A hip joint position registration method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a hip joint position registration method and device, electronic equipment and storage medium, relating to the technical field of image processing. The hip joint position registration method comprises: determining a plurality of first registration positions on a three-dimensional model based on reference points provided on a hip joint reference frame, wherein the three-dimensional model is a three-dimensional model corresponding to a target hip joint; obtaining the positions of the reference points after the hip joint reference frame is fixed to the target hip joint as second registration positions; performing position registration on the first registration positions and the second registration positions to determine a first transformation relationship between the positions of points on the target hip joint and points on the surface of the three-dimensional model; and transforming the actual positions on the target hip joint according to the first transformation relationship to complete the position registration. The method provided by the embodiments of the present application can accurately perform position registration on the actual positions of the hip joint.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and in particular to a hip joint position registration method, apparatus, electronic device, and storage medium. Background Technology

[0002] Hip replacement surgery is a common artificial joint replacement procedure used to restore the normal function of a patient's hip joint. Currently, doctors need to plan the surgical path based on the patient's hip joint CT (Computed Tomography) images, and then the surgical robot controls the movement of its robotic arms according to the doctor's planned surgical path, thereby assisting the doctor in performing the hip replacement surgery.

[0003] In existing technologies, registration points for registration are obtained based on hip CT images and the actual hip joint. Then, the hip joint is registered according to the positions of the obtained registration points. Obtaining the positions of registration points on the actual hip joint requires acquiring the positions of points collected from the actual hip joint. However, the positions of points collected from the actual hip joint are easily affected by human factors, resulting in low accuracy. Consequently, the accuracy of the obtained registration points is low, leading to low registration results. Summary of the Invention

[0004] The purpose of this invention is to provide a hip joint registration method, device, electronic device, and storage medium to accurately register the actual position of a patient's hip joint. The specific technical solution is as follows:

[0005] According to a first aspect of the present invention, a hip joint position registration method is provided, the method comprising:

[0006] Based on the reference points set on the hip joint reference frame, multiple first registration positions are determined on the three-dimensional model, wherein the three-dimensional model is a three-dimensional model corresponding to the target hip joint;

[0007] The position of the reference point after the hip joint reference frame is fixed to the target hip joint is obtained as the second registration position;

[0008] The first and second registration positions are registered to determine a first transformation relationship between the positions of points on the target hip joint and points on the surface of the three-dimensional model.

[0009] Based on the first transformation relationship, the actual position on the target hip joint is transformed to complete the position registration.

[0010] According to a second aspect of the present invention, a hip joint position registration device is provided, the device comprising:

[0011] The first registration position determination module is used to determine multiple first registration positions on the three-dimensional model based on reference points set on the hip joint reference frame, wherein the three-dimensional model is a three-dimensional model corresponding to the target hip joint;

[0012] The second registration position acquisition module is used to obtain the position of the reference point after the hip joint reference frame is fixed to the target hip joint, as the second registration position;

[0013] The first transformation relationship determination module is used to perform position registration on the first registration position and the second registration position, and determine the first transformation relationship between the position of the point on the target hip joint and the point on the surface of the three-dimensional model.

[0014] The target hip joint position registration module is used to transform the actual position on the target hip joint according to the first transformation relationship to complete the position registration.

[0015] According to a third aspect of the present invention, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0016] Memory, used to store computer programs;

[0017] The processor, when executing a program stored in memory, implements the hip joint position registration method described in the first aspect above.

[0018] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored therein, and the computer program, when executed by a processor, implements the hip joint position registration method described in the first aspect above.

[0019] Beneficial effects of the embodiments of the present invention:

[0020] The hip joint registration scheme provided in this invention can determine multiple first registration positions on a 3D model based on reference points set on a hip joint reference frame, and obtain the position of the reference point after the hip joint reference frame is fixed to the target hip joint, as the second registration position. Since the first registration positions are determined based on reference points, and the second registration positions are the positions of the obtained reference points, the obtained first registration positions correspond to the second registration positions. Because the positions of the reference points on the hip joint reference frame are relatively fixed and outside the target hip joint, the user does not need to determine the direction of the acetabulum in the target hip joint when collecting the second registration positions; they only need to collect the second registration positions according to a preset order, reducing the operational requirements for the user. Since the positions of the reference points on the reference frame are relatively fixed, the accuracy of the collected second registration positions is high. Thus, the accuracy of the first transformation relationship determined based on the obtained first and second registration positions is high, and the accuracy of the registration result is high when performing position registration on the target hip joint according to the first transformation relationship. Therefore, the method provided in this invention can accurately register the actual position of the hip joint.

[0021] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0023] Figure 1 A flowchart illustrating the first hip joint position registration method provided in an embodiment of the present invention;

[0024] Figure 2a A schematic diagram of a pelvic reference frame provided in an embodiment of the present invention;

[0025] Figure 2b A schematic diagram of a femoral reference frame provided in an embodiment of the present invention;

[0026] Figure 2c This is a schematic diagram of a first type of hip joint reference frame provided in an embodiment of the present invention;

[0027] Figure 2d This is a schematic diagram of a second type of hip joint reference frame provided in an embodiment of the present invention;

[0028] Figure 3 This is a flowchart illustrating the second hip joint position registration method provided in an embodiment of the present invention.

[0029] Figure 4a A schematic diagram of the first registration position on the three-dimensional model corresponding to the inner side of the acetabulum of the target hip joint, provided in an embodiment of the present invention;

[0030] Figure 4b A schematic diagram of the first registration position on the three-dimensional model corresponding to the lateral side of the acetabulum on the target hip joint, provided in an embodiment of the present invention;

[0031] Figure 5 This is a flowchart illustrating the second hip joint position registration method provided in an embodiment of the present invention.

[0032] Figure 6 A flowchart illustrating the third hip joint position registration method provided in this embodiment of the invention;

[0033] Figure 7 This is a schematic diagram of the overall process for hip joint position registration provided in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of a hip joint position registration device provided in an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of the present invention.

[0037] Hip replacement surgery is a common artificial joint replacement procedure used to restore the normal function of a patient's hip joint. Currently, doctors need to plan the surgical path based on the patient's hip joint CT (Computed Tomography) images, and then the surgical robot controls the movement of its robotic arms according to the doctor's planned surgical path, thereby assisting the doctor in performing the hip replacement surgery.

[0038] Because the position and shape of the hip joint during surgery often differ from those when the hip joint CT image is acquired, it is difficult for the surgical robot to precisely control the movement of the robotic arm according to the surgical path planned by the surgeon. Therefore, this invention provides a hip joint position registration method to accurately register the actual position of the hip joint.

[0039] The execution subject of the embodiments of the present invention will be described below.

[0040] The execution subject of this invention can be an electronic device, specifically, an electronic device connected to a surgical robot, such as a desktop computer.

[0041] The hip joint position registration method provided by the present invention will be described below through specific embodiments.

[0042] See Figure 1 The flowchart of the first hip joint position registration method is provided, which includes the following steps S101-S104.

[0043] Step S101: Based on the reference points set on the hip joint reference frame, determine multiple first registration positions on the 3D model.

[0044] The three-dimensional model is a three-dimensional model corresponding to the target hip joint, which is the patient's hip joint on the side of the operation.

[0045] The aforementioned hip joint reference frame may include a pelvic reference frame and a femoral reference frame, such as Figure 2a , Figure 2b As shown, Figure 2a A diagram of a pelvic reference frame is provided. Figure 2b A schematic diagram of the femoral reference frame is provided. It can be seen that the pelvic reference frame and the femoral reference frame are fixed to the target hip joint by bone pins held in the clamp.

[0046] The reference points set on the hip joint reference frame are explained below.

[0047] The reference points set on the hip joint reference frame are the points on the hip joint reference frame.

[0048] The first registration position is explained below.

[0049] The first registration position is the position of a point on the surface of the 3D model. Specifically, the first registration position can be the coordinates of a point on the surface of the 3D model in the model's corresponding coordinate system.

[0050] Since there are multiple first registration positions, each first registration position can be assigned a sequence number. The sequence number can be a consecutive positive integer starting from 1, such as 1, 2, 3, etc. The number of first registration positions is consistent with the number of reference points, which can be a preset number, such as 3, 5, etc.

[0051] The first registration position mentioned above can be the model coordinates of a point on the 3D model. For example, the CT coordinates of each point.

[0052] The method by which the electronic device determines the first registration position is explained below. In one case, the reference point can be the point corresponding to the groove on the hip joint reference frame; in another case, the reference point can be the point corresponding to the tracer set on the hip joint reference frame. These two cases will be explained in detail later and will not be elaborated here.

[0053] In one implementation, the first registration position can be determined based on the position of the reference point on the hip joint reference frame and the fixed position of the hip joint reference frame on the target hip joint. This implementation will be described in detail later and will not be elaborated here.

[0054] In another implementation, the electronic device can display a 3D model on a connected display device, allowing the user to observe the model and input a selected position corresponding to a reference point set in the hip joint reference frame using an input device. The electronic device then determines the input position as the first registration position. Specifically, the input device can be a mouse, touchpad, keyboard, etc. The user can use a mouse, touchpad, or other input device to select the position by clicking, or they can use a keyboard, touchpad, or other input devices to input numerical values ​​to select the position.

