquired. Finally, based on the first pose information and a pre-set surgical navigation planning path for the ROI, a first navigation prompt is determined and displayed on the navigation interface. Traditional techniques rely entirely on the surgeon's experience during surgery, leading to significant surgical risks. The method of this application, however, first acquires information about the object to be calibrated using an optical positioner, calibrates the object, and then obtains corresponding navigation prompts based on the acquired first pose information of the medical device and ROI, along with the surgical navigation planning path. This navigation prompt allows for surgical procedures to be performed, reducing surgical risks.

[0065] In one embodiment, Figure 2This is a second flowchart illustrating a path navigation method provided in an embodiment of this application. The method further includes:

[0066] S201. In response to an operation command on the navigation reset control on the navigation interface, display a 3D model of the part of interest.

[0067] The regions of interest may include proximal and distal bones.

[0068] In this embodiment, the user can double-click "Navigation Reset" on the navigation interface. The computer device responds to the operation command of the navigation reset control on the navigation interface, and the three-dimensional model of the proximal bone and the distal bone is displayed on the navigation interface.

[0069] S202. After the calibration of the object to be calibrated is successful, acquire the second pose information of the part of interest sent by the optical position measuring instrument.

[0070] The second pose information may include pose information of the proximal and distal bones.

[0071] In this embodiment of the application, after the object to be calibrated is successfully calibrated, the optical spheres of the reference frame connecting the proximal bone and the reference frame connecting the distal bone can be oriented toward the optical positioner, and the computer device can obtain the position and pose information of the proximal and distal bones sent by the optical positioner.

[0072] S203. Display reset information in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

[0073] The repositioning information can be a directional indication of distal bone movement in the three-dimensional model, such as an indication of angle and distance.

[0074] In this embodiment of the application, the computer device displays the direction of distal bone movement in the three-dimensional model based on the second pose information, and the distal bone can be moved to perform a repositioning operation according to the direction of distal bone movement.

[0075] It should be noted that the smaller the values ​​of rotation angle, angular angle, and overlap distance displayed in the navigation interface, the closer the reduction effect is to the preoperative planning effect, until the fracture fragments are in contact, and the rotational displacement, overlap displacement, and angular displacement are corrected, thus completing the fracture reduction.

[0076] In this embodiment, a 3D model of the region of interest is displayed in response to an operation command on the navigation reset control on the navigation interface. After successful calibration of the object to be calibrated, the second pose information of the region of interest sent by the optical positioner is acquired. Finally, reset information is displayed in the 3D model based on the second pose information, whereby the reset information is used to reset the region of interest. This allows for navigation-guided reset of the region of interest, improving the reset effect.

[0077] In one embodiment, Figure 3 This is a third flowchart illustrating a path navigation method provided in an embodiment of this application. The method further includes:

[0078] S301. Obtain the third pose information of the object to be calibrated sent by the optical position measuring instrument; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest.

[0079] The object to be calibrated can be an intramedullary nail.

[0080] In this embodiment of the application, the computer device acquires the third pose information of the intramedullary nail sent by the optical positioner. The third pose information is the information obtained after the intramedullary nail is implanted into the site of interest.

[0081] S302. Based on the third pose information, display the second navigation prompt information in the navigation interface; the second navigation prompt information is used to adjust the parameters of the object to be calibrated and implanted into the region of interest.

[0082] The second navigation information may include the vertical distance between the tip of the intramedullary nail and the extension of the planned path, the angle between the axis of the intramedullary nail and the extension of the planned path, the insertion depth, and the distance from the tip of the intramedullary nail to the end point of the planned path.

[0083] Based on the third position information, the computer device displays second navigation prompts on the navigation interface, such as the vertical distance between the tip of the intramedullary nail and the extension line of the planned path, the angle between the axis of the intramedullary nail and the extension line of the planned path, the insertion depth, and the distance from the tip of the intramedullary nail to the end point of the planned path. Based on these second navigation prompts, the angle and depth of the intramedullary nail implanted into the bone cavity can be adjusted.

