A method of evaluating and correcting registration results anomalies and related apparatus

Abstract

The application provides a method for evaluating and correcting registration result anomaly and related equipment, which maps the relative position relationship of the hip bone and the femur in the real physical space to the virtual space, judges whether the current registration result is abnormal by comparing the consistency of the physical space and the virtual space. When the registration result has a large error due to the selection error of the doctor during the operation or falls into a local optimal solution, the angle difference value between the current physical space and the virtual space is transferred to the acetabular center coordinate system to obtain the deviation of the registration result rotating around the acetabular center, and a new registration result is obtained after the deviation is corrected. When the registration is completed, the registration result is unavailable due to the loosening of the fixed tracker of the part to be operated, and the acetabular cup has been ground, so that the registration cannot be performed again, the registration result correction function is used to restore the angle accuracy of the registration result, and the navigation function of the robot auxiliary system on the acetabular cup placement angle is ensured.

Description

Technical Field

[0001] This invention relates to the field of medical technology, specifically to a method and related equipment for assessing and correcting abnormal registration results. Background Technology

[0002] In robot-assisted hip replacement surgery, it is necessary to register and align preoperative image data such as CT and MRI (virtual coordinate system) with the patient on the operating table (real physical coordinate system). This maps the surgical plan, based on the image data, to the patient's lesion, and the robotic arm completes the surgical navigation. Current registration processes typically involve fixing a tracker to the surgical site and using a probe equipped with the tracker to collect point cloud data of the patient's bone surface. This data is then spatially aligned with a 3D model reconstructed from the preoperative images. Specific registration methods often involve two stages: coarse registration and fine registration. The coarse registration stage collects one-to-one point pairs according to the preoperative plan, roughly aligning the two spaces. The fine registration stage acquires a certain amount of point cloud data from the patient's bone surface and iteratively converges to obtain the final registration result.

[0003] The iterative closest point (BRP) approach, employing a two-stage coarse-fine registration process, has several drawbacks: 1. The registration results are easily influenced by the initial registration in the coarse registration stage, and surgeons often struggle to ensure perfect alignment between the coarse registration point selection and the planned selection during surgery; 2. The registration results are susceptible to outliers, and data collected by surgeons often contains errors when cartilage or osteophytes are present at the collection site; 3. The registration results are prone to getting trapped in local optima, especially since the acetabulum's overall shape is bowl-like, making errors in axial rotation difficult to identify and correct. Furthermore, fixing a tracker near the surgical site requires high stability from the fixation tool. During actual hip replacement surgery, operations such as grinding the acetabulum and hammering to install the acetabular cup exert significant stress on the fixation tool. If the tracker becomes loose, the previous registration results will no longer be accurate. Since the acetabulum has already been ground, re-registration is impossible, preventing the surgery from continuing under navigation. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art described in the background section and to provide a method and related equipment for evaluating and correcting abnormal registration results. When the registration result has a large error due to the surgeon's selection error or getting stuck in a local optimum, the registration result evaluation function can be used to evaluate and correct it.

