Intraoperative navigation system and method for bone correction surgery

Abstract

The application discloses an intraoperative navigation system and method for bone correction surgery. The features include: scanning at least one target marker point in a surgical object, recording a first marker point set of the surgical object, and obtaining a three-dimensional scanning image of the surgical object; performing model surface extraction on the three-dimensional scanning image to obtain a surface three-dimensional model, constructing a three-dimensional coordinate system based on the surface three-dimensional model, and obtaining a second marker point set; performing three-dimensional bone correction simulation based on the surface three-dimensional model, determining a simulated correction three-dimensional model, mapping the second marker point set in the correction three-dimensional model, and obtaining a third marker point set under the three-dimensional coordinate system; determining a coordinate system conversion matrix between the three-dimensional coordinate system and an optical space coordinate system, and determining a fifth marker point set based on the coordinate system conversion matrix; obtaining a sixth marker point set of the surgical object after surgery based on a surgical instrument, and adjusting a postoperative correction angle of the surgical object according to the sixth marker point set. The positioning and adjustment of the bone correction angle during the surgery are realized.

Description

Technical Field

[0001] This invention relates to the field of intraoperative navigation, and more particularly to an intraoperative navigation system and method for bone correction surgery. Background Technology

[0002] Currently, bone correction primarily involves surgical adjustments to the patient's bones, effectively resolving bone problems. However, the angle of bone correction significantly impacts the surgical outcome. If the angle cannot be precisely controlled, it can affect the patient's appearance and vision. Existing techniques lack specialized positioning and measurement equipment during bone correction surgery, making it difficult to determine if the corrected angle is meeting expectations. This necessitates a high level of experience from the surgeon, and if the corrected angle fails to meet expectations, a second surgery is required, severely impacting the patient's treatment experience. Summary of the Invention

[0003] This invention provides an intraoperative navigation system and method for bone correction surgery, enabling navigation during bone correction surgery and completing the correction of the patient's bones in a single bone correction surgery.

[0004] According to one aspect of the present invention, an intraoperative navigation system for bone correction surgery is provided, comprising: a preoperative scanning module, a preoperative preprocessing module, a navigation model construction module, an intraoperative registration module, and a postoperative adjustment module; wherein: The preoperative scanning module is used to scan at least one target marker point in the surgical object, record the first marker point set of the surgical object, and obtain a three-dimensional scan image of the surgical object through a three-dimensional scanning system. The preoperative preprocessing module is used to extract the model surface from the three-dimensional scan image to obtain the surface three-dimensional model of the surgical object, construct a three-dimensional coordinate system based on the surface three-dimensional model, and map the first set of marker points under the three-dimensional coordinate system to obtain the second set of marker points. The navigation model construction module is used to perform a three-dimensional skeletal correction simulation based on the skeletal correction marker points and skeletal correction angles according to the surface three-dimensional model, determine the simulated correction three-dimensional model, and map the second set of marker points into the correction three-dimensional model to obtain the third set of marker points in the three-dimensional coordinate system. The intraoperative registration module is used to acquire the preoperative tip spatial coordinates and preoperative tool pose of the surgical instrument, establish an optical spatial coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose, acquire the first and fourth sets of correction markers and target markers in the optical spatial coordinate system, determine the coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system based on the second and fourth set of markers, and determine the fifth set of markers corresponding to the third set of markers based on the coordinate system transformation matrix. The postoperative adjustment module is used to obtain the target marker point of the surgical object in the sixth marker point set in the optical space coordinate system based on the surgical instruments, and to adjust the postoperative correction angle of the surgical object according to the first correction marker point, the fifth marker point set and the sixth marker point set.

[0005] According to another aspect of the present invention, an intraoperative navigation method for bone correction surgery is provided, comprising: At least one target marker point in the surgical object is scanned by the preoperative scanning module, the first set of marker points of the surgical object is recorded, and the three-dimensional scan image of the surgical object is obtained by the three-dimensional scanning system. The surface of the three-dimensional scan image is extracted by the preoperative preprocessing module to obtain the surface three-dimensional model of the surgical object. A three-dimensional coordinate system is constructed based on the surface three-dimensional model, and the first set of marker points is mapped under the three-dimensional coordinate system to obtain the second set of marker points. The navigation model construction module performs a three-dimensional skeletal correction simulation based on the skeletal correction markers and skeletal correction angles according to the surface three-dimensional model, determines the simulated correction three-dimensional model, and maps the second set of markers into the correction three-dimensional model to obtain the third set of markers in the three-dimensional coordinate system. The preoperative tip spatial coordinates and preoperative tool pose of the surgical instruments are obtained through the intraoperative registration module. An optical spatial coordinate system is established based on the preoperative tip spatial coordinates and the preoperative tool pose. The first and fourth sets of bone correction markers and target markers are obtained in the optical spatial coordinate system. The coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system is determined based on the second and fourth sets of markers. The fifth set of markers corresponding to the third set of markers is determined based on the coordinate system transformation matrix. The postoperative adjustment module obtains the target marker points of the surgical object after surgery in the optical space coordinate system based on the surgical instruments and the sixth marker point set. The postoperative correction angle of the surgical object is adjusted according to the first correction marker point, the fifth marker point set, and the sixth marker point set.