[0055] Step S102: Obtain the position of the hip joint reference frame fixed to the reference point of the target hip joint, as the second registration position.

[0056] The second registration position is the location of a point on the target hip joint corresponding to the first registration position. Since the target hip joint exists in actual space, the second registration position is the location of these points in actual space. Specifically, the second registration position can be the coordinates of these points in the spatial coordinate system corresponding to the actual space.

[0057] As explained in the preceding description of step S101, there are multiple first registration positions. To determine the second registration position corresponding to each first registration position, the second registration positions can be determined in the order of their serial numbers.

[0058] The second registration position mentioned above can be the optical coordinates of a point on the target hip joint.

[0059] Since the second registration position is the position of the reference point after the hip joint reference frame is fixed to the target hip joint, corresponding to the previous explanation of step S101, there are two cases for the set reference point. Therefore, there are also two cases for the obtained second registration position.

[0060] In one scenario, when the reference point is set to the point corresponding to the groove on the hip joint reference frame, the position of the groove on the hip joint reference frame acquired by the surgical probe with an optical tracer ball connected to the binocular camera can be obtained as the second registration position. In another scenario, when the reference point is set to the point corresponding to the tracer set on the hip joint reference frame, the position of the tracer set on the hip joint reference frame acquired by the binocular camera can be obtained as the second registration position.

[0061] The above two situations will be explained in detail later, and will not be elaborated here.

[0062] Step S103: Perform position registration on the first registration position and the second registration position to determine the first transformation relationship between the points on the target hip joint and the points on the surface of the three-dimensional model.

[0063] Since the 3D model corresponds to the target hip joint, it can be assumed that only rigid body transformations occur between the points on the 3D model and the points on the target hip joint.

[0064] In one scenario, the determined first transformation relationship can be expressed as an expression. Since a rigid body transformation occurs between points on the 3D model and points on the target hip joint, the expression parameters include translation and rotation matrices. Assuming the coordinates of a point on the target hip joint are P, the coordinates of the corresponding point on the 3D model are Q, R1 is the first rotation matrix corresponding to the first transformation relationship, and T1 is the first translation matrix corresponding to the first transformation relationship, then the expression representing the first transformation relationship is:

[0065] Q = R1P + T1;

[0066] In another case, the determined first transformation relationship can also be represented by a transformation matrix determined by the translation matrix and the rotation matrix.

[0067] Similarly, assuming the coordinates of a point on the target hip joint are P, and the coordinates of the corresponding point on the 3D model are Q, R1 is the first rotation matrix corresponding to the first transformation relationship, and T1 is the first translation matrix corresponding to the first transformation relationship, the transformation matrix used to represent the first transformation relationship is:

[0068] For ease of use, you can remember

[0069] At this point, Q = matrix C × P.

[0070] The following explains how the electronic device determines the first transformation relationship.

[0071] In one implementation, the electronic device can use the four-point method for position registration to determine the first transformation relationship. In this case, four first registration positions need to be determined, and these four first registration positions are non-coplanar. Similarly, the determined second registration positions are also four non-coplanar positions. Due to the affine invariance of non-coplanar four points, the electronic device can calculate the transformation matrix based on the four first registration positions and the corresponding four second registration positions, thereby obtaining the first transformation relationship determined based on this transformation matrix.

[0072] In another implementation, the electronic device can use the SVD (Singular Value Decomposition) method to perform position registration between the first registration position and the second registration position, thereby determining the first transformation relationship.

[0073] Specifically, the electronic device can use the SVD method to perform position registration between the first and second registration positions according to the following relationship, and obtain the translation and rotation matrices.

[0074]

[0075]

[0076] q i =p i -p;

[0077] q i ′=p i ′-p′;

[0078]

[0079] H = UΛV T ;

[0080] R = UV;

[0081] T = p ′ -Rp;

[0082] Where n represents the number of determined first registration positions, and since there is a one-to-one correspondence between the first and second registration positions, n also represents the number of second registration positions; p represents the second centroid position corresponding to the second registration position, and p′ represents the first centroid position corresponding to the first registration position; p i p represents the i-th second registration position. i ' represents the i-th first registration position; q i q represents the second centroid displacement vector relative to the second centroid position of the i-th second registration position. i ' represents the first centroid displacement vector of the i-th first registration position relative to the first centroid position; H is the constructed intermediate matrix, H = UΛVT This represents the process of performing singular value decomposition on the intermediate matrix, where U is the first decomposition matrix, V is the second decomposition matrix, R represents the obtained rotation matrix, and T represents the obtained translation matrix.

[0083] In this way, the electronic device can determine the first transformation relationship based on the rotation matrix and translation matrix obtained above.

[0084] Step S104: Based on the first transformation relationship, transform the actual position on the target hip joint to complete the position registration.

[0085] As explained in the previous description of step S103, the first transformation relationship can be the transformation matrix matrixC. The positional relationship between the coordinates Q of a point on the 3D model and the coordinates P of a point on the target hip joint satisfies Q = matrixC × P. In this way, the actual position on the target hip joint can be transformed to complete the position registration.

[0086] The actual position of the target hip joint mentioned above can be based on the position of the target hip joint involved in the subsequent specific application. For example, after the position registration is completed, it is necessary to guide the surgical robot's surgical path based on the registration results. At this time, the actual position of the target hip joint mentioned above can be the position of the target hip joint involved in the surgical path of the surgical robot.

[0087] In one scenario, the electronic device can transform the actual positions on the target hip joint. For example, the electronic device can receive the optical coordinates of the actual positions on the target hip joint acquired by a binocular camera and transform each optical coordinate to obtain the corresponding model coordinates. In another scenario, the electronic device can transform the coordinates of some actual positions on the target hip joint. For example, the electronic device can obtain the optical coordinates of the positions on the target hip joint acquired by a tool at the acquisition position and transform the obtained optical coordinates to obtain the corresponding model coordinates. This embodiment of the invention does not limit the scope of the invention.

[0088] By applying the solution provided in this embodiment, a first registration position on the 3D model can be determined based on reference points set on the hip joint reference frame, and the position of the reference point after the hip joint reference frame is fixed to the target hip joint can be obtained as the second registration position. Thus, the obtained first registration position and second registration position correspond highly. Since the position of the reference point on the hip joint reference frame is fixed and outside the target hip joint, the data collector does not need to determine the direction of the acetabulum when acquiring the second registration position, reducing the operational requirements for the user and improving the accuracy of the obtained second registration position. Therefore, the accuracy of the first transformation relationship determined based on the obtained first and second registration positions is high, and the accuracy of the registration result is high when performing position registration on the target hip joint according to the first transformation relationship. Therefore, the method provided in this embodiment of the invention can accurately perform position registration on the actual position of the hip joint.

[0089] Corresponding to the previous explanation of steps S101 and S102, there are two situations for the reference point set on the hip joint reference frame, and there are also two situations for obtaining the second registration position.

[0090] In one scenario, the hip joint reference frame has multiple grooves, and the lines connecting these grooves form an isosceles triangle. The reference point is the point corresponding to each groove. Taking the pelvic reference frame as an example, such as... Figure 2c As shown, a schematic diagram of the first type of hip joint reference frame is provided. Figure 2c The cube structure on the left is a clamp for the hip joint reference frame. The lower left corner of the upper surface of the clamp is provided with a groove 1, the upper edge is provided with a groove 2, and the lower right corner is provided with a groove 3. Figure 2c The magnified portion on the right side shows the connection between the pelvic reference frame and the fixed pelvis. Of course, the groove can also be provided on other parts of the hip joint reference frame besides the clamp; this embodiment of the invention does not limit this.

[0091] At this point, as explained in step S102, the position of the groove on the hip joint reference frame acquired by the surgical probe with pose acquisition function can be obtained as the second registration position.

[0092] The aforementioned surgical probe with pose acquisition function can be a surgical probe with an optical tracer sphere connected to a binocular camera. The reflective array consists of reflective spheres with a specific geometric relationship. The binocular camera can determine the position of the probe tip through the geometric relationship of the reflective spheres and send this position to the electronic device.

[0093] Specifically, the user can control the position of the surgical probe with an optical tracer ball connected to the binocular camera, move the probe tip to the groove position in sequence, and press the acquisition button. At this time, the binocular camera sends the position of the probe tip to the electronic device, which then determines the received position information as the second registration position corresponding to each first registration position.

[0094] In this way, when the electronic device obtains the position of the surgical probe on the target hip joint as the second registration position, it can determine the position of the surgical probe tip through the specific structure of the reflective array, and accurately obtain the second registration position.

[0095] At this point, the aforementioned spatial coordinate system can be the optical coordinate system corresponding to the image captured by the binocular camera, and the second registration position can be the coordinates of the point on the target hip joint in the optical coordinate system.

[0096] When the electronic device obtains the groove position as the second registration position, the user does not need to determine the direction of the acetabulum during data acquisition, reducing the operational requirements for the user. In addition, the position of the groove on the first hip joint reference frame is relatively fixed, and the position of the first hip joint reference frame relative to the hip joint is relatively fixed. Therefore, the groove position is relatively fixed, and the second registration position obtained by using the groove position as the second registration position has high accuracy.