[0005] This invention is achieved through the following technical solution: Firstly, this invention provides a method for evaluating and correcting registration result anomalies, comprising: S101, Preoperative preparation stage, includes the following steps: The CT image data acquired before the operation was segmented and reconstructed using planning software to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur on the operation side. Based on automatically identified or manually labeled bony features, hip and femoral coordinate systems are constructed respectively. These coordinate systems are then adjusted to a standard virtual coordinate system, thus obtaining the transformation relationship T from the CT coordinate system to the positioned hip and femoral coordinate systems. ct2hip T ct2femur ; The tracker is fixed at the surgical site in the hip and femur to complete the registration process and obtain the registration result T. hipmarker2ct T femurmarker2ct Among them, T hipmarker2ct T femurmarker2ct The conversion relationships from the hip bone tracker and the femur bone tracker to the CT coordinate system are shown respectively. S102, Intraoperative registration result evaluation, including the following steps: The femur in the virtual coordinate system is transmitted via T... ct2femur Transform the inverse matrix to the CT coordinate system, and then through T femurmarker2ct The inverse matrix is ​​transformed to the coordinate system of the femoral tracker; the pose T of the hip and femoral trackers in the optical positioning system is read in real time. hipmarker2camera T femurmarker2camera and through T femurmarker2camera Transform the femoral coordinate system to the coordinate system of the optical positioning system; Similarly, by applying the hip bone-related transformation relationship, the updated femoral pose relationship relative to the hip bone in the virtual coordinate system is obtained, completing the virtual mapping of the real physical coordinate system, and comparing it with the standard position in S101 to obtain the femoral range of motion in the current pose, including femoral internal rotation, abduction, and flexion angles. The femur in physical space is adjusted to the standard position and compared with the femur mobility displayed by the system. The consistency is used as the basis for evaluating whether the registration result is abnormal. S103, Correction of abnormal intraoperative registration results, including the following steps: When the intraoperative registration results are deemed abnormal, or when the hip bone array becomes loose during the operation, the results are corrected. The femur in physical space is adjusted to the standard position, that is, the internal rotation, abduction and flexion of the femur are all 0. Since the femoral head has been removed at this time, there is an error in the judgment when placing the femur. Only the angle information is used to correct the angle of the registration result. Click the correction button to calculate the current femur-hip bone conversion relationship T. femur2hipSet its corresponding pose matrix R as the identity matrix; since the overall structure of the bone surface is obvious and there are few influencing factors during the femoral registration process, its registration results are often quite accurate, so it is assumed that its registration results do not need to be corrected during the correction process; The current T femur2hip The transformation matrix T' of the current hip CT in the original hip CT coordinate system is obtained by applying the transformation relation; the acetabular center identified preoperatively is read, and the transformation matrix of the current hip CT in the original hip CT coordinate system is transformed to the acetabular center coordinate system, denoted as T'. center The anomalies in the current registration results are all due to a rotation around the center of the acetabulum between the hip coordinate system in the registration result and the correct hip coordinate system. center The translation transformation in the matrix is ​​cleared to 0, and only the rotation transformation is retained to obtain R'; Apply R' to the original registration result to obtain the corrected registration result; S104, Subsequent handling: If it is an abnormal correction of intraoperative registration results, the surgery will proceed normally; if it is array loosening correction, the subsequent surgery will only provide angular navigation information for hip replacement surgery, and the positional information will no longer be reliable.

[0006] Furthermore, the femoral region tracker includes a tracker bracket and three reflective stickers, each detachably mounted on the tracker bracket and recognizable by the navigation camera. The coordinate system of the femoral region tracker is determined by the positions of the three reflective stickers: the center point of the femoral region tracker is determined based on the center positions of the three reflective stickers, and this center point is used as the origin of the coordinate system. The plane containing the centers of the three reflective stickers is the XOY plane, the axis perpendicular to this plane and pointing outwards is the Z-axis, and the extension of the line connecting the origin to any one of the center points of the reflective stickers is the Y-axis. The direction of the X-axis is determined by the cross product.

[0007] Furthermore, the acetabular center coordinate system described in S103 uses the center of the acetabular fossa as the origin and the normal vector of the acetabular fossa tangential plane as the z-axis to construct a right-handed orthogonal coordinate system. In the system of navigation technology-assisted joint replacement surgery, relative pose relationship is used, and the definition of the coordinate system does not affect the technical implementation. It is determined by the system designer according to the actual situation.