[0006] The technical solution of this invention involves scanning at least one target marker point on the surgical object using a preoperative scanning module, recording a first set of marker points, and acquiring a three-dimensional scan image of the surgical object using a three-dimensional scanning system. By setting target markers on the surgical object and acquiring a three-dimensional scan image, the angle comparison of the surgical object can be performed preoperatively, improving the accuracy of intraoperative navigation. A preoperative preprocessing module extracts the surface model from the three-dimensional scan image to obtain a three-dimensional surface model of the surgical object. A three-dimensional coordinate system is constructed based on the surface model, and the first set of marker points is mapped into this coordinate system to obtain a second set of marker points. By establishing a three-dimensional coordinate system for the surgical object, the marker points of the surgical object can be effectively marked, providing a reference for bone correction and improving the accuracy of correction. A navigation model construction module performs a three-dimensional bone correction simulation based on the bone correction marker points and bone correction angles according to the surface three-dimensional model, determining the simulated correction three-dimensional model. The second set of marker points is mapped into this correction three-dimensional model to obtain a third set of marker points in the three-dimensional coordinate system. This allows for three-dimensional bone correction before surgery. Simulation is used as a reference for corrective surgery to improve the efficiency and accuracy of surgical correction. The intraoperative registration module acquires the preoperative tip spatial coordinates and preoperative tool pose of the surgical instruments. Based on these preoperative tip spatial coordinates and tool poses, an optical spatial coordinate system is established. A first set of correction markers and a fourth set of markers for bone correction and target points are obtained in this optical spatial coordinate system. A coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system is determined based on the second set of markers and the fourth set of markers. Based on this transformation matrix, the coordinate system transformation matrix is ​​used to determine the relationship between the third and fourth sets of correction markers. The fifth set of marker points, corresponding to the marker point set, can effectively provide coordinate navigation for the surgical process through coordinate system transformation, and provide a reference for bone correction, thus improving the accuracy of the correction. The postoperative adjustment module, based on the target marker points obtained from the surgical instruments and the sixth set of marker points in the optical spatial coordinate system, adjusts the postoperative correction angle of the surgical object according to the first correction marker point, the fifth set of marker points, and the sixth set of marker points. After postoperative bone correction, the bone angle is corrected for the patient through postoperative positioning, achieving bone correction in a single surgery. This solves the technical problem of existing bone correction surgeries being unable to perform intraoperative navigation, enabling navigation during bone correction surgery, completing bone correction in a single procedure, and allowing for postoperative positioning and adjustment of the bone correction angle, thereby improving the corrective effect of the surgery.

[0007] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a structural diagram of an intraoperative navigation system for bone correction surgery provided in Embodiment 1 of the present invention; Figure 2 This is a flowchart of an intraoperative navigation method for bone correction surgery provided in Embodiment 2 of the present invention; Figure 3 A flowchart of another intraoperative navigation method for bone correction surgery is disclosed in this embodiment of the invention; Figure 4 This is a schematic diagram of a target marker point in a surface three-dimensional model provided in an embodiment of the present invention. Detailed Implementation

[0010] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 without creative effort should fall within the scope of protection of the present invention.

[0011] Example 1 Figure 1 This is a structural diagram of an intraoperative navigation system for bone correction surgery provided in Embodiment 1 of the present invention. This embodiment is applicable to bone correction navigation during bone correction surgery. The system can be executed by an intraoperative navigation device for bone correction surgery, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the system includes: a preoperative scanning module 110, a preoperative preprocessing module 120, a navigation model construction module 130, an intraoperative registration module 140, and a postoperative adjustment module 150; among which, The preoperative scanning module 110 is used to scan at least one target marker point in the surgical object, record a first set of marker points of the surgical object, and acquire a three-dimensional scan image of the surgical object through a three-dimensional scanning system. The preoperative preprocessing module 120 is used to extract the model surface from the three-dimensional scan image to obtain the surface three-dimensional model of the surgical object, construct a three-dimensional coordinate system based on the surface three-dimensional model, and map the first set of marker points under the three-dimensional coordinate system to obtain the second set of marker points. The navigation model construction module 130 is used to perform a three-dimensional skeletal correction simulation based on the skeletal correction marker points and skeletal correction angles according to the surface three-dimensional model, determine the simulated correction three-dimensional model, and map the second set of marker points into the correction three-dimensional model to obtain the third set of marker points in the three-dimensional coordinate system. The intraoperative registration module 140 is used to acquire the preoperative tip spatial coordinates and preoperative tool pose of the surgical instrument, establish an optical spatial coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose, acquire the first correction marker point and the fourth marker point set of the bone correction marker point and the target marker point in the optical spatial coordinate system, determine the coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system based on the second marker point set and the fourth marker point set, and determine the fifth marker point set corresponding to the third marker point set based on the coordinate system transformation matrix; The postoperative adjustment module 150 is used to obtain the sixth set of target marker points of the surgical object in the optical space coordinate system based on the surgical instruments, and to adjust the postoperative correction angle of the surgical object according to the first correction marker point, the fifth set of marker points and the sixth set of marker points.

[0012] The surgical subjects can be those who need skeletal correction surgery.

[0013] Among them, the target markers can be multiple markers set at a preset location on the surgical subject before the skeletal correction surgery. The target markers are used to mark the skeletal posture of the surgical subject.

[0014] The first set of marker points can be a set of coordinate points that record the position of the target marker point in the surgical object.

[0015] The 3D scanning system can be used to scan the shape and texture data of the surgical object, thereby constructing a 3D model of the object's body surface. The 3D scanning system can include at least one of a laser 3D scanner, an infrared structured light camera, and a non-structured light camera. It should be noted that the 3D scanning system consists of multiple 3D scanning devices with 3D scanning capabilities, capable of scanning the surgical object from multiple angles, including the face, head, upper body, and whole body, thereby acquiring the object's 3D geometric coordinate data and color texture data. The 3D scan image can be an image obtained by scanning the surgical object using the 3D scanning system, capable of displaying the object's structure. The surface 3D image can be a 3D image showing the surface morphology of the surgical object; the surface 3D image can display the shape and structural information of the surgical object.

[0016] The three-dimensional coordinate system can be a coordinate system established in the world coordinate system based on the three-dimensional image of the surgical object's surface. It should be noted that the three-dimensional coordinate system is constructed using the three-dimensional image of the surgical object's surface as a coordinate reference within the world coordinate system. A point in the three-dimensional coordinate system can uniquely identify its location within the three-dimensional image of the surgical object's surface. The second set of marker points can be the position coordinates of the target marker points within the three-dimensional coordinate system of the surface three-dimensional image.