[0084] In this embodiment, by acquiring the third pose information of the object to be calibrated sent by the optical positioner, and displaying second navigation prompts on the navigation interface based on the third pose information, the third pose information is obtained after the object to be calibrated is implanted into the site of interest. The second navigation prompts are used to adjust the parameters of the object to be calibrated being implanted into the site of interest. This can improve the accuracy of the angle and the distance of the intramedullary nail into the bone cavity.

[0085] In one embodiment, Figure 4This is a fourth flowchart illustrating a path navigation method provided in an embodiment of this application. The method further includes:

[0086] S401. In response to an operation command for a lock pin hole in the lock pin hole list, the lock pin hole is selected as the target lock pin hole, and the first position identifier of the target lock pin hole is displayed in the navigation interface.

[0087] The first position marker can be the blue marker of the target locking hole.

[0088] In this embodiment of the application, a lock hole can be selected by clicking on the lock hole list in the navigation interface. The computer responds to the operation command for the lock hole in the lock hole list, and the selected lock hole is taken as the target lock hole. A blue mark will be displayed in the center of the target lock hole in the navigation interface.

[0089] S402. Obtain the fourth pose information of the object to be calibrated sent by the optical position measuring instrument; the fourth pose information is the information obtained after the object to be calibrated is implanted into the part of interest.

[0090] The objects to be calibrated may include a sleeve or an intramedullary nail, and the fourth pose information may be the fourth pose information of the sleeve obtained after the intramedullary nail is implanted into the bone cavity.

[0091] In this embodiment of the application, after the intramedullary nail is implanted, the optical ball of the sleeve is oriented toward the optical positioner to ensure that the sleeve can be recognized by the optical positioner, and the computer device obtains the fourth pose information of the sleeve sent by the optical positioner.

[0092] S403. Based on the fourth pose information, adjust the pose information of the object to be calibrated until the extension line of the object to be calibrated displayed in the navigation interface coincides with the extension line of the target lock hole, and the second position mark of the object to be calibrated in the navigation interface coincides with the first position mark.

[0093] The second position mark can be the cross mark on the sleeve.

[0094] In this embodiment, the position and angle of the sleeve can be adjusted according to the fourth pose information until the extension line of the sleeve displayed in the navigation interface coincides with the extension line of the target lock hole, and the cross mark of the sleeve in the navigation interface coincides with the blue mark of the target lock hole, so as to find the position and direction of the locking hole for locking operation.

[0095] In this embodiment, by responding to the operation command for the lock pin holes in the lock pin hole list, the lock pin hole is taken as the target lock pin hole, and the first position mark of the target lock pin hole is displayed in the navigation interface. Then, the fourth pose information of the object to be calibrated sent by the optical position measuring instrument is obtained. The fourth pose information is the information obtained after the object to be calibrated is implanted into the part of interest. Finally, according to the fourth pose information, the pose information of the object to be calibrated is adjusted until the extension line of the object to be calibrated displayed in the navigation interface coincides with the extension line of the target lock pin hole, and the second position mark of the object to be calibrated in the navigation interface coincides with the first position mark, so as to find the position and direction of the locking hole, which can improve the accuracy of the lock pin operation.

[0096] In one embodiment, Figure 5 This is a fifth flowchart illustrating a path navigation method provided in an embodiment of this application. The method further includes:

[0097] S501. If the object to be calibrated undergoes deformation after being implanted into the region of interest, then in response to the operation command of the calibration control on the navigation interface, the fifth pose information of the object to be calibrated is obtained after the probe slides on the surface of the object to be calibrated.

[0098] The object to be calibrated may include an intramedullary nail; the site of interest may include the surgical site, such as a bone cavity.

[0099] In this embodiment of the application, if the intramedullary nail deforms after being implanted into the bone cavity, after the user clicks "calibrate" on the navigation interface, the computer device responds to the operation command of the calibration control on the navigation interface and obtains the fifth pose information of the intramedullary nail obtained after the probe slides on the surface of the intramedullary nail.

[0100] S502. Based on the fifth pose information, move the 3D model displayed on the navigation interface; the moved 3D model coincides with the position area corresponding to the fifth pose information.