[0008] Secondly, the present invention provides an apparatus for evaluating and correcting registration result anomalies, comprising: The preoperative preparation module includes the following steps: The CT image data acquired before the operation was segmented and reconstructed using planning software to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur on the operation side. Based on automatically identified or manually labeled bony features, hip and femoral coordinate systems are constructed respectively. These coordinate systems are then adjusted to a standard virtual coordinate system, thus obtaining the transformation relationship T from the CT coordinate system to the positioned hip and femoral coordinate systems. ct2hip T ct2femur ; The tracker is fixed at the surgical site in the hip and femur to complete the registration process and obtain the registration result T. hipmarker2ct T femurmarker2ct Among them, T hipmarker2ct T femurmarker2ct The conversion relationships from the hip bone tracker and the femur bone tracker to the CT coordinate system are shown respectively. The registration result evaluation module includes the following steps: The femur in the virtual coordinate system is transmitted via T... ct2femur Transform the inverse matrix to the CT coordinate system, and then through T femurmarker2ct The inverse matrix is ​​transformed to the coordinate system of the femoral tracker; the pose T of the hip and femoral trackers in the optical positioning system is read in real time. hipmarker2camera T femurmarker2camera and through T femurmarker2camera Transform the femoral coordinate system to the coordinate system of the optical positioning system; Similarly, by applying the hip bone-related transformation relationship, the updated femoral pose relationship relative to the hip bone in the virtual coordinate system is obtained, completing the virtual mapping of the real physical coordinate system, and comparing it with the standard positioning in the preoperative preparation module to obtain the femoral range of motion in the current pose, including femoral internal rotation, abduction, and flexion angles. The femur in physical space is adjusted to the standard position and compared with the femur mobility displayed by the system. The consistency is used as the basis for evaluating whether the registration result is abnormal. The registration result anomaly correction module includes the following steps: When the intraoperative registration results are deemed abnormal, or when the hip bone array becomes loose during the operation, the results are corrected. The femur in physical space is adjusted to the standard position, that is, the internal rotation, abduction and flexion of the femur are all 0. Since the femoral head has been removed at this time, there is an error in the judgment when placing the femur. Only the angle information is used to correct the angle of the registration result. Click the correction button to calculate the current femur-hip bone conversion relationship T. femur2hip Set its corresponding pose matrix R as the identity matrix; since the overall structure of the bone surface is obvious and there are few influencing factors during the femoral registration process, its registration results are often quite accurate, so it is assumed that its registration results do not need to be corrected during the correction process; The current T femur2hipThe transformation matrix T' of the current hip CT in the original hip CT coordinate system is obtained by applying the transformation relation; the acetabular center identified preoperatively is read, and the transformation matrix of the current hip CT in the original hip CT coordinate system is transformed to the acetabular center coordinate system, denoted as T'. center The anomalies in the current registration results are all due to a rotation around the center of the acetabulum between the hip coordinate system in the registration result and the correct hip coordinate system. center The translation transformation in the matrix is ​​cleared to 0, and only the rotation transformation is retained to obtain R'; Apply R' to the original registration result to obtain the corrected registration result; Subsequent processing module: If it is an abnormal correction of intraoperative registration results, the surgery will proceed normally; if it is an array loosening correction, the subsequent surgery will only provide angular navigation information for hip replacement surgery, and the position information will no longer be reliable.

[0009] Thirdly, the present invention provides an evaluation and correction device for registration result anomalies, the device comprising: a processor, a memory, and computer program instructions stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program instructions stored in the memory to implement the above-described evaluation and correction method for registration result anomalies.

[0010] Fourthly, the present invention provides a computer storage medium for evaluating and correcting registration result anomalies, wherein the computer storage medium stores computer program instructions, and the computer program instructions, when executed by a processor, implement the above-described method for evaluating and correcting registration result anomalies.

[0011] This invention provides a method and related equipment for assessing and correcting abnormal registration results. By using the registration results of the hip and femur, data from trackers fixed near the surgical site of the hip and femur are read in real time. The relative positional relationship of the hip and femur in real physical space is mapped to virtual space, and the femoral mobility is derived. This allows surgeons to determine whether the current registration result is abnormal by comparing the consistency between the physical and virtual spaces. When the registration result has a large error due to the surgeon's selection error during surgery or getting trapped in a local optimum, the angular difference between the current physical and virtual spaces is transferred to the coordinate system of the acetabular fossa center to obtain the deviation of the registration result around the center of the acetabular fossa. After correcting this deviation, a new registration result is obtained. After registration, if the tracker fixed at the surgical site becomes loose during hip replacement surgery, rendering the registration result unusable, and the acetabular fossa has been ground down, making re-registration impossible, the registration result correction function is used to restore the angular accuracy of the registration result. This ensures the navigation function of the robot-assisted system for the acetabular cup placement angle, avoiding situations where surgeons can only perform traditional surgeries. Attached Figure Description

[0012] The features, advantages and technical effects of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings.