[0017] Among them, the bone correction marker can be the correction point for bone correction of the surgical object; it should be noted that the bone correction marker is usually located in the bone of the surgical object, and osteotomy is performed on the bone correction marker to achieve the purpose of bone correction; the bone correction angle can be the bone correction angle that is preset in the bone correction surgery for osteotomy.

[0018] The corrective 3D model can be obtained by performing skeletal correction simulation based on the surface 3D model. It should be noted that the corrective 3D module performs skeletal correction on the surface 3D model of the surgical subject, resulting in a corresponding surface 3D model of the surgical subject. The 3D skeletal correction simulation then simulates the skeletal correction surgery process to obtain the postoperative surface 3D model of the surgical subject. Optionally, the 3D skeletal correction simulation can perform osteotomy simulation on the preoperative 3D model of the surgical subject to obtain the postoperative surgical effect of skeletal correction.

[0019] Surgical instruments can be any type of medical device used in clinical surgery; surgical instruments can assist users in surgical procedures, improving the efficiency and precision of the surgery.

[0020] The preoperative tip spatial coordinates refer to the spatial coordinates of the surgical instrument tip before the start of surgery or before bone correction. It should be noted that the instrument tip is an integral part of the surgical instrument, typically used for contacting and manipulating tissues. Different surgical instruments have different tips, and the tip of the same surgical instrument can be changed and adjusted according to the needs of the surgery. The preoperative instrument pose refers to the position and orientation of the surgical instrument during surgery, which helps determine its spatial location. The optical spatial coordinate system can be the camera coordinate system established by a structured light camera based on the surgical object. The fourth set of marker points can be the position coordinates of the target marker points of the surgical object in the optical spatial coordinate system; the first correction marker point can be the position coordinates of the bone correction marker points of the surgical object in the optical spatial coordinate system.

[0021] The coordinate transformation matrix can be a transformation matrix used to transform between a three-dimensional coordinate system and an optical space coordinate system.

[0022] The sixth set of marker points can be the position coordinates of the target marker points in the optical space coordinate system of the postoperative surgical object.

[0023] Among them, the postoperative correction angle can be the bone angle that the surgical subject adjusts through bone correction surgery.

[0024] Specifically, at least one target marker is set on the surgical object. The preoperative scanning module scans this target marker, recording the position coordinates of all target markers as the first set of markers. A 3D scanning system then performs a 3D scan of the surgical object to obtain a 3D scan image. After obtaining the 3D scan image, the preoperative preprocessing module extracts the surface model of the surgical object, determining its surface 3D model. A 3D coordinate system is constructed for this surface model. The target markers are mapped onto the 3D coordinate system based on the first set of markers, resulting in a second set of markers. The navigation model construction module determines the skeletal correction markers and angles of the surgical object. Based on these markers and angles, a 3D skeletal correction simulation is performed on the surface model to determine the simulated correction 3D model. The second set of markers is then mapped onto the corrected 3D model. In the correction 3D model, the third set of target marker points in the 3D coordinate system is determined. The preoperative tip spatial coordinates and preoperative tool pose of the surgical instruments are obtained through the intraoperative registration module. An optical spatial coordinate system is established based on the preoperative tip spatial coordinates and preoperative tool pose. In the optical spatial coordinate system, the bone correction marker points and target marker points are identified. The first and fourth sets of correction marker points and target marker points in the optical spatial coordinate system are obtained. Based on the second and fourth sets of marker points, the coordinate system transformation matrix between the 3D coordinate system and the optical spatial coordinate system is calculated. The third set of marker points is transformed through the coordinate system transformation matrix to form the fifth set of marker points corresponding to the third set of marker points. After the surgery is performed on the surgical subject, the sixth set of target marker points in the optical spatial coordinate system is obtained based on the surgical instruments through the postoperative adjustment module. The postoperative correction angle of the surgical subject is adjusted according to the first, fifth, and sixth sets of correction marker points.

[0025] Optionally, in another optional embodiment of the present invention, the preoperative preprocessing module includes an information segmentation unit, a surface drawing unit, and an information processing unit; wherein, The information segmentation unit is used to perform threshold segmentation on the three-dimensional scanned image based on preset surface threshold information to obtain surface three-dimensional information. The surface rendering unit is used to perform surface rendering on the target object based on the surface three-dimensional information using a ray casting algorithm, and to determine the surface three-dimensional model. The information processing unit is used to construct the three-dimensional coordinate system based on the surface three-dimensional model, and map the first set of marker points into the three-dimensional coordinate system of the surface three-dimensional model to obtain the second set of marker points.

[0026] The preset surface threshold information can be pixel threshold information pre-set for extracting pixels corresponding to pixels in a 3D scanned image. The ray casting algorithm can be a pre-set image sequence based on an image sequence. The surface 3D information can be 3D information in the 3D scanned image that satisfies the surface threshold information.

[0027] Specifically, the information segmentation unit performs threshold segmentation on the pixels of the three-dimensional scanned image based on preset surface threshold information to obtain surface three-dimensional information. The surface rendering unit performs surface rendering on the target object based on the surface three-dimensional information using an optical projection algorithm to determine the surface three-dimensional model. Based on the surface three-dimensional model, a three-dimensional coordinate system of the surgical object is constructed. Based on the first set of marker points mapped onto the three-dimensional coordinate system of the surface three-dimensional model, a second set of marker points of the target points in the three-dimensional coordinate system of the surface three-dimensional model is determined.

[0028] Optionally, in another optional embodiment of the present invention, the navigation model construction module includes a skeletal correction planning unit, a skeletal correction simulation unit, and an information extraction unit; wherein, The bone correction planning unit is used to determine the bone correction marker points and bone correction angles of the surgical object based on the surface three-dimensional model. The correction simulation unit is used to perform a three-dimensional skeletal correction simulation based on the surface three-dimensional model according to the skeletal correction markers and the skeletal correction angle, and to determine the simulated correction three-dimensional model. The information extraction unit is used to map the second set of marker points into the corrected 3D model to obtain the third set of marker points in the 3D coordinate system.