[0097] In another scenario, the hip joint reference frame is equipped with a tracer, and the reference point is the location corresponding to the tracer on the hip joint reference frame, such as... Figure 2d The diagram shows a second type of hip joint reference frame. It illustrates that a quadrilateral frame is fixed to the hip joint reference frame, and tracers are fixed at the four corners of the quadrilateral frame. The points corresponding to the four tracers are the reference points. The positions of the tracers can be adjusted; for example, the tracers can be positioned... Figure 2d When the x-axis direction is adjusted, the tracer cannot be adjusted in the y-axis or z-axis directions. Of course, the tracer can also be adjusted in the y-axis or z-axis direction, or in two or three of the x-axis, y-axis and z-axis directions. This embodiment of the invention does not limit this.

[0098] The tracker can be equipped with a latch to ensure that the tracker and the hip joint reference frame remain relatively fixed after the tracker position is adjusted.

[0099] At this point, as explained in step S102, the position of the tracer set on the hip joint reference frame, acquired by the pose acquisition device, can be obtained as the second registration position. The pose acquisition device can be a binocular camera.

[0100] When the electronic device obtains the tracer position as the second registration position, the user does not need to determine the direction of the acetabulum, reducing the operational requirements on the user. In addition, the position of the tracer on the second hip joint reference frame is relatively fixed, so the second registration position obtained by using the tracer position as the second registration position has high accuracy.

[0101] Corresponding to the preceding description of step S101, in one embodiment of the present invention, the first registration position can be determined based on the position of the reference point on the hip joint reference frame and the fixed position of the hip joint reference frame on the target hip joint. Specifically, step S101 can be completed through the following steps S101A-S101B.

[0102] Step S101A: Obtain the reference fixation position on the 3D model based on prior knowledge of the hip joint reference frame fixation point on the target hip joint.

[0103] The aforementioned reference fixation position corresponds to the fixation point of the hip joint reference frame on the target hip joint. The prior knowledge of the fixation point of the hip joint reference frame on the target hip joint is a specific medical position on the target hip joint for fixing the hip joint reference frame, summarized based on previous experience in fixing hip joint reference frames on the hip joint.

[0104] Since the 3D model is a 3D model of the target hip joint, the specific medical position on the target hip joint can be indicated by the prior knowledge of the hip joint reference frame fixation point on the target hip joint, and the position corresponding to the above-mentioned specific medical position can be obtained from various positions on the 3D model as the reference fixation position.

[0105] The method for obtaining the reference fixed position is explained below.

[0106] In one implementation, similar to the description of step S101, the electronic device can display a 3D model on a connected display device. This allows the user to observe the 3D model and, based on prior knowledge of the hip joint reference frame fixation points on the target hip joint, input the position of the selected hip joint reference frame fixation point into the electronic device using an input device. The electronic device then obtains the input position as a fixed reference position. Specifically, the input device can be a mouse, touchpad, keyboard, etc. The user can use a mouse, touchpad, or other input devices to select the chosen position by clicking, or they can use a keyboard, touchpad, or other input devices to input numerical values ​​to select the chosen position.

[0107] In another implementation, as explained above, the hip joint reference frame is fixed at a specific medical location on the target hip joint. Therefore, the electronic device can preset the shape parameters corresponding to the fixation points of the hip joint reference frame on the target hip joint based on prior knowledge of the fixation points. In this way, the electronic device can analyze and calculate the shape parameters at various locations on the surface of the 3D model, and obtain the location where the shape parameters conform to the preset shape parameters of the fixation points of the hip joint reference frame, which serves as the reference fixation location. For example, the preset shape parameter can be a curvature vector. The electronic device can analyze and calculate the curvature vectors at various locations on the 3D model, and determine the location on the 3D model where the curvature vector is closest to the preset curvature vector as the reference fixation location.

[0108] Step S101B: Based on the reference fixed position and the reference points set on the hip joint reference frame, determine multiple first registration positions on the three-dimensional model.

[0109] Since the shape of the hip joint reference frame is fixed, the position of the reference point on the hip joint reference frame is also relatively fixed. Therefore, based on the determined fixed reference position, the first registration position can be determined on the 3D model according to the position of the reference point on the hip joint reference frame.

[0110] By determining the first registration position on the 3D model based on the fixed point of the hip joint reference frame on the target hip joint and the reference point set on the hip joint reference frame, it is ensured that the determined first registration position corresponds accurately with the reference point, thereby ensuring that the position of the first registration position corresponds accurately with the position of the reference point, i.e., the second registration position. This method of position registration based on the first and second registration positions achieves high accuracy.

[0111] In one embodiment of the present invention, see Figure 3 A flowchart illustrating the second method for hip joint registration is provided. In this embodiment, step S104 can be completed through step S104A.

[0112] Step S104A: Based on the first transformation relationship and the second transformation relationship, transform the actual position on the target hip joint to complete the position registration.

[0113] Step S104A will be explained in detail later, and will not be described in detail here.

[0114] In this embodiment, before step S104A, the following steps S301-S303 are also included.

[0115] Step S301: Determine the first registration region on the 3D model.

[0116] The first registration region is a region on the surface of the three-dimensional model, which can include two parts: the inner region of the acetabulum and the outer region of the acetabulum on the three-dimensional model.

[0117] like Figure 4a and Figure 4b As shown in the black area, the first registration region is the region on the 3D model corresponding to the medial and lateral sides of the acetabulum on the target hip joint. Among them, Figure 4a A schematic diagram of the first registration position on the 3D model corresponding to the medial side of the acetabulum on the target hip joint is provided. Figure 4b A schematic diagram of the first registration position on the 3D model corresponding to the lateral side of the acetabulum on the target hip joint is provided.

[0118] The method by which the electronic device determines the first registration region is explained below.

[0119] In the first implementation, the electronic device can obtain the representative positions of multiple hip joints selected by the user on the three-dimensional model and obtain the descriptive information of each representative position; based on the obtained representative positions and descriptive information, the first registration region is determined.

[0120] Among them, the phenotypic location of the hip joint is the location determined by the user based on medical knowledge to describe the structure of the hip joint, and the information of each phenotypic location is used to represent the hip joint structure described by each phenotypic location.

[0121] Specifically, the electronic device can display a 3D model on a connected display device, allowing the user to observe the 3D model and input the characteristic location of the target hip joint selected by the user into the electronic device using an input device.

[0122] In one scenario, the electronic device can preset the acquisition order of each representative position and the descriptive information of each representative position. In this way, the user can input the representative position of the hip joint selected by the user into the electronic device in the preset order, and the electronic device can determine the descriptive information corresponding to each representative position according to the acquisition order.

[0123] In another scenario, the user can input descriptive information for each representative location of their chosen target hip joint. This allows the electronic device to obtain both the representative location and its description.

[0124] In the second implementation, the electronic device can obtain the bounding box area selected by the user on the 3D model; and determine the bounding box area as the first registration area.

[0125] Specifically, the electronic device can display a 3D model on a connected display device, allowing the user to observe the model and input a selected area into the electronic device using an input device. The electronic device then designates the input area as the first registration region. Specifically, the input device can be a mouse, touchpad, etc. The user can use a mouse, touchpad, or other input device to define the selected area by drawing a box.

[0126] In one scenario, the user can select the area on the 3D model corresponding to the actual exposed area of ​​the target hip joint as the selection area.

[0127] In this way, the electronic device can efficiently and accurately determine the first registration region based on the medical structural characteristics of the hip joint; it can also determine the first registration region that can be practically used for registration based on the actual exposure of the target hip joint. This improves the efficiency and accuracy of determining the first registration region.

[0128] In the third implementation, the electronic device can preset shape parameters corresponding to positions within the first registration region on the hip joint. This allows the electronic device to analyze and calculate the shape parameters at various locations on the surface of the 3D model, and determine which positions whose shape parameters match the preset shape parameters within the first registration region belong to that region. For example, the preset shape parameters could be the curvature vectors of the medial and lateral regions of the acetabulum. The electronic device can analyze and calculate the curvature vectors at each location to determine which positions belong to the medial and lateral regions of the acetabulum, thus determining the first registration region, which includes both the medial and lateral regions of the acetabulum.

[0129] Step S302: Obtain multiple third registration positions acquired within the second registration region corresponding to the first registration region on the target hip joint.

[0130] The second registration region is the area on the target hip joint corresponding to the first registration region. Since the first registration region includes two parts on the 3D model: the medial region of the acetabulum and the lateral region of the acetabulum, the second registration region also includes two parts on the target hip joint: the medial region of the acetabulum and the lateral region of the acetabulum.

[0131] The third registration position is the location of points on the target hip joint acquired within the second registration region, and these points are located within the second registration region. Since the target hip joint exists in actual space, the third registration position is the location of these points in actual space. Specifically, the third registration position can be the coordinates of these points in the spatial coordinate system corresponding to their actual location.