[0013] Figure 1 This refers to the pre-correction femoral mobility information provided in this embodiment of the invention; Figure 2 This is the femoral mobility information after array loosening provided in the embodiments of the present invention; Figure 3 This refers to the corrected femoral mobility information provided in the embodiments of the present invention; Figure 4 This is a schematic diagram of the device for evaluating and correcting registration result anomalies provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a computing device provided in an embodiment of the present invention. Detailed Implementation

[0014] The features and exemplary embodiments of various aspects of this disclosure will now be described in detail. To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description, in conjunction with the accompanying drawings and specific embodiments, will provide a further detailed description. It should be understood that the specific embodiments described herein are intended only to explain this disclosure and not to limit it. For those skilled in the art, this disclosure can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this disclosure by illustrating examples.

[0015] It should be noted that, in this document, relational terms such as "first" and "second" are used merely 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..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0016] To better understand the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0017] In a first aspect, the present invention provides a method for evaluating and correcting registration result anomalies, comprising: S101, Preoperative preparation stage, includes the following steps: The CT image data acquired before the operation was segmented and reconstructed using planning software to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur on the operation side. Based on automatically identified or manually labeled bony features, hip and femoral coordinate systems are constructed respectively. These coordinate systems are then adjusted to a standard virtual coordinate system, thus obtaining the transformation relationship T from the CT coordinate system to the positioned hip and femoral coordinate systems. ct2hip T ct2femur ; The tracker is fixed at the surgical site in the hip and femur to complete the registration process and obtain the registration result T. hipmarker2ct T femurmarker2ct Among them, T hipmarker2ct T femurmarker2ct The conversion relationships from the hip bone tracker and the femur bone tracker to the CT coordinate system are shown respectively. S102, Intraoperative registration result evaluation, including the following steps: The femur in the virtual coordinate system is transmitted via T... ct2femur Transform the inverse matrix to the CT coordinate system, and then through T femurmarker2ct The inverse matrix is ​​transformed to the coordinate system of the femoral tracker; the pose T of the hip and femoral trackers in the optical positioning system is read in real time. hipmarker2camera T femurmarker2camera and through T femurmarker2camera Transform the femoral coordinate system to the coordinate system of the optical positioning system; Similarly, by applying the hip bone-related transformation relationship, the updated femoral pose relationship relative to the hip bone in the virtual coordinate system is obtained, completing the virtual mapping of the real physical coordinate system, and comparing it with the standard position in S101 to obtain the femoral range of motion in the current pose, including femoral internal rotation, abduction, and flexion angles. The femur in physical space is adjusted to the standard position and compared with the femur mobility displayed by the system. The consistency is used as the basis for evaluating whether the registration result is abnormal. S103, Correction of abnormal intraoperative registration results, including the following steps: The pre-correction femoral mobility information is shown in the figure. When the results are deemed abnormal through intraoperative registration assessment, or as... Figure 2 When the hip bone array shown in the diagram becomes loose during the operation, result correction is performed. The femur in physical space is adjusted to the standard position, that is, the internal rotation, abduction and flexion of the femur are all 0. Since the femoral head has been removed at this time, there is an error in the judgment when placing the femur. Only the angle information is used to correct the angle of the registration result. Click the correction button to calculate the current femur-hip bone conversion relationship T. femur2hipSet its corresponding pose matrix R as the identity matrix; since the overall structure of the bone surface is obvious and there are few influencing factors during the femoral registration process, its registration results are often quite accurate, so it is assumed that its registration results do not need to be corrected during the correction process; The current T femur2hip The transformation matrix T' of the current hip CT in the original hip CT coordinate system is obtained by applying the transformation relation; the acetabular center identified preoperatively is read, and the transformation matrix of the current hip CT in the original hip CT coordinate system is transformed to the acetabular center coordinate system, denoted as T'. center The anomalies in the current registration results are all due to a rotation around the center of the acetabulum between the hip coordinate system in the registration result and the correct hip coordinate system. center The translation transformation in the matrix is ​​cleared to 0, and only the rotation transformation is retained to obtain R'; Applying R' to the original registration result yields the following: Figure 3 The corrected registration result is shown below; S104, Subsequent handling: If it is an abnormal correction of intraoperative registration results, the surgery will proceed normally; if it is array loosening correction, the subsequent surgery will only provide angular navigation information for hip replacement surgery, and the positional information will no longer be reliable.