[0029] Specifically, the skeletal correction planning unit corrects the skeletal correction markers and angles of the planned surgical object in the surface three-dimensional model. The correction simulation unit performs three-dimensional skeletal correction simulation in the surface three-dimensional model based on the skeletal correction markers and angles to determine the simulated correction three-dimensional model. The information extraction unit maps the second set of markers onto the correction three-dimensional model to obtain the third set of markers of the target markers in the three-dimensional coordinate system.

[0030] Optionally, in another optional embodiment of the present invention, the intraoperative registration module includes an auxiliary positioning unit and a coordinate transformation unit; wherein, The auxiliary positioning unit is used to acquire at least one navigation marker of the surgical instrument, determine the preoperative tip spatial coordinates of the surgical instrument based on the navigation marker, determine the preoperative tool pose of the surgical instrument, establish the optical spatial coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose, and acquire a first set of correction markers and a fourth set of markers for bone correction markers and target markers in the optical spatial coordinate system; the coordinate transformation unit is used to determine the coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system based on the second set of markers and the fourth set of markers, and determine a fifth set of markers corresponding to the third set of markers based on the coordinate system transformation matrix.

[0031] Among them, the navigation marker can be a marker set in the surgical instrument, which can be used to identify the spatial coordinates of the preoperative tip of the surgical instrument.

[0032] Specifically, the auxiliary positioning unit acquires at least one navigation marker on the surgical instrument, determines the preoperative tip spatial coordinates of the surgical instrument through the navigation marker, determines the preoperative tool pose of the surgical instrument based on the preoperative tip spatial coordinates, establishes an optical spatial coordinate system under the camera coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose, and performs auxiliary positioning through the surgical instrument. Before bone correction, the surgical instrument is used to point to the bone correction marker point and the target marker point respectively. The first correction marker point and the fourth marker point set of the bone correction marker point and the target marker point are calculated in the optical spatial coordinate system based on the preoperative tip spatial coordinates. The coordinate transformation unit determines the coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system based on the second marker point set and the fourth marker point set, and determines the fifth marker point set corresponding to the third marker point set through the coordinate system transformation matrix.

[0033] Optionally, in another optional embodiment of the present invention, the auxiliary positioning unit includes: an optical passive tracking subunit and a marker point set determination subunit; wherein, The optical passive tracking subunit is used to identify the navigation marker through the optical passive tracking system, determine the preoperative position coordinates of the navigation marker, determine the preoperative tip spatial coordinates of the surgical instrument based on the preoperative position coordinates, determine the preoperative tool pose of the surgical instrument, and establish the optical spatial coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose; the marker set determination subunit is used to sequentially mark each target marker point and the bone correction marker point according to the preoperative tool pose of the surgical instrument and the preoperative tip spatial coordinates, and obtain the first correction marker point of the bone correction marker point and the fourth marker point set of the target marker point in the optical spatial coordinate system.

[0034] The preoperative position coordinates can be the position coordinates of the navigation marker within the optical passive tracking system. The optical passive tracking system is a system that tracks a target object by capturing the light reflected from it. This is achieved by using a camera to capture the reflected light and measure its timing and intensity. For example, the optical passive tracking system can be a binocular structured light bundle adjustment system.

[0035] Specifically, the optical passive tracking subunit identifies at least one navigation marker on the surgical instrument through the optical passive tracking system, determines the preoperative position coordinates of each navigation marker, determines the preoperative tip spatial coordinates of the surgical instrument in the optical passive tracking system based on the preoperative tip spatial coordinates of each navigation marker, determines the preoperative tool pose of the surgical instrument based on the preoperative tip spatial coordinates, and establishes an optical spatial coordinate system under the optical passive tracking system based on the preoperative tip spatial coordinates and the preoperative tool pose. The marker set determination subunit is used for assisted positioning with the surgical instrument. Before bone correction, the surgical instrument is used to point to the bone correction marker point and the target marker point respectively. Each target marker point and the bone correction marker point are marked sequentially according to the preoperative tool pose of the surgical instrument and the preoperative tip spatial coordinates, and the first correction marker point and the fourth marker point set of the target marker point in the optical spatial coordinate system are obtained.

[0036] Optionally, in another optional embodiment of the present invention, the coordinate transformation unit includes a coordinate system registration subunit and a coordinate mapping subunit; wherein, The coordinate system registration subunit is used to perform coordinate system registration based on the second set of marker points and the fourth set of marker points according to a preset coordinate registration method, and determine the coordinate system transformation matrix between the three-dimensional coordinate system and the optical space coordinate system; the coordinate mapping subunit is used to convert the third set of marker points into the fifth set of marker points in the optical space coordinate system according to the coordinate system transformation matrix.

[0037] The preset coordinate registration method can be a pre-defined method for registering a 3D coordinate system and a fine-grained optical spatial coordinate system. It should be noted that the preset coordinate registration method can be ICP (Iterative ClosestPoint algorithm), which iteratively registers points by using the coordinates of the second set of marker points in the 3D coordinate system and the fourth set of marker points in the optical spatial coordinate system. Rotation and translation are performed using a cross-product quaternion matrix. At each rotation and translation, the shortest distance between the two sets of coordinate points is calculated, and the least squares error is obtained using the least squares method. The number of iterations is recorded, and it is determined whether the error meets a preset error condition or whether the number of iterations meets the maximum number of iterations. This yields the coordinate system transformation matrix. The preset error condition can be that the error is less than a set error threshold or that the error no longer changes.

[0038] Specifically, the coordinate system registration subunit performs coordinate system registration based on the second and fourth marker point sets using the coordinate registration method, determines the coordinate system transformation matrix between the three-dimensional coordinate system and the optical space coordinate system, and uses the coordinate system transformation matrix to transform the third marker point set into the fifth marker point set in the optical space coordinate system. For example, let T represent the coordinate system transformation matrix, the third marker point set be P3, and the fifth marker point set be P6; then P6 = T * P3.