[0132] Since the second registration region also includes two parts, the medial region of the acetabulum and the lateral region of the acetabulum on the target hip joint, the third registration position can include the location of the points collected on the medial and lateral sides of the acetabulum. The number of these points can be a preset number, such as collecting 15 points on the medial side of the acetabulum corresponding to the first registration region and 20 points on the lateral side of the acetabulum corresponding to the first registration region on the target hip joint.

[0133] Similar to the explanation of step S101 above, since there are multiple third registration positions, each third registration position can be assigned a serial number. The serial number can be a consecutive positive integer starting from 1, such as 1, 2, 3, etc.

[0134] The method for determining the third registration position is explained below.

[0135] In the first implementation, the electronic device can obtain the position of a surgical probe with a reflective array connected to a binocular camera on the target hip joint within a second registration region corresponding to the first registration region, and use this position as the third registration position. Specifically, the user can move the tip of the surgical probe to a position within the second registration region and press the acquisition button. At this time, the binocular camera sends the position of the probe tip to the electronic device, and the electronic device determines the received position information as the third registration position.

[0136] At this point, the aforementioned spatial coordinate system can be the optical coordinate system corresponding to the image acquired by the binocular camera, and the third registration position can be the coordinates of the point on the target hip joint acquired in the second registration area in the optical coordinate system.

[0137] In this way, the binocular camera can accurately obtain the third registration position by determining the location of the surgical probe tip through the specific structure of the reflective array.

[0138] In the second implementation, the electronic device can obtain the position acquired by the surgical probe connected to the camera with a depth sensor as the third registration position. Specifically, the user moves the tip of the surgical probe to a position within the second registration area and presses the acquisition button. The camera sends the determined position to the electronic device, which then sequentially determines the received position information as the third registration position.

[0139] The surgical probes with reflective arrays connected to binocular cameras and those connected to cameras with depth sensors are both tools for acquiring registration positions. In one scenario, to ensure the accuracy of the obtained third registration position, it can be determined whether the second candidate position in the model coordinate system corresponding to the first candidate position of the tool for acquiring registration positions is located within the first registration region. Only when the second candidate position is within the first registration region is the position acquired by the tool for acquiring registration positions used as the third registration position. This scenario will be further explained later and will not be detailed here.

[0140] In the third implementation, the electronic device can perform content matching between the image of the target hip joint acquired by the camera and the 3D model. Based on the content matching result and combined with the image of the target hip joint, the third registration position is determined within the second registration area on the target hip joint.

[0141] Step S303: Based on the positions of each point on the surface of the 3D model, each third registration position and the first transformation relationship, determine the second transformation relationship between the positions of the points on the target hip joint and the points on the surface of the 3D model.

[0142] Similar to the explanation of step S103, since the three-dimensional model corresponds to the target hip joint, it can be assumed that only rigid body transformations occur between the points on the three-dimensional model and the points on the target hip joint.

[0143] In one case, the determined second transformation relationship can be expressed as an expression. Since a rigid body transformation occurs between the point on the 3D model and the point on the target hip joint, the expression parameters include translation and rotation matrices. Assuming the coordinates of the point on the target hip joint are P, the coordinates of the corresponding point on the 3D model are Q, R2 is the second rotation matrix corresponding to the second transformation relationship, and T2 is the second translation matrix corresponding to the second transformation relationship, then the expression for the second transformation relationship is:

[0144] Q = 2P + T²;

[0145] In another case, the determined second transformation relationship can also be represented by a transformation matrix determined by a translation matrix and a rotation matrix.

[0146] Similarly, assuming the coordinates of a point on the target hip joint are P, and the coordinates of the corresponding point on the 3D model are Q, R2 is the second rotation matrix corresponding to the second transformation relationship, and T2 is the second translation matrix corresponding to the second transformation relationship, the transformation matrix used to represent the second transformation relationship is:

[0147] For ease of use, you can remember

[0148] At this point, Q = matrixP × P.

[0149] The following explains how the electronic device determines the second transformation relationship.

[0150] In the first implementation, the positions corresponding to each third registration position can be determined from various points on the surface of the 3D model based on the first transformation relationship. Then, the second transformation relationship can be determined based on the positions of each third registration position and its corresponding position on the surface of the 3D model. Specific implementation details will be provided later. Figure 5 Further details are provided in the corresponding embodiments, but will not be elaborated here.

[0151] In the second implementation method, after collecting a first preset number of third registration positions, the second transformation relationship is determined based on the positions of each point on the 3D model surface, the obtained third registration positions, and the target transformation relationship. The specific implementation method and the method of obtaining the target transformation relationship will be further explained later and will not be detailed here.

[0152] In the third implementation, the position of the point corresponding to the third registration position can be determined from each point on the surface of the three-dimensional model according to the first transformation relationship, and the second transformation relationship can be determined by using the NDT (Normal Distributions Transform) algorithm on the position of the third registration position and the point corresponding to the third registration position.

[0153] As mentioned above, in this embodiment, step S104 can be completed through step S104A.

[0154] Step S104A: Based on the first transformation relationship and the second transformation relationship, transform the actual position on the target hip joint to complete the position registration.

[0155] Specifically, as explained above, the first transformation relationship can be the transformation matrix matrix C, and the second transformation relationship can be the transformation matrix matrix P. The electronic device can obtain the final registration matrix matrix according to the following formula:

[0156] matrix = matrixC × matrixP.

[0157] In this way, the electronic device can determine the final transformation relationship based on the final transformation matrix, and then transform the actual position on the target hip joint according to the final transformation relationship.

[0158] Assuming the actual position on the target hip joint is P′, and its corresponding position on the 3D model after registration is Q′, the electronic device can transform the actual position on the target hip joint according to the following relationship:

[0159] Q′=matrix×P′.

[0160] By applying the solution provided in this embodiment, a second transformation relationship can be obtained based on the third registration position acquired within the second registration region corresponding to the first registration region on the 3D model on the target hip joint, and the first transformation relationship between various points on the 3D model surface and the third registration position. Since the second transformation relationship is obtained based on the first transformation relationship, it is more accurate. Therefore, by transforming the actual position on the target hip joint according to the first and second transformation relationships, position registration can be performed using both the first and second transformation relationships, resulting in higher accuracy than using only either the first or second transformation relationship. Thus, the solution provided in this embodiment can accurately register the actual position of the hip joint.

[0161] In one embodiment of the present invention, see Figure 5 The document provides a flowchart illustrating the second method for hip joint registration. As explained above regarding step S303, in this embodiment, step S303 can be implemented through the following steps S303A-S303C.

[0162] Step S303A: Perform position transformation on each third registration position according to the first transformation relationship to obtain the fourth registration position.

[0163] The fourth registration position is the position obtained after transforming the third registration position, and it is the position on the 3D model. When the third registration position is a coordinate in the spatial coordinate system, the fourth registration position is a coordinate in the model coordinate system. There is a one-to-one correspondence between the third and fourth registration positions.

[0164] In one implementation, as mentioned above, the first transformation relationship can be a transformation matrix C. Assuming the third registration position is p1 and the transformed fourth registration position is q1, the electronic device can perform position transformation on the third registration position using the following relationship:

[0165] q1 = matrixC × p1.

[0166] Step S303B: For each fourth registration position, based on the position of the fourth registration position and each point on the surface of the 3D model, determine the fifth registration position on the surface of the 3D model that is closest to the fourth registration position.

[0167] As explained in step S303A, the fourth registration position can be a coordinate in the model coordinate system. Similarly, the positions of points on the 3D model surface can also be coordinates in the model coordinate system. Thus, the fifth registration position on the 3D model surface that is closest to the fourth registration position can be determined through the relationship between the coordinates. There is a one-to-one correspondence between the fourth and fifth registration positions.

[0168] The fifth registration position mentioned above is the model coordinate of the point closest to the model coordinates obtained after position transformation of the optical coordinates of the third registration position. It can be considered that the point corresponding to each fifth registration position is the nearest point to the point corresponding to the fourth registration position of that fifth registration position.

[0169] The following explains how the electronic device determines the fifth registration position.

[0170] In one implementation, for each fourth registration position, the distance between the position of each point on the model surface and the fourth registration position can be calculated, and the distance closest to the fourth registration position can be determined from the calculated distances. The position corresponding to this distance is then determined as the fifth registration position.

[0171] In another implementation, a kd-tree (k-dimensional tree) method can be used to determine the fifth registration position. Specifically, the space containing the 3D model can be divided into multiple subspaces, each containing only one point from the extracted 3D model surface. In this way, the electronic device can determine the point on the 3D model surface within the subspace corresponding to the fourth registration position as the point closest to that fourth registration position, and the position of this point on the 3D model surface is the fifth registration position.

[0172] Step S303C: Determine the second transformation relationship between the target hip joint and the three-dimensional model based on each third registration position and its corresponding fifth registration position.

[0173] Since the third registration position corresponds one-to-one with the fourth registration position, and the fourth registration position corresponds one-to-one with the fifth registration position, the third registration position corresponds one-to-one with the fifth registration position.

[0174] The following explains how the electronic device determines the second transformation relationship.

[0175] In one implementation, the electronic device can use the SVD method described above to determine the second transformation relationship between the third and fifth registration positions. This registration method is similar to the position registration performed by using the SVD method between the first and second registration positions in the previous description of step S103, and will not be described in detail here.