[0018] As an optional implementation, the femoral region tracker includes a tracker bracket and three reflective stickers, each detachably mounted on the tracker bracket and recognizable by a navigation camera. The coordinate system of the femoral region tracker is determined by the positions of the three reflective stickers: the center point of the femoral region tracker is determined based on the center positions of the three reflective stickers, and this center point is taken as the origin of the coordinate system. The plane containing the centers of the three reflective stickers is the XOY plane, the axis perpendicular to this plane and pointing outwards is the Z-axis, and the extension of the line connecting the origin to any one of the center points of the reflective stickers is the Y-axis. The direction of the X-axis is determined by the cross product.

[0019] As an optional implementation, the acetabular center coordinate system described in S103 uses the center of the acetabular fossa as the origin and the normal vector of the acetabular fossa tangential plane as the z-axis to construct a right-handed orthogonal coordinate system. In the system of navigation technology-assisted joint replacement surgery, relative pose relationship is used, and the definition of the coordinate system does not affect the technical implementation. It is determined by the system designer according to the actual situation.

[0020] like Figure 4 As shown, the present invention provides an evaluation and correction device for registration result anomalies, comprising: Preoperative preparation module 401 includes the following steps: The CT image data acquired before the operation was segmented and reconstructed using planning software to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur on the operation side. Based on automatically identified or manually labeled bony features, hip and femoral coordinate systems are constructed respectively. These coordinate systems are then adjusted to a standard virtual coordinate system, thus obtaining the transformation relationship T from the CT coordinate system to the positioned hip and femoral coordinate systems. ct2hip T ct2femur ; The tracker is fixed at the surgical site in the hip and femur to complete the registration process and obtain the registration result T. hipmarker2ct T femurmarker2ct Among them, T hipmarker2ct T femurmarker2ct The conversion relationships from the hip bone tracker and the femur bone tracker to the CT coordinate system are shown respectively. The registration result evaluation module 402 includes the following steps: The femur in the virtual coordinate system is transmitted via T... ct2femur Transform the inverse matrix to the CT coordinate system, and then through T femurmarker2ct The inverse matrix is ​​transformed to the coordinate system of the femoral tracker; the pose T of the hip and femoral trackers in the optical positioning system is read in real time. hipmarker2camera T femurmarker2camera and through T femurmarker2camera Transform the femoral coordinate system to the coordinate system of the optical positioning system; Similarly, by applying the hip bone-related transformation relationship, the updated femoral pose relationship relative to the hip bone in the virtual coordinate system is obtained, completing the virtual mapping of the real physical coordinate system, and comparing it with the standard positioning in the preoperative preparation module to obtain the femoral range of motion in the current pose, including femoral internal rotation, abduction, and flexion angles. The femur in physical space is adjusted to the standard position and compared with the femur mobility displayed by the system. The consistency is used as the basis for evaluating whether the registration result is abnormal. The registration result anomaly correction module 403 includes the following steps: When the intraoperative registration results are deemed abnormal, or when the hip bone array becomes loose during the operation, the results are corrected. The femur in physical space is adjusted to the standard position, that is, the internal rotation, abduction and flexion of the femur are all 0. Since the femoral head has been removed at this time, there is an error in the judgment when placing the femur. Only the angle information is used to correct the angle of the registration result. Click the correction button to calculate the current femur-hip bone conversion relationship T. femur2hip Set its corresponding pose matrix R as the identity matrix; since the overall structure of the bone surface is obvious and there are few influencing factors during the femoral registration process, its registration results are often quite accurate, so it is assumed that its registration results do not need to be corrected during the correction process; The current T femur2hipThe transformation matrix T' of the current hip CT in the original hip CT coordinate system is obtained by applying the transformation relation; the acetabular center identified preoperatively is read, and the transformation matrix of the current hip CT in the original hip CT coordinate system is transformed to the acetabular center coordinate system, denoted as T'. center The anomalies in the current registration results are all due to a rotation around the center of the acetabulum between the hip coordinate system in the registration result and the correct hip coordinate system. center The translation transformation in the matrix is ​​cleared to 0, and only the rotation transformation is retained to obtain R'; Apply R' to the original registration result to obtain the corrected registration result; Subsequent processing module 404: If it is an abnormal correction of intraoperative registration results, the surgery will proceed normally; if it is an array loosening correction, the subsequent surgery will only provide angular navigation information for hip replacement surgery, and the position information will no longer be reliable.