[0039] Optionally, in another optional embodiment of the present invention, the postoperative adjustment module includes a postoperative positioning unit, a postoperative scanning unit, and a postoperative correction unit; wherein, The postoperative positioning unit is used to identify the navigation marker through an optical passive tracking system, determine the postoperative position coordinates of the navigation marker, determine the postoperative tip spatial coordinates of the surgical instrument based on the postoperative position coordinates, and determine the postoperative instrument pose of the surgical instrument. The postoperative scanning unit is used to sequentially mark each target marker point according to the postoperative instrument pose and the postoperative tip spatial coordinates, and obtain the sixth marker point set of the target marker points in the optical spatial coordinate system; The postoperative correction unit is used to adjust the postoperative correction angle of the surgical object according to the first correction mark point, the fifth mark point set, and the sixth mark point set.

[0040] Among them, the postoperative position coordinates can be the position coordinates of each navigation marker in the optical passive tracking system. The postoperative tip spatial coordinates can be the tip spatial coordinates of the surgical instrument after surgery; the postoperative instrument pose can be the pose of the surgical instrument after surgery.

[0041] Specifically, after bone correction surgery, the postoperative scanning unit identifies navigation markers through an optical passive tracking system to determine their postoperative position coordinates. Based on these postoperative position coordinates, it determines the postoperative tip spatial coordinates of the surgical instruments and their postoperative instrument pose. The postoperative scanning unit then sequentially marks each target marker point according to the postoperative instrument pose and the postoperative tip spatial coordinates, obtaining a sixth set of marker points in the optical spatial coordinate system. The postoperative correction unit is used to adjust the postoperative correction angle of the surgical object based on the first correction marker point, the fifth set of marker points, and the sixth set of marker points.

[0042] Optionally, in another optional embodiment of the present invention, the postoperative correction unit is specifically used to: calculate the centroid of the first point set corresponding to the fifth set of markers and the centroid of the second point set corresponding to the sixth set of markers, and adjust the postoperative correction angle of the surgical object according to the first correction marker, the centroid of the first point set and the centroid of the second point set.

[0043] Wherein, the centroid of the first point set can be the centroid of the coordinate point set of the fifth marked point set; the centroid of the second point set can be the centroid of the coordinate point set of the sixth marked point set. For example, the centroid of the first point set can be represented by P7, calculated based on the fifth marked point set P6, as shown below: ( ) Where n represents the optical spatial coordinates of the n target markers in the fifth marker set; i represents the optical spatial coordinates of the i-th target marker in the fifth marker set, X i The X-axis coordinate value represents the optical spatial coordinates of the i-th target marker point; the Y-axis coordinate value represents the optical spatial coordinates of the i-th target marker point. i The Z-axis coordinate represents the optical spatial coordinate of the i-th target marker point; i The Z-axis coordinate value represents the optical spatial coordinates of the i-th target marker point.

[0044] Specifically, the postoperative correction unit calculates the centroid of the first point set corresponding to the fifth set of markers and the centroid of the second point set corresponding to the sixth set of markers, and adjusts the postoperative correction angle of the surgical object according to the first correction marker, the centroid of the first point set and the centroid of the second point set.

[0045] Optionally, in another optional embodiment of the present invention, the postoperative correction unit includes a bone correction preparation subunit, a bone angle calculation subunit, and a bone correction subunit; wherein, the bone correction preparation subunit is used to connect the first correction marker point and the centroid of the first point set to determine a first spatial line segment, and connect the first correction marker point and the centroid of the second point set to determine a second spatial line segment; the bone angle calculation subunit is used to calculate the angle between the first spatial line segment and the second spatial line segment to determine the postoperative bone angle of the surgical object; the bone correction subunit is used to adjust the postoperative bone angle of the surgical object until the postoperative bone angle is less than the preset bone correction threshold if the postoperative bone angle is greater than the preset bone correction threshold.

[0046] The first spatial segment can be obtained by connecting the first correction mark point and the centroid of the first point; the second spatial segment can be obtained by connecting the first correction mark point and the centroid of the second point; the postoperative bone angle can be the angle between the first spatial segment and the second spatial segment.

[0047] The preset bone correction threshold can be a pre-set angle value used to determine whether the postoperative bone angle meets the preset surgical correction target. For example, the bone correction threshold can be set to 1°.

[0048] Specifically, the bone correction preparation subunit connects the first correction marker point and the first point centroid to obtain a first spatial line segment in the optical spatial coordinate system, and connects the first correction marker point and the second point centroid to obtain a second spatial line segment in the optical spatial coordinate system. The bone angle calculation subunit calculates the angle between the first spatial line segment and the second spatial line segment as the postoperative bone angle of the surgical object. If the postoperative bone angle is greater than a preset bone correction threshold, the bone correction subunit adjusts the postoperative bone angle of the surgical object until the postoperative bone angle is less than the preset bone correction threshold.