[0176] In another implementation, the electronic device can iteratively calculate each third registration position and its corresponding fifth registration position based on preset rigid body transformation constraints and preset transformation adjustment termination conditions, thereby determining the second transformation relationship. Specific implementation details will be provided later. Figure 6 Further details are provided in the corresponding embodiments, but will not be elaborated here.

[0177] Using the above method, the third registration position can be transformed using the first transformation relationship to obtain the fourth registration position, and the fifth registration position on the 3D model surface that is closest to each fourth registration position can be determined. Thus, the second transformation relationship can be determined based on the third registration position and its corresponding fifth registration position. This determined second transformation relationship is a further determination based on the first transformation relationship; therefore, the determined second transformation relationship is more accurate than the first transformation relationship. Position registration based on the second transformation relationship can improve the accuracy of the registration.

[0178] In one embodiment of the present invention, see Figure 6 The document provides a flowchart illustrating the third method for hip joint registration. As explained above regarding step S303C, in this embodiment, step S303C can be implemented through the following steps S303C1-S303C3.

[0179] Step S303C1: Based on the distance between the two registration positions, determine the rotation and translation parameters that satisfy the preset rigid body transformation constraints, and obtain the second transformation relationship between the target hip joint and the three-dimensional model determined based on the rotation and translation parameters.

[0180] Each registration position pair includes: a third registration position and a fifth registration position that is closest to the fourth registration position corresponding to the third registration position.

[0181] Specifically, the rotation parameters can be represented by rotation matrices, and the translation parameters can be represented by translation matrices. Thus, similar to the previous explanation of step S303, the second transformation relationship can be determined based on the rotation and translation matrices.

[0182] The aforementioned preset rigid body transformation constraints can take many forms.

[0183] In one scenario, the preset rigid body transformation constraint can be: a constraint that minimizes the average distance between the position after rigid body transformation of each third registration position and the fifth registration position corresponding to each third registration position.

[0184] In this case, by determining the second transformation relationship through the aforementioned preset rigid body transformation constraints, the average distance between the position of each third registration position after rigid body transformation and the fifth registration position corresponding to each third registration position can be minimized, thus making the second transformation relationship accurate. Position registration based on the second transformation relationship can improve the accuracy of registration.

[0185] Specifically, the rotation and translation parameters can be determined using the following expressions.

[0186]

[0187] Among them, E(R) ′ ,T ′ ) represents the preset rigid body transformation constraint conditions, m represents the number of third registration positions, and since the third registration position corresponds one-to-one with the fifth registration position, m also represents the number of fifth registration positions; R ′ T represents a defined rotation parameter. ′ Q represents a defined translation parameter; j P represents the j-th fifth registration position. j This indicates the j-th third registration position.

[0188] In another case, the preset rigid body transformation constraint can be: a constraint that minimizes the maximum distance between the position after rigid body transformation of each third registration position and the fifth registration position corresponding to each third registration position.

[0189] Step S303C2: Perform rigid body transformation on each third registration position using the above translation and rotation parameters to obtain the new fourth registration position corresponding to each third registration position.

[0190] The method for obtaining the new fourth registration position here is similar to the previous description of step S303A, so it will not be described in detail here.

[0191] Step S303C3: For each third registration position, calculate the distance between the new fourth registration position corresponding to the third registration position and the fifth registration position corresponding to the third registration position.

[0192] If the above distance does not meet the preset transformation adjustment end condition, return to step S303B.

[0193] There are multiple cases corresponding to the preset rigid body transformation constraint conditions in the description of step S303C1, and there are also multiple cases for the preset transformation adjustment termination conditions.

[0194] In one scenario, the preset transformation adjustment termination condition is: the average distance between the new fourth registration position corresponding to each third registration position and the fifth registration position corresponding to that third registration position is less than a preset distance threshold.

[0195] In this case, by adjusting the second transformation relationship through the above-mentioned preset transformation adjustment end condition, the average distance between the position of each third registration position after rigid body transformation and the fifth registration position corresponding to each third registration position can be less than the preset distance threshold, thus making the second transformation relationship accurate. Position registration based on the second transformation relationship can improve the accuracy of registration.

[0196] In another case, the preset transformation adjustment end condition is: the maximum distance between the new fourth registration position corresponding to each third registration position and the fifth registration position corresponding to that third registration position is less than a preset distance threshold.

[0197] By using the above methods, and determining and adjusting the second transformation relationship based on preset rigid body transformation constraints and preset transformation adjustment termination conditions, the accuracy of the second transformation relationship can be continuously improved, resulting in a highly accurate final determined second transformation relationship. Therefore, position registration based on the second transformation relationship can improve the accuracy of the registration.

[0198] In one embodiment of the present invention, as described above regarding step S303, the second transformation relationship can be determined based on the positions of various points on the surface of the three-dimensional model, the obtained third registration position, and the target transformation relationship. Specifically, steps S302-S303 can be implemented through the following steps A-B.

[0199] Step A: Obtain a first preset number of third registration positions within a second registration region corresponding to the first registration region on the target hip joint.

[0200] The first preset quantity can be 1, 3, 5, etc., and the embodiments of the present invention do not limit it.

[0201] In one scenario, the electronic device can determine all the acquired positions as the third registration positions.

[0202] In another scenario, the electronic device can filter the obtained positions and determine the position with the required accuracy as the third registration position. This implementation method will be further explained later and will not be detailed here.

[0203] Step B: Based on the positions of each point on the surface of the 3D model, the obtained third registration positions and the target transformation relationship, determine the second transformation relationship between the points on the target hip joint and the points on the surface of the 3D model. If the number of obtained third registration positions does not reach the second preset number, update the target transformation relationship to the second transformation relationship and return to execute step A.

[0204] The initial relationship of the target transformation relationship is the first transformation relationship. The second preset quantity can be 15, 20, etc., and this embodiment of the invention does not limit this.

[0205] The electronic device can display the number of acquired third registration positions on the communication-connected display device, and can also display the number of third registration positions that still need to be acquired, i.e., the difference between the second preset number and the number of acquired third registration positions. When the number of acquired third registration positions reaches the second preset number, the electronic device can display a reminder to end the acquisition process on the communication-connected display device, reminding the user to stop the acquisition.

[0206] In another implementation, after each update of the target transformation relationship, the electronic device can calculate the error present when registering the target hip joint using the target transformation relationship, and adjust the first preset quantity based on the calculated error. Specifically, a correspondence between the aforementioned error and the first preset quantity can be set. For example, when the calculated error is 5mm, the first preset quantity is 6; when the calculated error is 4mm, the first preset quantity is 3.

[0207] The method for determining the second transformation relationship is explained below.

[0208] In one scenario, the position corresponding to each third registration position can be determined from each point on the surface of the 3D model based on the target transformation relationship, thereby determining the second transformation relationship based on the position of each third registration position and the corresponding position on the surface of the 3D model.

[0209] In another case, based on the target transformation relationship, the position of the point corresponding to the third registration position can be determined from each point on the surface of the 3D model, and the NDT algorithm can be used to determine the second transformation relationship between the third registration position and the position of the point corresponding to the third registration position.

[0210] Using the above method, after obtaining a first preset number of third registration positions, the second transformation relationship can be updated according to the target transformation relationship, which is initially the first transformation relationship, and the second transformation relationship can be determined as the target transformation relationship. In this way, as the number of obtained third registration positions increases, the second transformation relationship will be continuously iteratively updated, thereby improving the accuracy of the determined second transformation relationship. Position registration based on the second transformation relationship can improve the accuracy of registration.

[0211] In one embodiment of the present invention, step S302 can be completed by the following steps C-F.

[0212] Step C: Obtain the first candidate position of the tool used to acquire the registration position on the target hip joint in real time.

[0213] The first candidate position mentioned above is the position of the tool used to acquire the registration position. In one case, it can be the optical coordinates of the tool's position obtained by the electronic device.

[0214] Step D: According to the first transformation relationship, perform a position transformation on the first candidate position to obtain the second candidate position.

[0215] The second candidate position is the transformed position of the first candidate position, which is its position on the 3D model. When the first candidate position is a coordinate in the spatial coordinate system, the second candidate position is a coordinate in the model coordinate system. There is a one-to-one correspondence between the first and second candidate positions.

[0216] In one scenario, the second candidate position is the model coordinates obtained by transforming the optical coordinates of the tool's position at the acquisition and registration position acquired by the electronic device.

[0217] Step E: Determine whether the second candidate position is located within the first registration area.

[0218] Specifically, the following methods can be used to determine whether the second candidate position is located within the first registration area.

[0219] In one implementation, it can be determined whether the second candidate position is a point contained within the first registration region. If so, the second candidate position is located within the first registration region; otherwise, the second candidate position is located outside the first registration region.

[0220] In another implementation, as explained in the previous description of step S302, since the tool for acquiring the registration position can be a surgical probe, the tool for acquiring the registration position, i.e., the straight line corresponding to the surgical probe on the 3D model, can be determined based on the second candidate position and the geometry of the tool for acquiring the registration position. It is then determined whether this straight line intersects with the first registration area. If it does, the second candidate position is located within the first registration area; otherwise, the second candidate position is located outside the first registration area.