[0021] Figure 4 Each module / unit in the device shown has the function of implementing each step in the evaluation and correction method for registration result anomalies, and can achieve the corresponding technical effect. For the sake of brevity, it will not be described in detail here.

[0022] like Figure 5 As shown, the present invention provides an evaluation and correction device for abnormal registration results. The device includes: a processor 501, a memory 502, and computer program instructions stored in the memory 502 and executable on the processor 501. The processor 501 is used to execute the computer program instructions stored in the memory 502 to implement the above-described evaluation and correction method for abnormal registration results.

[0023] Specifically, the processor 501 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the present invention.

[0024] Memory 502 may include mass storage for data or instructions. For example, and not as a limitation, memory may include hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these.

[0025] In one instance, memory 502 may include removable or non-removable (or fixed) media, or the memory may be non-volatile solid-state memory. The memory may be internal or external to the integrated gateway disaster recovery device.

[0026] In one instance, memory 502 may be read-only memory (ROM). In one instance, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0027] In one example, memory 502 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0028] The processor 501 reads and executes computer program instructions stored in the memory 502 to achieve... Figure 1 The methods / steps in the illustrated embodiments, and the corresponding technical effects they achieve, will not be elaborated upon here for the sake of brevity.

[0029] In one embodiment, the computing device may further include a communication interface 503 and a bus 504. For example... Figure 5 As shown, the processor 501, memory 502, and communication interface 503 are connected through bus 504 and complete communication with each other.

[0030] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in this invention.

[0031] Bus 504 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not as a limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, the bus may include one or more buses. Although specific buses are described and illustrated in this invention, this disclosure contemplates any suitable bus or interconnect.

[0032] In addition, in conjunction with the method for evaluating and correcting registration result anomalies in the above embodiments, the present invention also provides a computer storage medium for implementation, wherein the computer storage medium stores computer program instructions, and the computer program instructions, when executed by a processor, implement the above-mentioned method for evaluating and correcting registration result anomalies.

[0033] The computer storage medium provided in this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0034] This invention provides a method and related equipment for assessing and correcting abnormal registration results. By using the registration results of the hip and femur, data from trackers fixed near the surgical site of the hip and femur are read in real time. The relative positional relationship of the hip and femur in real physical space is mapped to virtual space, and the femoral mobility is derived. This allows surgeons to determine whether the current registration result is abnormal by comparing the consistency between the physical and virtual spaces. When the registration result has a large error due to the surgeon's selection error during surgery or getting trapped in a local optimum, the angular difference between the current physical and virtual spaces is transferred to the coordinate system of the acetabular fossa center to obtain the deviation of the registration result around the center of the acetabular fossa. After correcting this deviation, a new registration result is obtained. After registration, if the tracker fixed at the surgical site becomes loose during hip replacement surgery, rendering the registration result unusable, and the acetabular fossa has been ground down, making re-registration impossible, the registration result correction function is used to restore the angular accuracy of the registration result. This ensures the navigation function of the robot-assisted system for the acetabular cup placement angle, avoiding situations where surgeons can only perform traditional surgeries.