[0049] For example, P8 can represent the sixth set of marker points, P9 can represent the centroid of the second set of points, P4 can represent the first corrective marker point, and P7 can represent the centroid of the first set of points. Connecting the first corrective marker point and the centroid of the first set of points yields the first spatial line segment P4P7, and connecting the first corrective marker point and the centroid of the second set of points yields the second spatial line segment P4P9. The postoperative bone angle α of the surgical subject is then calculated using the following formula: The technical solution of this invention involves scanning at least one target marker point on the surgical object using a preoperative scanning module, recording a first set of marker points, and acquiring a three-dimensional scan image of the surgical object using a three-dimensional scanning system. By setting target markers on the surgical object and acquiring a three-dimensional scan image, the angle comparison of the surgical object can be performed preoperatively, improving the accuracy of intraoperative navigation. A preoperative preprocessing module extracts the surface model from the three-dimensional scan image to obtain a three-dimensional surface model of the surgical object. A three-dimensional coordinate system is constructed based on the surface model, and the first set of marker points is mapped into this coordinate system to obtain a second set of marker points. By establishing a three-dimensional coordinate system for the surgical object, the marker points of the surgical object can be effectively marked, providing a reference for bone correction and improving the accuracy of correction. A navigation model construction module performs a three-dimensional bone correction simulation based on the bone correction marker points and bone correction angles according to the surface three-dimensional model, determining the simulated correction three-dimensional model. The second set of marker points is mapped into this correction three-dimensional model to obtain a third set of marker points in the three-dimensional coordinate system. This allows for three-dimensional bone correction before surgery. Simulation is used as a reference for corrective surgery to improve the efficiency and accuracy of surgical correction. The intraoperative registration module acquires the preoperative tip spatial coordinates and preoperative tool pose of the surgical instruments. Based on these preoperative tip spatial coordinates and tool poses, an optical spatial coordinate system is established. A first set of correction markers and a fourth set of markers for bone correction and target points are obtained in this optical spatial coordinate system. A coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system is determined based on the second set of markers and the fourth set of markers. Based on this transformation matrix, the coordinate system transformation matrix is ​​used to determine the relationship between the third and fourth sets of correction markers. The fifth set of marker points, corresponding to the marker point set, can effectively provide coordinate navigation for the surgical process through coordinate system transformation, and provide a reference for bone correction, thus improving the accuracy of the correction. The postoperative adjustment module, based on the target marker points obtained from the surgical instruments and the sixth set of marker points in the optical spatial coordinate system, adjusts the postoperative correction angle of the surgical object according to the first correction marker point, the fifth set of marker points, and the sixth set of marker points. After postoperative bone correction, the bone angle is corrected for the patient through postoperative positioning, achieving bone correction in a single surgery. This solves the technical problem of existing bone correction surgeries being unable to perform intraoperative navigation, enabling navigation during bone correction surgery, completing bone correction in a single procedure, and allowing for postoperative positioning and adjustment of the bone correction angle, thereby improving the corrective effect of the surgery.

[0050] Example 2 Figure 2This is a flowchart of an intraoperative navigation method for bone correction surgery according to Embodiment 2 of the present invention. This embodiment is applicable to bone correction navigation in bone correction surgery, and the method can be executed by an intraoperative navigation system for bone correction surgery, such as... Figure 2 As shown, the intraoperative navigation method for this bone correction surgery includes: S210. Scan at least one target marker point in the surgical object using the preoperative scanning module, record the first marker point set of the surgical object, and obtain a three-dimensional scan image of the surgical object using the three-dimensional scanning system.

[0051] S220. The surface of the three-dimensional scanned image is extracted by the preoperative preprocessing module to obtain the surface three-dimensional model of the surgical object. A three-dimensional coordinate system is constructed based on the surface three-dimensional model, and the first set of marker points is mapped under the three-dimensional coordinate system to obtain the second set of marker points.

[0052] S230. Based on the skeletal correction markers and skeletal correction angles, the navigation model construction module performs a three-dimensional skeletal correction simulation according to the surface three-dimensional model to determine the simulated correction three-dimensional model. The second set of markers is mapped into the correction three-dimensional model to obtain the third set of markers in the three-dimensional coordinate system.

[0053] S240. Obtain the preoperative tip spatial coordinates and preoperative tool pose of the surgical instrument through the intraoperative registration module. Establish an optical spatial coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose. Obtain the first and fourth sets of correction markers and target markers in the optical spatial coordinate system. Determine the coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system based on the second and fourth set of markers. Determine the fifth set of markers corresponding to the third set of markers based on the coordinate system transformation matrix.

[0054] S250. The postoperative adjustment module obtains the target marker point of the surgical object after surgery in the optical space coordinate system based on the surgical instruments and the sixth marker point set. The postoperative correction angle of the surgical object is adjusted according to the first correction marker point, the fifth marker point set and the sixth marker point set.

[0055] The technical solution of this invention involves scanning at least one target marker point on the surgical object using a preoperative scanning module, recording a first set of marker points, and acquiring a three-dimensional scan image of the surgical object using a three-dimensional scanning system. By setting target markers on the surgical object and acquiring a three-dimensional scan image, the angle comparison of the surgical object can be performed preoperatively, improving the accuracy of intraoperative navigation. A preoperative preprocessing module extracts the surface model from the three-dimensional scan image to obtain a three-dimensional surface model of the surgical object. A three-dimensional coordinate system is constructed based on the surface model, and the first set of marker points is mapped into this coordinate system to obtain a second set of marker points. By establishing a three-dimensional coordinate system for the surgical object, the marker points of the surgical object can be effectively marked, providing a reference for bone correction and improving the accuracy of correction. A navigation model construction module performs a three-dimensional bone correction simulation based on the bone correction marker points and bone correction angles according to the surface three-dimensional model, determining the simulated correction three-dimensional model. The second set of marker points is mapped into this correction three-dimensional model to obtain a third set of marker points in the three-dimensional coordinate system. This allows for three-dimensional bone correction before surgery. Simulation is used as a reference for corrective surgery to improve the efficiency and accuracy of surgical correction. The intraoperative registration module acquires the preoperative tip spatial coordinates and preoperative tool pose of the surgical instruments. Based on these preoperative tip spatial coordinates and tool poses, an optical spatial coordinate system is established. A first set of correction markers and a fourth set of markers for bone correction and target points are obtained in this optical spatial coordinate system. A coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system is determined based on the second set of markers and the fourth set of markers. Based on this transformation matrix, the coordinate system transformation matrix is ​​used to determine the relationship between the third and fourth sets of correction markers. The fifth set of marker points, corresponding to the marker point set, can effectively provide coordinate navigation for the surgical process through coordinate system transformation, and provide a reference for bone correction, thus improving the accuracy of the correction. The postoperative adjustment module, based on the target marker points obtained from the surgical instruments and the sixth set of marker points in the optical spatial coordinate system, adjusts the postoperative correction angle of the surgical object according to the first correction marker point, the fifth set of marker points, and the sixth set of marker points. After postoperative bone correction, the bone angle is corrected for the patient through postoperative positioning, achieving bone correction in a single surgery. This solves the technical problem of existing bone correction surgeries being unable to perform intraoperative navigation, enabling navigation during bone correction surgery, completing bone correction in a single procedure, and allowing for postoperative positioning and adjustment of the bone correction angle, thereby improving the corrective effect of the surgery.