[0101] In this embodiment, based on the fifth pose information of the intramedullary nail, the three-dimensional model displayed on the navigation interface can be moved so that the moved three-dimensional model coincides with the position area corresponding to the fifth pose information. A new three-dimensional model is obtained after moving the three-dimensional model, and the locking hole corresponding to the new three-dimensional model can be selected by clicking on the locking hole list in the navigation interface.

[0102] In this embodiment, if the object to be calibrated undergoes deformation after being implanted into the region of interest, the fifth pose information of the object to be calibrated is obtained by responding to the operation command of the calibration control on the navigation interface after the probe slides on the surface of the object to be calibrated. Then, based on the fifth pose information, the three-dimensional model displayed on the navigation interface is moved. The moved three-dimensional model coincides with the position area corresponding to the fifth pose information, which can improve the accuracy of the locking pin hole.

[0103] In one embodiment, Figure 6 This is a sixth flowchart illustrating a path navigation method provided in an embodiment of this application. The method further includes:

[0104] S601. If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a first preset brightness.

[0105] The first preset brightness can include high brightness.

[0106] In this embodiment of the application, when the computer device successfully obtains the pose information of the object to be calibrated sent by the optical position measuring instrument, the three-dimensional model of the object to be calibrated is highlighted on the navigation interface of the navigation system.

[0107] For example, when the object to be calibrated is a sleeve, if the computer device successfully obtains the sleeve's pose information sent by the optical position measuring instrument, the three-dimensional model of the sleeve is highlighted on the navigation interface.

[0108] For example, when the object to be calibrated is an intramedullary nail, if the computer device successfully obtains the pose information of the intramedullary nail sent by the optical positioner, the three-dimensional model of the intramedullary nail is highlighted on the navigation interface.

[0109] S602. If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a second preset brightness; the first preset brightness is different from the second preset brightness.

[0110] The second preset brightness may include semi-transparency, and the second preset brightness is different from the first preset brightness.

[0111] In this embodiment of the application, when the computer device fails to obtain the pose information of the object to be calibrated sent by the optical position measuring instrument, the three-dimensional model of the object to be calibrated is displayed in a semi-transparent manner on the navigation interface.

[0112] For example, when the object to be calibrated is a sleeve, if the computer device fails to obtain the sleeve's pose information sent by the optical position measuring instrument, the three-dimensional model of the sleeve is displayed in a semi-transparent manner on the navigation interface.

[0113] For example, when the object to be calibrated is an intramedullary nail, if the computer device fails to obtain the pose information of the intramedullary nail sent by the optical positioner, the three-dimensional model of the intramedullary nail is displayed in a semi-transparent manner on the navigation interface.

[0114] In this embodiment, if the pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a first preset brightness. If the pose information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a second preset brightness. The first preset brightness and the second preset brightness are different to ensure that the object to be calibrated can be identified.

[0115] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0116] Based on the same inventive concept, this application also provides a path navigation device for implementing the path navigation method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more path navigation device embodiments provided below can be found in the limitations of the path navigation method described above, and will not be repeated here.

[0117] In one embodiment, Figure 7 This is a structural diagram of a path navigation device provided in an embodiment of this application. The device 700 includes: a first acquisition module 701, a first calibration module 702, a second acquisition module 703, and a first determination module 704, wherein:

[0118] The first acquisition module 701 is used to acquire the pose information of the object to be calibrated sent by the optical position measuring instrument; the pose information is the information recognized by the optical position measuring instrument when the area where the object to be calibrated is located is within the detection area of ​​the optical position measuring instrument.

[0119] The first calibration module 702 is used to calibrate the object to be calibrated in response to the calibration operation command corresponding to the object to be calibrated.

[0120] The second acquisition module 703 is used to acquire the first pose information of the medical device and the part of interest identified by the optical positioner after the object to be calibrated is successfully calibrated.

[0121] The first determining module 704 is used to determine the first navigation prompt information based on the first pose information and the pre-set surgical navigation planning path of the part of interest, and to display the first navigation prompt information in the navigation interface.

[0122] In one embodiment, the device further includes:

[0123] The first display module, in response to operation commands to the navigation reset control on the navigation interface, displays a 3D model of the part of interest.