[0035] It should be clarified that this disclosure is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this disclosure is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this disclosure.

[0036] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this disclosure are programs or code segments used to perform the required tasks. Those skilled in the art can write computer program code for performing the operations of this invention in one or more programming languages ​​or combinations thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. Furthermore, the program or code segment can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. A machine-readable medium can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc.

[0037] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0038] The above description is merely a specific embodiment of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this disclosure is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this disclosure, and these modifications or substitutions should all be covered within the protection scope of this disclosure.

Claims

1. A method for evaluating and correcting registration result anomalies, characterized in that, include: S101, Preoperative preparation stage, includes the following steps: The CT image data acquired before the operation was segmented and reconstructed using planning software to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur on the operation side. Based on automatically identified or manually labeled bony features, hip and femoral coordinate systems are constructed respectively. These coordinate systems are then adjusted to a standard virtual coordinate system, thus obtaining the transformation relationship T from the CT coordinate system to the positioned hip and femoral coordinate systems. ct2hip T ct2femur ; The tracker is fixed at the surgical site in the hip and femur to complete the registration process and obtain the registration result T. hipmarker2ct T femurmarker2ct Among them, T hipmarker2ct T femurmarker2ct The conversion relationships from the hip bone tracker and the femur bone tracker to the CT coordinate system are shown respectively. S102, Intraoperative registration result evaluation, including the following steps: The femur in the virtual coordinate system is transmitted via T... ct2femur Transform the inverse matrix to the CT coordinate system, and then through T femurmarker2ct The inverse matrix is ​​transformed to the coordinate system of the femoral tracker; the pose T of the hip and femoral trackers in the optical positioning system is read in real time. hipmarker2camera T femurmarker2camera and through T femurmarker2camera Transform the femoral coordinate system to the coordinate system of the optical positioning system; Similarly, by applying the hip bone-related transformation relationship, the updated femoral pose relationship relative to the hip bone in the virtual coordinate system is obtained, completing the virtual mapping of the real physical coordinate system, and comparing it with the standard position in S101 to obtain the femoral range of motion in the current pose, including femoral internal rotation, abduction, and flexion angles. The femur in physical space is adjusted to the standard position and compared with the femur mobility displayed by the system. The consistency is used as the basis for evaluating whether the registration result is abnormal. S103, Correction of abnormal intraoperative registration results, including the following steps: When the intraoperative registration results are deemed abnormal, or when the hip bone array becomes loose during the operation, the results are corrected. The femur in physical space is adjusted to the standard position, that is, the internal rotation, abduction and flexion of the femur are all 0. Since the femoral head has been removed at this time, there is an error in the judgment when placing the femur. Only the angle information is used to correct the angle of the registration result. Click the correction button to calculate the current femur-hip bone conversion relationship T. femur2hip Set its corresponding pose matrix R as the identity matrix; since the overall structure of the bone surface is obvious and there are few influencing factors during the femoral registration process, its registration results are often quite accurate, so it is assumed that its registration results do not need to be corrected during the correction process; The current T femur2hip The transformation matrix T' of the current hip CT in the original hip CT coordinate system is obtained by applying the transformation relation; the acetabular center identified preoperatively is read, and the transformation matrix of the current hip CT in the original hip CT coordinate system is transformed to the acetabular center coordinate system, denoted as T'. center The anomalies in the current registration results are all due to a rotation around the center of the acetabulum between the hip coordinate system in the registration result and the correct hip coordinate system. center The translation transformation in the matrix is ​​cleared to 0, and only the rotation transformation is retained to obtain R'; Apply R' to the original registration result to obtain the corrected registration result; S104, Subsequent handling: If it is an abnormal correction of intraoperative registration results, the surgery will proceed normally; if it is array loosening correction, the subsequent surgery will only provide angular navigation information for hip replacement surgery, and the positional information will no longer be reliable.