[0221] Step F: When the second candidate position is within the first registration area, in response to the position acquisition command, the current position of the tool is obtained and the current position is determined as the third registration position.

[0222] The current position of the aforementioned tool is the first candidate position for the tool corresponding to the position acquisition command.

[0223] This method of obtaining the third registration position ensures that the position of the third registration position after position transformation is within the first registration area, thus guaranteeing the accuracy of the obtained third registration position.

[0224] Because the obtained third registration position has high accuracy, fewer third registration positions are needed to achieve the same registration accuracy when using the third registration position for registration; and when using the same number of third registration positions for registration, the success rate of achieving the required registration accuracy is high.

[0225] Furthermore, prior to step F above, there may be the following steps G-H.

[0226] Step G: Obtain the shortest distance between the second candidate location and the surface of the 3D model.

[0227] The shortest distance between the aforementioned second candidate position and the surface of the 3D model can be the closest distance from the second candidate position to the surface of the 3D model, which is the distance along the normal direction of the 3D model surface. Specifically, the electronic device can determine the point on the surface of the 3D model where the normal passes through the second candidate position, thereby determining the distance between that point and the second candidate position, which is taken as the shortest distance between the second candidate position and the surface of the 3D model.

[0228] Step H: Determine whether the shortest distance is less than the preset error distance.

[0229] If the shortest distance is less than the preset error distance, it means that the accuracy of the second candidate position can meet the registration requirements, and the accuracy of the first candidate position corresponding to the second candidate position can meet the registration requirements. At this time, proceed to step F.

[0230] In addition, electronic devices can also indicate to the user that the accuracy of the first candidate position meets the registration requirements. For example, a signal indicating that the accuracy of the first candidate position meets the registration requirements can be displayed on a display device connected to it; or, for example, an audible prompt can be emitted to indicate that the accuracy of the first candidate position meets the registration requirements.

[0231] The preset error distance can be 5mm, 10mm, etc., and the embodiments of the present invention do not limit it.

[0232] In this way, while ensuring that the position of the third registration position after position transformation is within the first registration area, it is further guaranteed that the shortest distance between the position of the third registration position after position transformation and the surface of the 3D model is less than the preset error distance, thus ensuring the accuracy of the obtained third registration position.

[0233] Because the obtained third registration position has high accuracy, fewer third registration positions are needed to achieve the same registration accuracy when using the third registration position for registration; and when using the same number of third registration positions for registration, the success rate of achieving the required registration accuracy is high.

[0234] Using the first candidate position as the third registration position, the accuracy of the obtained third registration position can meet the registration requirements.

[0235] When the shortest distance between the second candidate position and the surface of the 3D model is not less than the preset error distance, it indicates that the accuracy of the second candidate position cannot meet the registration requirements, and the accuracy of the first candidate position corresponding to the second candidate position also cannot meet the registration requirements. In this case, the first candidate position cannot be used as the third registration position.

[0236] As explained above regarding step S302, the electronic device can obtain the position acquired by the surgical probe connected to the camera with the depth sensor as the third registration position. Specifically, the user moves the tip of the surgical probe to a position within the second registration area and presses the acquisition button. At this time, the binocular camera sends the position of the probe tip to the electronic device, and the electronic device determines the received position information as the third registration position.

[0237] This improves the accuracy of the obtained third registration position, and the accuracy of determining the second transformation relationship based on the third registration position is also high. Position registration based on this determined second transformation relationship can further improve the accuracy of the registration.

[0238] In one embodiment of the present invention, the first registration region can be updated according to the actual situation of the target hip joint. Specifically, this can be accomplished through the following steps I-K.

[0239] Step I: The tool for acquiring the registration position acquires the second region update position belonging to the hip joint registration area on the target hip joint.

[0240] The updated position in the second region is the position of the tool used to acquire the registration position. In one case, it can be the optical coordinates of the tool's position obtained by the electronic device.

[0241] Step J: Based on the relationship between the second region update position acquired on the target hip joint and the first transformation, determine the first region update position on the surface of the 3D model that corresponds to the second region update position acquired on the target hip joint.

[0242] The updated position of the first region is the position obtained after transforming the updated position of the second region, and it is the position on the 3D model. When the updated position of the second region is a coordinate in the spatial coordinate system, the updated position of the first region is a coordinate in the model coordinate system. There is a one-to-one correspondence between the updated positions of the first and second regions.

[0243] Step K: Update the first registration region according to the determined first region update position.

[0244] Specifically, the electronic device can use the determined first region update position as the boundary position of the updated first registration region, thereby determining the updated first registration region based on the boundary position and completing the update of the first registration region.

[0245] Since the first registration region corresponds to the second registration region, and the second registration region is located on the target hip joint, steps I-K can be considered as updating the first registration region based on the updated second registration region. The updated position of the second region obtained in step I is the boundary position of the updated second registration region. Therefore, the updated position of the first region obtained after position transformation of the updated position of the second region is the boundary position of the updated first registration region. In this way, the electronic device can update the first registration region based on the updated position of the first region.

[0246] The above steps I-K can be performed before step S104, i.e., before obtaining multiple third registration positions, or after obtaining multiple third registration positions. The present invention does not limit this.

[0247] In this way, the first registration region can be updated according to the actual situation of the target hip joint, thereby ensuring that the points in the first registration region can be acquired, which in turn ensures the accuracy of the obtained third registration position.

[0248] The following describes the overall process of hip joint registration.

[0249] See Figure 7 , Figure 7 A schematic diagram of the overall process for hip joint registration is provided. Specifically, it includes the following steps S701-S714.

[0250] Step S701: Obtain a three-dimensional model of the target hip joint.

[0251] Step S702: Determine the first registration region in three dimensions, and determine multiple first registration positions based on the reference points set on the hip joint reference frame.

[0252] Step S703: Obtain the position of the hip joint reference frame fixed to the reference point of the target hip joint, as the second registration position.

[0253] Step S704: Register the first registration position and the second registration position to obtain the first transformation relationship between the three-dimensional model and the target hip joint.

[0254] Step S705: The user moves the tool to the acquisition registration position on the target hip joint.

[0255] Step S706: Based on the first transformation relationship, obtain the position of the tool for acquiring and registering positions in the 3D model in real time.

[0256] Step S707: Determine whether the corresponding position of the tool for acquiring the registration position in the 3D model is within the first registration area. If yes, proceed to step S708; otherwise, proceed to step S713.

[0257] Step S708: Determine whether the shortest distance between the corresponding position of the acquisition and registration position tool in the 3D model and the surface of the 3D model is less than the preset error distance.

[0258] If yes, proceed to step S709; otherwise, proceed to step S714.

[0259] Step S709: Using audio-visual information, remind the user to acquire the third registration position in the second registration area corresponding to the first registration area on the target hip joint, and obtain the acquired third registration position.

[0260] Step S710: Determine whether the number of third registration positions obtained in the second registration area is not less than the preset number.

[0261] If yes, proceed to step S711; otherwise, proceed to step S705.

[0262] Step S711: Determine the second transformation relationship between the 3D model and the target hip joint based on the first transformation relationship and the third registration position.

[0263] Step S712: Transform the actual position on the target hip joint according to the first transformation relationship and the second transformation relationship.

[0264] Step S713: Move the tool for acquiring and registering the position so that the corresponding position of the tool for acquiring and registering the position in the 3D model is located within the first registration area, and then execute step S706.

[0265] Step S714: Move the tool for acquiring and registering the position closer to the target hip joint, and execute step S706.

[0266] In one case, step S713 can be completed by the following steps S713A-S713D.

[0267] S713A: Determine whether the tool for acquiring the registration position can be moved to the second registration area corresponding to the first registration area. If yes, proceed to step S713D; if no, proceed to step S713B.

[0268] Step S713B: Use the tool for acquiring and registering the location to obtain the updated location of the second region.

[0269] Step S713C: Determine the first region update position based on the first transformation relationship and the second region update position, and update the first registration region based on the first region update position.

[0270] Step S713D: Move the tool for acquiring and registering the position so that the corresponding position of the tool for acquiring and registering the position in the 3D model is located within the first registration area, and then execute step S706.

[0271] Corresponding to the above-described hip joint position registration method, this embodiment of the invention also provides a hip joint position registration device.

[0272] See Figure 8 A schematic diagram of a hip joint position registration device is provided, the device comprising:

[0273] The first registration position determination module 801 is used to determine multiple first registration positions on the three-dimensional model based on reference points set on the hip joint reference frame, wherein the three-dimensional model is a three-dimensional model corresponding to the target hip joint;

[0274] The second registration position acquisition module 802 is used to obtain the position of the reference point after the hip joint reference frame is fixed to the target hip joint, as the second registration position;

[0275] The first transformation relationship determination module 803 is used to perform position registration on the first registration position and the second registration position, and determine the first transformation relationship between the position of the point on the target hip joint and the point on the surface of the three-dimensional model.

[0276] The target hip joint position registration module 804 is used to transform the actual position on the target hip joint according to the first transformation relationship to complete the position registration.