[0056] Optional, Figure 3 This invention discloses a flowchart of another intraoperative navigation method for bone correction surgery, the method comprising: S1. Take 3D scan images of the surgical subject before surgery. 6 or 8 raised target markers are attached to the surgical subject, including areas such as the shoulders, back of the head, thoracic vertebrae, and spine, and their specific locations are recorded as the first set of target markers. Then, a 3D scan of the surgical subject is performed.

[0057] S2. Extract surface 3D information from the 3D scan image. Surface 3D information is extracted from the 3D scan image through threshold segmentation. A surface threshold is set, and finally, the surface of the surgical object is rendered using a ray casting algorithm. A second set of marker points P1, containing the surface and target marker points, is extracted and saved as a surface 3D model M1. For example... Figure 4 This is a schematic diagram of target marker points in a surface three-dimensional model provided in an embodiment of the present invention. For example... Figure 4 As shown in the figure, the circular markers are the target markers, distributed on both shoulders, the back of the head, the thoracic vertebrae, and the spine, respectively F_1-1, F_2-1, F_3-1, F_4-1, F_5-1, and F_6-1. A suitable skeletal correction marker P2 and a skeletal correction angle are selected to perform a three-dimensional osteotomy simulation and generate the expected postoperative corrective three-dimensional model M2. The third set of target markers P3 is then extracted from this model.

[0058] S3. Intraoperative optical passive tracking obtains the surgical instrument's pose information. At the start of the surgery, surgical instruments are used for assisted positioning. Before osteotomy, the instruments are pointed at the bone correction markers and various target markers. The optical passive tracking system identifies four navigation markers on the instruments to determine the preoperative spatial coordinates of their tips, resulting in the first correction marker P4 and the corresponding fourth marker set P5 for the target markers in the optical spatial coordinate system. Specifically, to assist positioning with the surgical instruments, the four navigation markers on the instruments determine the instrument's pose. The instruments are then used to mark six points: the shoulders, back of the head, thoracic vertebrae, and spine, thus determining the overall information of the surgical subject. Optical passive tracking uses near-infrared light to detect and track the 3D position of the navigation markers attached to the surgical instruments, thereby determining the position and orientation of the instruments. The position of the instrument tip is determined by infrared recognition, and the process of determining the 3D position of the navigation markers can be achieved using binocular structured light beam adjustment.

[0059] S4. Registration of Preoperative and Intraoperative Positions. The second set of target markers P1 in the preoperative, unsimulated 3D surface model M1 is registered with the fourth set of target markers P5 before intraoperative osteotomy. Specifically, ICP registration is used. Iterative point-to-point registration is performed using the coordinates of the second set of markers in the 3D coordinate system and the fourth set of markers in the optical space coordinate system. Rotation and translation are performed using a cross product quaternion matrix. At each rotation and translation, the shortest distance between the two coordinate sets is calculated, and the least squares error is calculated using the least squares method. The number of iterations is recorded, and it is determined whether the error meets the preset error condition or the number of iterations meets the maximum number of iterations. This yields the coordinate system transformation matrix T. The third set of target markers P3 after simulation is transformed to the fifth set of markers P6 in the optical space coordinate system using the coordinate system transformation matrix T, i.e., P6 = T * P3. The centroid P7 of the first point set of the fifth set of markers P6 is calculated. The formula is as follows: ( ) After osteotomy, the postoperative bone angle is adjusted. Surgical instruments are used to point to each target marker point. An optical passive tracking system identifies four navigation markers on the surgical instrument to determine the postoperative tip spatial coordinates of the instrument's tip, obtaining the sixth marker point set P8 corresponding to the target marker point in the optical spatial coordinate system. Then, the centroid P9 of the second point set P8 is determined using the same formula. The angle between the first spatial line segment P4P7 and the second spatial line segment P4P9 is calculated using the following formula: When a is greater than 1°, continue to adjust the postoperative bone angle until it is less than 1°.

[0060] The technical solution of this invention solves the technical problem that existing bone correction surgeries cannot perform intraoperative navigation for bone correction, and realizes the ability to navigate bone correction during bone correction surgery. It enables the correction of the bones of the surgical subject to be completed in one bone correction surgery, and enables the positioning and adjustment of the bone correction angle after surgery, thereby improving the corrective effect of the surgery.

[0061] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0062] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0063] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An intraoperative navigation system for bone correction surgery, characterized in that, include: The system comprises a preoperative scanning module, a preoperative preprocessing module, a navigation model construction module, an intraoperative registration module, and a postoperative adjustment module; among which, The preoperative scanning module is used to scan at least one target marker point in the surgical object, record the first marker point set of the surgical object, and obtain a three-dimensional scan image of the surgical object through a three-dimensional scanning system. The preoperative preprocessing module is used to extract the model surface from the three-dimensional scan image to obtain the surface three-dimensional model of the surgical object, construct a three-dimensional coordinate system based on the surface three-dimensional model, and map the first set of marker points under the three-dimensional coordinate system to obtain the second set of marker points. The navigation model construction module is used to perform a three-dimensional skeletal correction simulation based on the skeletal correction marker points and skeletal correction angles according to the surface three-dimensional model, determine the simulated correction three-dimensional model, and map the second set of marker points into the correction three-dimensional model to obtain the third set of marker points in the three-dimensional coordinate system. The intraoperative registration module is used to acquire the preoperative tip spatial coordinates and preoperative tool pose of the surgical instrument, establish an optical spatial coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose, acquire the first and fourth sets of correction markers and target markers in the optical spatial coordinate system, determine the coordinate system transformation matrix between the three-dimensional coordinate system and the optical spatial coordinate system based on the second and fourth set of markers, and determine the fifth set of markers corresponding to the third set of markers based on the coordinate system transformation matrix. The postoperative adjustment module is used to obtain the sixth set of target marker points of the surgical object in the optical space coordinate system based on the surgical instruments; Calculate the centroid of the first point set corresponding to the fifth set of marked points and the centroid of the second point set corresponding to the sixth set of marked points, respectively. Connect the first correction mark point and the centroid of the first point set to determine the first spatial line segment; connect the first correction mark point and the centroid of the second point set to determine the second spatial line segment. Calculate the angle between the first spatial line segment and the second spatial line segment to determine the postoperative bone angle of the surgical object.