2. A device for evaluating and correcting registration result anomalies, characterized in that, include: The preoperative preparation module includes the following steps: The CT image data acquired before the operation was segmented and reconstructed using planning software to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur on the operation side. Based on automatically identified or manually labeled bony features, hip and femoral coordinate systems are constructed respectively. These coordinate systems are then adjusted to a standard virtual coordinate system, thus obtaining the transformation relationship T from the CT coordinate system to the positioned hip and femoral coordinate systems. ct2hip T ct2femur ; The tracker is fixed at the surgical site in the hip and femur to complete the registration process and obtain the registration result T. hipmarker2ct T femurmarker2ct Among them, T hipmarker2ct T femurmarker2ct The conversion relationships from the hip bone tracker and the femur bone tracker to the CT coordinate system are shown respectively. The registration result evaluation module includes the following steps: The femur in the virtual coordinate system is transmitted via T... ct2femur Transform the inverse matrix to the CT coordinate system, and then through T femurmarker2ct The inverse matrix is ​​transformed to the coordinate system of the femoral tracker; the pose T of the hip and femoral trackers in the optical positioning system is read in real time. hipmarker2camera T femurmarker2camera and through T femurmarker2camera Transform the femoral coordinate system to the coordinate system of the optical positioning system; Similarly, by applying the hip bone-related transformation relationship, the updated femoral pose relationship relative to the hip bone in the virtual coordinate system is obtained, completing the virtual mapping of the real physical coordinate system, and comparing it with the standard position in S101 to obtain the femoral range of motion in the current pose, including femoral internal rotation, abduction, and flexion angles. The femur in physical space is adjusted to the standard position and compared with the femur mobility displayed by the system. The consistency is used as the basis for evaluating whether the registration result is abnormal. The registration result anomaly correction module includes the following steps: When the intraoperative registration results are deemed abnormal, or when the hip bone array becomes loose during the operation, the results are corrected. The femur in physical space is adjusted to the standard position, that is, the internal rotation, abduction and flexion of the femur are all 0. Since the femoral head has been removed at this time, there is an error in the judgment when placing the femur. Only the angle information is used to correct the angle of the registration result. Click the correction button to calculate the current femur-hip bone conversion relationship T. femur2hip Set its corresponding pose matrix R as the identity matrix; since the overall structure of the bone surface is obvious and there are few influencing factors during the femoral registration process, its registration results are often quite accurate, so it is assumed that its registration results do not need to be corrected during the correction process; The current T femur2hip The transformation matrix T' of the current hip CT in the original hip CT coordinate system is obtained by applying the transformation relation; the acetabular center identified preoperatively is read, and the transformation matrix of the current hip CT in the original hip CT coordinate system is transformed to the acetabular center coordinate system, denoted as T'. center The anomalies in the current registration results are all due to a rotation around the center of the acetabulum between the hip coordinate system in the registration result and the correct hip coordinate system. center The translation transformation in the matrix is ​​cleared to 0, and only the rotation transformation is retained to obtain R'; Apply R' to the original registration result to obtain the corrected registration result; Subsequent processing module: If it is an abnormal correction of intraoperative registration results, the surgery will proceed normally; if it is an array loosening correction, the subsequent surgery will only provide angular navigation information for hip replacement surgery, and the position information will no longer be reliable.

3. A device for evaluating and correcting registration anomalies, characterized in that, The device includes: a processor, a memory, and computer program instructions stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program instructions stored in the memory to implement the method for evaluating and correcting registration result anomalies as described in claim 1.

4. A computer storage medium for evaluating and correcting registration result anomalies, characterized in that, The computer storage medium stores computer program instructions, which, when executed by a processor, implement the method for evaluating and correcting registration result anomalies as described in claim 1.

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