[0277] By applying the solution provided in this embodiment, a first registration position on the 3D model can be determined based on reference points set on the hip joint reference frame, and the position of the reference point after the hip joint reference frame is fixed to the target hip joint can be obtained as the second registration position. Thus, the obtained first registration position and second registration position correspond highly. Since the position of the reference point on the hip joint reference frame is fixed and outside the target hip joint, the data collector does not need to determine the direction of the acetabulum when acquiring the second registration position, reducing the operational requirements for the user and improving the accuracy of the obtained second registration position. Therefore, the accuracy of the first transformation relationship determined based on the obtained first and second registration positions is high, and the accuracy of the registration result is high when performing position registration on the target hip joint according to the first transformation relationship. Therefore, the method provided in this embodiment of the invention can accurately perform position registration on the actual position of the hip joint.

[0278] In one embodiment of the present invention, the hip joint reference frame is provided with multiple grooves, and the lines connecting the multiple grooves form an scalene triangle, wherein the reference point is the point corresponding to the groove.

[0279] The second registration position acquisition module 802 is specifically used to obtain the position of the groove on the hip joint reference frame acquired by the surgical probe with pose acquisition function, as the second registration position.

[0280] When the electronic device obtains the groove position as the second registration position, the user does not need to determine the direction of the acetabulum during data acquisition, reducing the operational requirements for the user. In addition, the position of the groove on the first hip joint reference frame is relatively fixed, and the position of the first hip joint reference frame relative to the hip joint is relatively fixed. Therefore, the groove position is relatively fixed, and the second registration position obtained by using the groove position as the second registration position has high accuracy.

[0281] In one embodiment of the present invention, the hip joint reference frame is provided with a tracer, and the reference point is the point corresponding to the tracer provided on the hip joint reference frame;

[0282] The second registration position acquisition module 802 is specifically used to obtain the position of the tracer set on the hip joint reference frame acquired by the pose acquisition device, as the second registration position.

[0283] When the electronic device obtains the tracer position as the second registration position, the user does not need to determine the direction of the acetabulum, reducing the operational requirements on the user. In addition, the position of the tracer on the second hip joint reference frame is relatively fixed, so the second registration position obtained by using the tracer position as the second registration position has high accuracy.

[0284] In one embodiment of the present invention, the first registration position determination module 801 includes:

[0285] A reference fixed position determination unit is used to obtain the reference fixed position on the three-dimensional model based on prior knowledge of the hip joint reference frame fixation point on the target hip joint;

[0286] The first registration position determination unit is used to determine multiple first registration positions on the three-dimensional model based on the reference fixed position and the reference point set on the hip joint reference frame.

[0287] By determining the first registration position on the 3D model based on the fixed point of the hip joint reference frame on the target hip joint and the reference point set on the hip joint reference frame, it is ensured that the determined first registration position corresponds accurately with the reference point, thereby ensuring that the position of the first registration position corresponds accurately with the position of the reference point, i.e., the second registration position. This method of position registration based on the first and second registration positions achieves high accuracy.

[0288] In one embodiment of the present invention, the apparatus further includes:

[0289] The first registration region determination module is used to determine the first registration region on the three-dimensional model;

[0290] The third registration position acquisition module is used to acquire multiple third registration positions acquired in a second registration region on the target hip joint corresponding to the first registration region;

[0291] The second transformation relationship determination module is used to determine the second transformation relationship between the position of the point on the target hip joint and the point on the three-dimensional model surface based on the position of each point on the surface of the three-dimensional model, each third registration position and the first transformation relationship;

[0292] The target hip joint position registration module 804 is specifically used to transform the actual position on the target hip joint according to the first transformation relationship and the second transformation relationship to complete the position registration.

[0293] By applying the solution provided in this embodiment, a second transformation relationship can be obtained based on the third registration position acquired within the second registration region corresponding to the first registration region on the 3D model on the target hip joint, and the first transformation relationship between various points on the 3D model surface and the third registration position. Since the second transformation relationship is obtained based on the first transformation relationship, it is more accurate. Therefore, by transforming the actual position on the target hip joint according to the first and second transformation relationships, position registration can be performed using both the first and second transformation relationships, resulting in higher accuracy than using only either the first or second transformation relationship. Thus, the solution provided in this embodiment can accurately register the actual position of the hip joint.

[0294] In one embodiment of the present invention, the second transformation relationship determination module includes:

[0295] The fourth registration position acquisition unit is used to perform position transformation on each of the third registration positions according to the first transformation relationship to obtain the fourth registration position;

[0296] The fifth registration position determination unit is used to determine, for each fourth registration position, the fifth registration position on the surface of the three-dimensional model that is closest to the fourth registration position, based on the position of the fourth registration position and each point on the surface of the three-dimensional model.

[0297] The second transformation relationship determination unit is used to determine the second transformation relationship between the target hip joint and the three-dimensional model based on each third registration position and its corresponding fifth registration position.

[0298] Using the above method, the third registration position can be transformed using the first transformation relationship to obtain the fourth registration position, and the fifth registration position on the 3D model surface that is closest to each fourth registration position can be determined. Thus, the second transformation relationship can be determined based on the third registration position and its corresponding fifth registration position. This determined second transformation relationship is a further determination based on the first transformation relationship; therefore, the determined second transformation relationship is more accurate than the first transformation relationship. Position registration based on the second transformation relationship can improve the accuracy of the registration.

[0299] In one embodiment of the present invention, the apparatus further includes:

[0300] The second region update position acquisition module is used to obtain the second region update position belonging to the hip joint registration region acquired by the tool for acquiring the registration position on the target hip joint.

[0301] The first region update position determination module is used to determine the first region update position on the surface of the three-dimensional model corresponding to the second region update position collected on the target hip joint, based on the second region update position collected on the target hip joint and the first transformation relationship.

[0302] The first registration region update module is used to update the first registration region according to the determined first region update position.

[0303] In this way, the first registration region can be updated according to the actual situation of the target hip joint, thereby ensuring that the points in the first registration region can be acquired, which in turn ensures the accuracy of the obtained third registration position.

[0304] In one embodiment of the present invention, the third registration position acquisition module includes:

[0305] The first candidate position acquisition unit is used to acquire the first candidate position of the tool used to acquire the registration position on the target hip joint in real time.

[0306] The second candidate position acquisition unit is used to perform position transformation on the first candidate position according to the first transformation relationship to obtain the second candidate position;

[0307] A position determination unit is used to determine whether the second candidate position is located within the first registration area;

[0308] The third registration position determination unit is used to obtain the current position of the tool in response to a position acquisition command when the second candidate position is located within the first registration area, and to determine the current position as the third registration position.

[0309] This method of obtaining the third registration position ensures that the position of the third registration position after position transformation is within the first registration area, thus guaranteeing the accuracy of the obtained third registration position.

[0310] In one embodiment of the present invention, the third registration position acquisition module further includes:

[0311] The shortest distance acquisition unit is used to obtain the shortest distance between the second candidate position and the surface of the three-dimensional model before the third registration position determination unit is triggered;

[0312] The shortest distance determination unit is used to determine whether the shortest distance is less than a preset error distance; if so, the third registration position determination unit is triggered.

[0313] In this way, while ensuring that the position of the third registration position after position transformation is within the first registration area, it is further guaranteed that the shortest distance between the position of the third registration position after position transformation and the surface of the 3D model is less than the preset error distance, thus ensuring the accuracy of the obtained third registration position.

[0314] In one embodiment of the present invention, the first registration region determination module is specifically used to obtain the representative position of the hip joint selected by the user on the three-dimensional model, and obtain the descriptive information of each representative position; determine the first registration region according to the obtained representative position and descriptive information; and / or obtain the bounding box region selected by the user on the three-dimensional model; and determine the bounding box region as the first registration region.

[0315] In this way, the electronic device can efficiently and accurately determine the first registration region based on the medical structural characteristics of the hip joint; it can also determine the first registration region that can be practically used for registration based on the actual exposure of the target hip joint. This improves the efficiency and accuracy of determining the first registration region.

[0316] In one embodiment of the present invention, the third registration position acquisition module is specifically used to obtain the position of the surgical probe with a reflective array connected to the binocular camera in the second registration area on the target hip joint corresponding to the first registration area, as the third registration position.

[0317] In this way, the binocular camera can accurately obtain the third registration position by determining the location of the surgical probe tip through the specific structure of the reflective array.

[0318] This invention also provides an electronic device, such as... Figure 9 As shown, it includes a processor 901, a communication interface 902, a memory 903, and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904.

[0319] Memory 903 is used to store computer programs;

[0320] The processor 901, when executing the program stored in the memory 903, implements the hip joint position registration method provided in the first aspect above.

[0321] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0322] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0323] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0324] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0325] In another embodiment of the present invention, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the hip joint position registration method provided in the first aspect above.