2. The system according to claim 1, characterized in that... The preoperative preprocessing module includes an information segmentation unit, a surface drawing unit, and an information processing unit; wherein, The information segmentation unit is used to perform threshold segmentation on the three-dimensional scanned image based on preset surface threshold information to obtain surface three-dimensional information. The surface rendering unit is used to perform surface rendering on the target object based on the surface three-dimensional information using a ray casting algorithm, and to determine the surface three-dimensional model. The information processing unit is used to construct the three-dimensional coordinate system based on the surface three-dimensional model, and map the first set of marker points into the three-dimensional coordinate system of the surface three-dimensional model to obtain the second set of marker points.

3. The system according to claim 1, characterized in that... The navigation model construction module includes a skeletal correction planning unit, a skeletal correction simulation unit, and an information extraction unit; wherein, The bone correction planning unit is used to determine the bone correction marker points and bone correction angles of the surgical object based on the surface three-dimensional model. The correction simulation unit is used to perform a three-dimensional skeletal correction simulation based on the surface three-dimensional model according to the skeletal correction markers and the skeletal correction angle, and to determine the simulated correction three-dimensional model. The information extraction unit is used to map the second set of marker points into the corrected 3D model to obtain the third set of marker points in the 3D coordinate system.

4. The system according to claim 1, characterized in that... The intraoperative registration module includes an auxiliary positioning unit and a coordinate transformation unit; wherein, The auxiliary positioning unit is used to acquire at least one navigation marker of the surgical instrument, determine the preoperative tip spatial coordinates of the surgical instrument based on the navigation marker, determine the preoperative tool pose of the surgical instrument, establish the optical spatial coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose, and acquire the first and fourth set of bone correction markers and target markers in the optical spatial coordinate system. The coordinate transformation unit is used to determine the coordinate system transformation matrix between the three-dimensional coordinate system and the optical space coordinate system based on the second set of marker points and the fourth set of marker points, and to determine the fifth set of marker points corresponding to the third set of marker points based on the coordinate system transformation matrix.

5. The system according to claim 4, characterized in that... The auxiliary positioning unit includes: an optical passive tracking subunit and a marker set determination subunit; wherein, The optical passive tracking subunit is used to identify the navigation marker through the optical passive tracking system, determine the preoperative position coordinates of the navigation marker, determine the preoperative tip spatial coordinates of the surgical instrument based on the preoperative position coordinates, determine the preoperative tool pose of the surgical instrument, and establish the optical spatial coordinate system based on the preoperative tip spatial coordinates and the preoperative tool pose. The marker point set determination subunit is used to sequentially mark each target marker point and the bone correction marker point according to the preoperative tool pose of the surgical instrument and the preoperative tip spatial coordinates, and obtain the first correction marker point of the bone correction marker point and the fourth marker point set of the target marker point in the optical spatial coordinate system.

6. The system according to claim 4, characterized in that... The coordinate transformation unit includes a coordinate system registration subunit and a coordinate mapping subunit; wherein, The coordinate system registration subunit is used to perform coordinate system registration based on the second set of marker points and the fourth set of marker points according to a preset coordinate registration method, and to determine the coordinate system transformation matrix between the three-dimensional coordinate system and the optical space coordinate system. The coordinate mapping subunit converts the third set of marker points into the fifth set of marker points in the optical space coordinate system according to the coordinate system transformation matrix.

7. The system according to claim 6, characterized in that... The postoperative adjustment module includes a postoperative positioning unit, a postoperative scanning unit, and a postoperative correction unit; wherein, The postoperative positioning unit is used to identify the navigation marker through an optical passive tracking system, determine the postoperative position coordinates of the navigation marker, determine the postoperative tip spatial coordinates of the surgical instrument based on the postoperative position coordinates, and determine the postoperative instrument pose of the surgical instrument. The postoperative scanning unit is used to sequentially mark each target marker point according to the postoperative instrument pose and the postoperative tip spatial coordinates, and obtain the sixth marker point set of the target marker points in the optical spatial coordinate system; The postoperative correction unit is used to adjust the postoperative correction angle of the surgical object according to the first correction mark point, the fifth mark point set, and the sixth mark point set.

8. The system according to claim 7, characterized in that... The postoperative correction unit is specifically used to: calculate the centroid of the first point set corresponding to the fifth set of markers and the centroid of the second point set corresponding to the sixth set of markers, and adjust the postoperative correction angle of the surgical object according to the first correction marker, the centroid of the first point set and the centroid of the second point set.

9. The system according to claim 8, characterized in that... The postoperative correction unit includes a skeletal correction preparation subunit, a skeletal angle calculation subunit, and a skeletal correction subunit; wherein, The skeletal correction preparation subunit is used to connect the first correction mark point and the centroid of the first point set to determine the first spatial line segment, and to connect the first correction mark point and the centroid of the second point set to determine the second spatial line segment. The bone angle calculation subunit is used to calculate the angle between the first spatial line segment and the second spatial line segment, and to determine the postoperative bone angle of the surgical object. The bone correction subunit is used to adjust the postoperative bone angle of the surgical object until the postoperative bone angle is less than the preset bone correction threshold if the postoperative bone angle is greater than the preset bone correction threshold.

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