[0124] The third acquisition module is used to acquire the second pose information of the part of interest sent by the optical position measuring instrument after the object to be calibrated is successfully calibrated.

[0125] The second display module is used to display reset information in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

[0126] In one embodiment, the device further includes:

[0127] The fourth acquisition module is used to acquire the third pose information of the object to be calibrated sent by the optical position measuring instrument; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest.

[0128] The third display module displays second navigation prompts in the navigation interface based on the third pose information; the second navigation prompts are used to adjust the parameters of the object to be calibrated and implanted into the region of interest.

[0129] In one embodiment, the device further includes:

[0130] The fourth display module is used to respond to operation commands for lock holes in the lock hole list, designate lock holes as target lock holes, and display the first position identifier of the target lock hole in the navigation interface.

[0131] The fifth acquisition module is used to acquire the fourth pose information of the object to be calibrated sent by the optical position measuring instrument; the fourth pose information is the information acquired after the object to be calibrated is implanted into the part of interest.

[0132] The adjustment module is used to adjust the pose information of the object to be calibrated according to the fourth pose information until the extension line of the object to be calibrated displayed in the navigation interface coincides with the extension line of the target lock hole, and the second position mark of the object to be calibrated in the navigation interface coincides with the first position mark.

[0133] In one embodiment, the device further includes:

[0134] The sixth acquisition module is used to acquire the fifth pose information of the object to be calibrated after the probe slides on the surface of the object to be calibrated, in response to the operation command of the calibration control on the navigation interface if the object to be calibrated undergoes deformation after being implanted into the region of interest.

[0135] The movement module is used to move the 3D model displayed on the navigation interface according to the fifth pose information; the moved 3D model coincides with the position area corresponding to the fifth pose information.

[0136] In one embodiment, the device further includes:

[0137] The fifth display module is used to display the three-dimensional model of the object to be calibrated on the navigation interface with a first preset brightness when the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained.

[0138] The sixth display module is used to display the three-dimensional model of the object to be calibrated on the navigation interface with a second preset brightness when the position and pose information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained; the first preset brightness is different from the second preset brightness.

[0139] Each module in the aforementioned path navigation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0140] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements a path navigation method.

[0141] Those skilled in the art will understand that Figure 8The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0142] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0143] Acquire the pose information of the object to be calibrated sent by the optical position measuring instrument; the pose information is the information recognized by the optical position measuring instrument when the area where the object to be calibrated is located is within the detection area of ​​the optical position measuring instrument.

[0144] In response to the calibration operation command corresponding to the object to be calibrated, the object to be calibrated is calibrated;

[0145] After the calibration object is successfully calibrated, the first pose information of the medical device and the part of interest identified by the optical positioner is obtained;

[0146] Based on the first pose information and the pre-set surgical navigation planning path for the area of ​​interest, the first navigation prompt information is determined and displayed in the navigation interface.

[0147] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0148] In response to operation commands to the navigation reset control on the navigation interface, display the 3D model of the part of interest;

[0149] After the calibration of the object to be calibrated is successful, the second pose information of the part of interest sent by the optical position measuring instrument is obtained;

[0150] The reset information is displayed in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

[0151] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0152] Acquire the third pose information of the object to be calibrated sent by the optical position measuring instrument; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest.

[0153] Based on the third pose information, a second navigation prompt is displayed in the navigation interface; the second navigation prompt is used to adjust the parameters for embedding the object to be calibrated into the region of interest. In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0154] In response to an operation command for a lock pin hole in the lock pin hole list, the lock pin hole is selected as the target lock pin hole, and the first position identifier of the target lock pin hole is displayed in the navigation interface;

[0155] The fourth pose information of the object to be calibrated, sent by the optical position measuring instrument, is obtained after the object to be calibrated is implanted into the part of interest.

[0156] Based on the fourth pose information, adjust the pose information of the object to be calibrated until the extension line of the object to be calibrated displayed in the navigation interface coincides with the extension line of the target lock hole, and the second position mark of the object to be calibrated in the navigation interface coincides with the first position mark.