[0326] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0327] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0328] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, and storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0329] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A method for hip joint registration, characterized in that, The method includes: Based on the reference points set on the hip joint reference frame, multiple first registration positions are determined on the three-dimensional model, wherein the three-dimensional model is a three-dimensional model corresponding to the target hip joint; The position of the reference point after the hip joint reference frame is fixed to the target hip joint is obtained as the second registration position; The first and second registration positions are registered to determine a first transformation relationship between the positions of points on the target hip joint and points on the surface of the three-dimensional model. Determine the first registration region on the three-dimensional model; Multiple third registration positions are acquired within a second registration region on the target hip joint corresponding to the first registration region; Based on the positions of each point on the surface of the three-dimensional model, each third registration position and the first transformation relationship, a second transformation relationship between the positions of the points on the target hip joint and the points on the surface of the three-dimensional model is determined. Based on the first transformation relationship and the second transformation relationship, the actual position on the target hip joint is transformed to complete the position registration.

2. The method according to claim 1, characterized in that, The hip joint reference frame is provided with multiple grooves, and the lines connecting the multiple grooves form an irregular triangle. The reference point is the point corresponding to the groove. The step of obtaining the position of the reference point after the hip joint reference frame is fixed to the target hip joint, as the second registration position, includes: The position of the groove on the hip joint reference frame acquired by the surgical probe with pose acquisition function is obtained as the second registration position.

3. The method according to claim 1, characterized in that, The hip joint reference frame is equipped with a tracer, and the reference point is the point corresponding to the tracer set on the hip joint reference frame; The step of obtaining the position of the reference point after the hip joint reference frame is fixed to the target hip joint, as the second registration position, includes: The position of the tracer set on the hip joint reference frame, acquired by the pose acquisition device, is used as the second registration position.

4. The method according to claim 1, characterized in that, The determination of multiple first registration positions on the 3D model based on reference points set on the hip joint reference frame includes: Obtain the reference fixation position on the three-dimensional model based on prior knowledge of the hip joint reference frame fixation point on the target hip joint; Based on the reference fixed position and the reference point set on the hip joint reference frame, multiple first registration positions are determined on the three-dimensional model.

5. The method according to claim 1, characterized in that, The step of determining the second transformation relationship between the positions of points on the target hip joint and points on the three-dimensional model surface based on the positions of each point on the surface of the three-dimensional model, each third registration position, and the first transformation relationship includes: The third registration positions are transformed according to the first transformation relationship to obtain the fourth registration positions; For each fourth registration position, based on the position of the fourth registration position and each point on the surface of the three-dimensional model, determine the fifth registration position on the surface of the three-dimensional model that is closest to the fourth registration position; Based on each third registration position and its corresponding fifth registration position, a second transformation relationship between the target hip joint and the three-dimensional model is determined.

6. The method according to claim 1, characterized in that, The method further includes: The tool for obtaining the registration position acquires the updated position of the second region belonging to the hip joint registration area on the target hip joint; Based on the relationship between the second region update position acquired on the target hip joint and the first transformation, determine the first region update position on the surface of the three-dimensional model that corresponds to the second region update position acquired on the target hip joint. Update the first registration region according to the determined first region update position.

7. The method according to claim 1, characterized in that, The acquisition of multiple third registration positions within a second registration region corresponding to the first registration region on the target hip joint includes: The first candidate position of the tool used to acquire the registration position on the target hip joint is obtained in real time. Based on the first transformation relationship, the first candidate position is transformed to obtain the second candidate position; Determine whether the second candidate position is located within the first registration area; When the second candidate position is located within the first registration area, in response to the position acquisition command, the current position of the tool is obtained, and the current position is determined as the third registration position.

8. The method according to claim 7, characterized in that, Before obtaining the current position of the tool in response to the position acquisition command and determining the current position as the third registration position, the method further includes: Obtain the shortest distance between the second candidate position and the surface of the three-dimensional model; Determine whether the shortest distance is less than a preset error distance; If so, then the steps of responding to the position acquisition instruction, obtaining the current position of the tool, and determining the current position as the third registration position are executed.

9. The method according to any one of claims 1, 5-8, characterized in that, Determining the first registration region on the 3D model includes: Obtain the representative location of the hip joint selected by the user on the 3D model, and obtain the descriptive information of each representative location; determine the first registration region based on the obtained representative locations and descriptive information; and / or Obtain the bounding box region selected by the user on the 3D model; determine the bounding box region as the first registration region.

10. The method according to any one of claims 1, 5-8, characterized in that, The acquisition of multiple third registration positions within a second registration region corresponding to the first registration region on the target hip joint includes: The position acquired by the surgical probe with a reflective array connected to the binocular camera on the target hip joint within a second registration region corresponding to the first registration region is used as the third registration position.

11. A hip joint position registration device, characterized in that, The device includes: The first registration position determination module is used to determine multiple first registration positions on the three-dimensional model based on reference points set on the hip joint reference frame, wherein the three-dimensional model is a three-dimensional model corresponding to the target hip joint; The second registration position acquisition module is used to obtain the position of the reference point after the hip joint reference frame is fixed to the target hip joint, as the second registration position; The first transformation relationship determination module is used to perform position registration on the first registration position and the second registration position, and determine the first transformation relationship between the position of the point on the target hip joint and the point on the surface of the three-dimensional model. The target hip joint position registration module is used to transform the actual position on the target hip joint according to the first transformation relationship to complete the position registration; The device further includes: The first registration region determination module is used to determine the first registration region on the three-dimensional model; The third registration position acquisition module is used to acquire multiple third registration positions acquired in a second registration region on the target hip joint corresponding to the first registration region; The second transformation relationship determination module is used to determine the second transformation relationship between the position of the point on the target hip joint and the point on the three-dimensional model surface based on the position of each point on the surface of the three-dimensional model, each third registration position and the first transformation relationship; The target hip joint position registration module is specifically used to transform the actual position on the target hip joint according to the first transformation relationship and the second transformation relationship to complete the position registration.

12. The apparatus according to claim 11, characterized in that, The hip joint reference frame is provided with multiple grooves, and the lines connecting the multiple grooves form an irregular triangle. The reference point is the point corresponding to the groove. The second registration position acquisition module is specifically used to obtain the position of the groove on the hip joint reference frame acquired by the surgical probe with pose acquisition function, as the second registration position.

13. The apparatus according to claim 11, characterized in that, The hip joint reference frame is equipped with a tracer, and the reference point is the point corresponding to the tracer set on the hip joint reference frame; The second registration position acquisition module is specifically used to obtain the position of the tracer set on the hip joint reference frame acquired by the pose acquisition device, as the second registration position.

14. The apparatus according to claim 11, characterized in that, The first registration position determination module includes: A reference fixed position determination unit is used to obtain the reference fixed position on the three-dimensional model based on prior knowledge of the hip joint reference frame fixation point on the target hip joint; The first registration position determination unit is used to determine multiple first registration positions on the three-dimensional model based on the reference fixed position and the reference point set on the hip joint reference frame.

15. The apparatus according to claim 11, characterized in that, The second transformation relationship determination module includes: The fourth registration position acquisition unit is used to perform position transformation on each of the third registration positions according to the first transformation relationship to obtain the fourth registration position; The fifth registration position determination unit is used to determine, for each fourth registration position, the fifth registration position on the surface of the three-dimensional model that is closest to the fourth registration position, based on the position of the fourth registration position and each point on the surface of the three-dimensional model. The second transformation relationship determination unit is used to determine the second transformation relationship between the target hip joint and the three-dimensional model based on each third registration position and its corresponding fifth registration position.

16. The apparatus according to claim 11, characterized in that, The device further includes: The second region update position acquisition module is used to obtain the second region update position belonging to the hip joint registration region acquired by the tool for acquiring the registration position on the target hip joint. The first region update position determination module is used to determine the first region update position on the surface of the three-dimensional model corresponding to the second region update position collected on the target hip joint, based on the second region update position collected on the target hip joint and the first transformation relationship. The first registration region update module is used to update the first registration region according to the determined first region update position.

17. The apparatus according to claim 11, characterized in that, The third registration position acquisition module includes: The first candidate position acquisition unit is used to acquire the first candidate position of the tool used to acquire the registration position on the target hip joint in real time. The second candidate position acquisition unit is used to perform position transformation on the first candidate position according to the first transformation relationship to obtain the second candidate position; A position determination unit is used to determine whether the second candidate position is located within the first registration area; The third registration position determination unit is used to obtain the current position of the tool in response to a position acquisition command when the second candidate position is located within the first registration area, and to determine the current position as the third registration position.

18. The apparatus according to claim 17, characterized in that, The third registration position acquisition module further includes: The shortest distance acquisition unit is used to obtain the shortest distance between the second candidate position and the surface of the three-dimensional model before the third registration position determination unit is triggered; The shortest distance determination unit is used to determine whether the shortest distance is less than a preset error distance; if so, the third registration position determination unit is triggered.

19. The apparatus according to any one of claims 11, 15-18, characterized in that, The first registration region determination module is specifically used to obtain the representative position of the hip joint selected by the user on the three-dimensional model, and obtain the descriptive information of each representative position; and determine the first registration region based on the obtained representative position and descriptive information. And / or obtain the bounding box region selected by the user on the 3D model; The selected area is defined as the first registration area.

20. The apparatus according to any one of claims 11, 15-18, characterized in that, The third registration position acquisition module is specifically used to acquire the position of the surgical probe with a reflective array connected to the binocular camera on the target hip joint within a second registration area corresponding to the first registration area, as the third registration position.

21. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the method described in any one of claims 1-10.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-10.

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