[0157] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0158] If the object to be calibrated undergoes deformation after being implanted into the region of interest, then in response to the operation command of the calibration control on the navigation interface, the fifth pose information of the object to be calibrated is obtained after the probe slides on the surface of the object to be calibrated.

[0159] Based on the fifth pose information, the 3D model displayed on the mobile navigation interface is moved; the moved 3D model coincides with the position area corresponding to the fifth pose information.

[0160] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0161] If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with the first preset brightness.

[0162] If the positional information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a second preset brightness; the first preset brightness is different from the second preset brightness.

[0163] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0164] Acquire the pose information of the object to be calibrated sent by the optical position measuring instrument; the pose information is the information recognized by the optical position measuring instrument when the area where the object to be calibrated is located is within the detection area of ​​the optical position measuring instrument.

[0165] In response to the calibration operation command corresponding to the object to be calibrated, the object to be calibrated is calibrated;

[0166] After the calibration object is successfully calibrated, the first pose information of the medical device and the part of interest identified by the optical positioner is obtained;

[0167] Based on the first pose information and the pre-set surgical navigation planning path for the area of ​​interest, the first navigation prompt information is determined and displayed in the navigation interface.

[0168] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0169] In response to operation commands to the navigation reset control on the navigation interface, display the 3D model of the part of interest;

[0170] After the calibration of the object to be calibrated is successful, the second pose information of the part of interest sent by the optical position measuring instrument is obtained;

[0171] The reset information is displayed in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

[0172] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0173] Acquire the third pose information of the object to be calibrated sent by the optical position measuring instrument; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest.

[0174] Based on the third pose information, the second navigation prompt information is displayed in the navigation interface; the second navigation prompt information is used to adjust the parameters of the object to be calibrated and implanted into the region of interest.

[0175] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0176] In response to an operation command for a lock pin hole in the lock pin hole list, the lock pin hole is selected as the target lock pin hole, and the first position identifier of the target lock pin hole is displayed in the navigation interface;

[0177] The fourth pose information of the object to be calibrated, sent by the optical position measuring instrument, is obtained after the object to be calibrated is implanted into the part of interest.

[0178] Based on the fourth pose information, adjust the pose information of the object to be calibrated until the extension line of the object to be calibrated displayed in the navigation interface coincides with the extension line of the target lock hole, and the second position mark of the object to be calibrated in the navigation interface coincides with the first position mark.

[0179] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0180] If the object to be calibrated undergoes deformation after being implanted into the region of interest, then in response to the operation command of the calibration control on the navigation interface, the fifth pose information of the object to be calibrated is obtained after the probe slides on the surface of the object to be calibrated.

[0181] Based on the fifth pose information, the 3D model displayed on the mobile navigation interface is moved; the moved 3D model coincides with the position area corresponding to the fifth pose information.

[0182] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0183] If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with the first preset brightness.

[0184] If the positional information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a second preset brightness; the first preset brightness is different from the second preset brightness.

[0185] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0186] Acquire the pose information of the object to be calibrated sent by the optical position measuring instrument; the pose information is the information recognized by the optical position measuring instrument when the area where the object to be calibrated is located is within the detection area of ​​the optical position measuring instrument.

[0187] In response to the calibration operation command corresponding to the object to be calibrated, the object to be calibrated is calibrated;

[0188] After the calibration object is successfully calibrated, the first pose information of the medical device and the part of interest identified by the optical positioner is obtained;

[0189] Based on the first pose information and the pre-set surgical navigation planning path for the area of ​​interest, the first navigation prompt information is determined and displayed in the navigation interface.

[0190] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0191] In response to operation commands to the navigation reset control on the navigation interface, display the 3D model of the part of interest;

[0192] After the calibration of the object to be calibrated is successful, the second pose information of the part of interest sent by the optical position measuring instrument is obtained;

[0193] The reset information is displayed in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

[0194] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0195] Acquire the third pose information of the object to be calibrated sent by the optical position measuring instrument; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest.

[0196] Based on the third pose information, the second navigation prompt information is displayed in the navigation interface; the second navigation prompt information is used to adjust the parameters of the object to be calibrated and implanted into the region of interest.

[0197] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0198] In response to an operation command for a lock pin hole in the lock pin hole list, the lock pin hole is selected as the target lock pin hole, and the first position identifier of the target lock pin hole is displayed in the navigation interface;

[0199] The fourth pose information of the object to be calibrated, sent by the optical position measuring instrument, is obtained after the object to be calibrated is implanted into the part of interest.

[0200] Based on the fourth pose information, adjust the pose information of the object to be calibrated until the extension line of the object to be calibrated displayed in the navigation interface coincides with the extension line of the target lock hole, and the second position mark of the object to be calibrated in the navigation interface coincides with the first position mark.

[0201] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0202] If the object to be calibrated undergoes deformation after being implanted into the region of interest, then in response to the operation command of the calibration control on the navigation interface, the fifth pose information of the object to be calibrated is obtained after the probe slides on the surface of the object to be calibrated.

[0203] Based on the fifth pose information, the 3D model displayed on the mobile navigation interface is moved; the moved 3D model coincides with the position area corresponding to the fifth pose information.

[0204] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0205] If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with the first preset brightness.

[0206] If the positional information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a second preset brightness; the first preset brightness is different from the second preset brightness.

[0207] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0208] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0209] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0210] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A path navigation device, characterized in that, The device includes: The first acquisition module is used to acquire the pose information of the object to be calibrated sent by the optical positioner; the pose information is the information recognized by the optical positioner when the area where the object to be calibrated is located is within the detection area of ​​the optical positioner; the object to be calibrated includes a sleeve and an intramedullary nail; The first calibration module is used to calibrate the object to be calibrated in response to a calibration operation command corresponding to the object to be calibrated. The second acquisition module is used to acquire the first pose information of the medical device and the part of interest identified by the optical positioner after the object to be calibrated is successfully calibrated. The first determining module is used to determine the first navigation prompt information based on the first pose information and the pre-set surgical navigation planning path of the part of interest, and to display the first navigation prompt information in the navigation interface; The sixth acquisition module is used to acquire the fifth pose information of the object to be calibrated after the probe slides on the surface of the object to be calibrated, in response to the operation command of the calibration control on the navigation interface if the object to be calibrated undergoes deformation after being implanted into the part of interest; The moving module is used to move the three-dimensional model displayed on the navigation interface according to the fifth pose information; the moved three-dimensional model coincides with the position area corresponding to the fifth pose information.

2. The apparatus according to claim 1, characterized in that, The device further includes: The first display module is used to display the three-dimensional model of the part of interest in response to an operation command on the navigation reset control on the navigation interface; The third acquisition module is used to acquire the second pose information of the part of interest sent by the optical position measuring instrument after the object to be calibrated is successfully calibrated. The second display module is used to display reset information in the three-dimensional model according to the second pose information; the reset information is used to reset the part of interest.

3. The apparatus according to claim 2, characterized in that, The device further includes: The fourth acquisition module is used to acquire the third pose information of the object to be calibrated sent by the optical position measuring instrument; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest. The third display module is used to display second navigation prompt information in the navigation interface based on the third pose information; the second navigation prompt information is used to adjust the parameters of the object to be calibrated being implanted into the region of interest.

4. The apparatus according to claim 3, characterized in that, The device further includes: The fourth display module is used to respond to an operation command for a lock hole in the lock hole list, to designate the lock hole as the target lock hole, and to display the first position identifier of the target lock hole in the navigation interface; The fifth acquisition module is used to acquire the fourth pose information of the object to be calibrated sent by the optical positioning instrument; the fourth pose information is the information acquired after the intramedullary nail is implanted into the site of interest. The adjustment module is used to adjust the position information of the sleeve according to the fourth position information until the extension line of the sleeve displayed in the navigation interface coincides with the extension line of the target lock hole, and the second position identifier of the sleeve in the navigation interface coincides with the first position identifier.

5. The apparatus according to any one of claims 1-4, characterized in that, The device further includes: The fifth display module is used to display the three-dimensional model of the object to be calibrated on the navigation interface with a first preset brightness when the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained. The sixth display module is used to display the three-dimensional model of the object to be calibrated on the navigation interface at a second preset brightness when the position and pose information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained; the first preset brightness is different from the second preset brightness.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, The steps of implementing a path navigation method when the processor executes the computer program include: The optical positional measurement instrument (OPI) acquires the pose information of the object to be calibrated sent by the OPI; the pose information is the information recognized by the OPI when the area where the object to be calibrated is located is within the detection area of ​​the OPI; the object to be calibrated includes a sleeve and an intramedullary nail. In response to a calibration operation command corresponding to the object to be calibrated, the object to be calibrated is calibrated; After the object to be calibrated is successfully calibrated, the first pose information of the medical device and the part of interest identified by the optical positioner is obtained; Based on the first pose information and the pre-set surgical navigation planning path for the part of interest, the first navigation prompt information is determined and displayed in the navigation interface; If the object to be calibrated undergoes deformation after being implanted into the region of interest, then in response to the operation command of the calibration control on the navigation interface, the fifth pose information of the object to be calibrated obtained after the probe slides on the surface of the object to be calibrated is acquired. Based on the fifth pose information, the 3D model displayed on the navigation interface is moved; the moved 3D model coincides with the position area corresponding to the fifth pose information.

7. The computer device according to claim 6, characterized in that, The method further includes: In response to an operation command on the navigation reset control on the navigation interface, a three-dimensional model of the part of interest is displayed; After the object to be calibrated is successfully calibrated, the second pose information of the part of interest sent by the optical position measuring instrument is obtained; The reset information is displayed in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

8. The computer device according to claim 7, characterized in that, The method further includes: The third pose information of the object to be calibrated, sent by the optical position measuring instrument, is obtained; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest. Based on the third pose information, a second navigation prompt is displayed in the navigation interface; the second navigation prompt is used to adjust the parameters of the object to be calibrated being implanted into the region of interest.

9. The computer device according to claim 8, characterized in that, The method further includes: In response to an operation command for a lock pin hole in the lock pin hole list, the lock pin hole is designated as the target lock pin hole, and a first position identifier of the target lock pin hole is displayed in the navigation interface; The fourth pose information of the object to be calibrated, sent by the optical positioner, is obtained; the fourth pose information is obtained after the intramedullary nail is implanted into the site of interest. Based on the fourth pose information, adjust the pose information of the sleeve until the extension line of the sleeve displayed in the navigation interface coincides with the extension line of the target locking hole, and the second position identifier of the sleeve in the navigation interface coincides with the first position identifier.

10. The computer device according to any one of claims 6-9, characterized in that, The method further includes: If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a first preset brightness. If the positional information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface at a second preset brightness; the first preset brightness is different from the second preset brightness.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, The steps of implementing a path navigation method when the computer program is executed by a processor include: The optical positional measurement instrument (OPI) acquires the pose information of the object to be calibrated sent by the OPI; the pose information is the information recognized by the OPI when the area where the object to be calibrated is located is within the detection area of ​​the OPI; the object to be calibrated includes a sleeve and an intramedullary nail. In response to a calibration operation command corresponding to the object to be calibrated, the object to be calibrated is calibrated; After the object to be calibrated is successfully calibrated, the first pose information of the medical device and the part of interest identified by the optical positioner is obtained; Based on the first pose information and the pre-set surgical navigation planning path for the part of interest, the first navigation prompt information is determined and displayed in the navigation interface; If the object to be calibrated undergoes deformation after being implanted into the region of interest, then in response to the operation command of the calibration control on the navigation interface, the fifth pose information of the object to be calibrated obtained after the probe slides on the surface of the object to be calibrated is acquired. Based on the fifth pose information, the 3D model displayed on the navigation interface is moved; the moved 3D model coincides with the position area corresponding to the fifth pose information.

12. The computer-readable storage medium according to claim 11, characterized in that, The method further includes: In response to an operation command on the navigation reset control on the navigation interface, a three-dimensional model of the part of interest is displayed; After the object to be calibrated is successfully calibrated, the second pose information of the part of interest sent by the optical position measuring instrument is obtained; The reset information is displayed in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

13. The computer-readable storage medium according to claim 12, characterized in that, The method further includes: The third pose information of the object to be calibrated, sent by the optical position measuring instrument, is obtained; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest. Based on the third pose information, a second navigation prompt is displayed in the navigation interface; the second navigation prompt is used to adjust the parameters of the object to be calibrated being implanted into the region of interest.

14. The computer-readable storage medium according to claim 13, characterized in that, The method further includes: In response to an operation command for a lock pin hole in the lock pin hole list, the lock pin hole is designated as the target lock pin hole, and a first position identifier of the target lock pin hole is displayed in the navigation interface; The fourth pose information of the object to be calibrated, sent by the optical positioner, is obtained; the fourth pose information is obtained after the intramedullary nail is implanted into the site of interest. Based on the fourth pose information, adjust the pose information of the sleeve until the extension line of the sleeve displayed in the navigation interface coincides with the extension line of the target locking hole, and the second position identifier of the sleeve in the navigation interface coincides with the first position identifier.

15. The computer-readable storage medium according to any one of claims 11-14, characterized in that, The method further includes: If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a first preset brightness. If the positional information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface at a second preset brightness; the first preset brightness is different from the second preset brightness.

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of a path navigation method, the method comprising: The optical positional measurement instrument (OPI) acquires the pose information of the object to be calibrated sent by the OPI; the pose information is the information recognized by the OPI when the area where the object to be calibrated is located is within the detection area of ​​the OPI; the object to be calibrated includes a sleeve and an intramedullary nail. In response to a calibration operation command corresponding to the object to be calibrated, the object to be calibrated is calibrated; After the object to be calibrated is successfully calibrated, the first pose information of the medical device and the part of interest identified by the optical positioner is obtained; Based on the first pose information and the pre-set surgical navigation planning path for the part of interest, the first navigation prompt information is determined and displayed in the navigation interface; If the object to be calibrated undergoes deformation after being implanted into the region of interest, then in response to the operation command of the calibration control on the navigation interface, the fifth pose information of the object to be calibrated obtained after the probe slides on the surface of the object to be calibrated is acquired. Based on the fifth pose information, the 3D model displayed on the navigation interface is moved; the moved 3D model coincides with the position area corresponding to the fifth pose information.

17. The computer program product according to claim 16, characterized in that, The method further includes: In response to an operation command on the navigation reset control on the navigation interface, a three-dimensional model of the part of interest is displayed; After the object to be calibrated is successfully calibrated, the second pose information of the part of interest sent by the optical position measuring instrument is obtained; The reset information is displayed in the 3D model based on the second pose information; the reset information is used to reset the part of interest.

18. The computer program product according to claim 17, characterized in that, The method further includes: The third pose information of the object to be calibrated, sent by the optical position measuring instrument, is obtained; the third pose information is the information obtained after the object to be calibrated is implanted with the part of interest. Based on the third pose information, a second navigation prompt is displayed in the navigation interface; the second navigation prompt is used to adjust the parameters of the object to be calibrated being implanted into the region of interest.

19. The computer program product according to claim 18, characterized in that, The method further includes: In response to an operation command for a lock pin hole in the lock pin hole list, the lock pin hole is designated as the target lock pin hole, and a first position identifier of the target lock pin hole is displayed in the navigation interface; The fourth pose information of the object to be calibrated, sent by the optical positioner, is obtained; the fourth pose information is obtained after the intramedullary nail is implanted into the site of interest. Based on the fourth pose information, adjust the pose information of the sleeve until the extension line of the sleeve displayed in the navigation interface coincides with the extension line of the target locking hole, and the second position identifier of the sleeve in the navigation interface coincides with the first position identifier.

20. The computer program product according to any one of claims 16-19, characterized in that, The method further includes: If the position and pose information of the object to be calibrated sent by the optical position measuring instrument is successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface with a first preset brightness. If the positional information of the object to be calibrated sent by the optical position measuring instrument is not successfully obtained, the three-dimensional model of the object to be calibrated is displayed on the navigation interface at a second preset brightness; the first preset brightness is different from the second preset brightness.

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