A surgical navigation method, device, system, electronic device and medium

Abstract

The embodiment of the application provides a surgical navigation method, device, system, electronic equipment and medium, and relates to the technical field of computer vision. The technical scheme of the embodiment of the application comprises the following steps: when one coordinate axis of a depth camera coordinate system is parallel to a surgical bed on which a patient is located, the surgical bed is photographed by the depth camera, and an initial coronal plane of the patient parallel to the surgical bed is established. Then, the initial coronal plane of the patient is used to establish a patient coordinate system, and a first coordinate conversion relationship between the patient coordinate system and the depth camera coordinate system is obtained. Subsequently, surgical navigation is performed according to the first coordinate conversion relationship and a second coordinate conversion relationship. The second coordinate conversion relationship is a coordinate conversion relationship between a surgical instrument coordinate system and the depth camera coordinate system. Thus, the surgical navigation can be performed while meeting the minimally invasive requirement.

Description

Technical Field

[0001] This application relates to the field of computer vision technology, and in particular to a surgical navigation method, device, system, electronic device, and medium. Background Technology

[0002] Doctors can use surgical navigation systems to perform surgeries, such as hip replacement surgery. Current surgical navigation systems mainly rely on binocular visual tracking technology, which uses an infrared optical camera to track invasive tracers inside the patient's body and tracers on surgical instruments to obtain the coordinate transformation relationship between the patient's coordinate system and the surgical instrument's coordinate system. This transformation relationship is then used for surgical navigation. However, this approach requires the pre-implantation of invasive tracers inside the patient, creating an additional wound.

[0003] In addition, current navigation or robotic systems require acquiring CT data of the patient's anatomical sites and performing image processing and anatomical feature point annotation on the CT data. This process is cumbersome, requires a long preoperative preparation time, and has a steep learning curve. Summary of the Invention

[0004] The purpose of this application is to provide a surgical navigation method, device, system, electronic device, and medium to enable surgical navigation without requiring additional incisions or CT imaging data for the patient. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a surgical navigation method, the method comprising:

[0006] When one axis of the depth camera coordinate system is parallel to the operating table where the patient is located, the operating table is photographed by the depth camera to establish the patient's initial coronal plane parallel to the operating table;

[0007] A patient coordinate system is established based on the patient's initial coronal plane, and a first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system is obtained.

[0008] Surgical navigation is performed based on the first coordinate transformation relationship and the second coordinate transformation relationship, wherein the second coordinate transformation relationship is the coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system.

[0009] Optionally, the step of establishing a patient coordinate system based on the patient's initial coronal plane and obtaining a first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system includes:

[0010] An initial patient coordinate system is established under the depth camera coordinate system, and the plane containing the two coordinate axes of the initial patient coordinate system is the initial coronal plane of the patient.

[0011] When the tip of the probe touches a designated bone point of the patient, the position of the tracer ball in the probe in the depth camera coordinate system is obtained, and the target position of the designated bone point in the depth camera coordinate system is determined based on the obtained position.

[0012] Based on the target location, the initial patient coordinate system is adjusted to obtain a first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system, wherein the two coordinate systems of the adjusted patient coordinate system are parallel to the true coronal plane of the patient.

[0013] Optionally, when the tip of the probe touches a designated bone point on the patient, acquiring the position of the tracer sphere in the probe in the depth camera coordinate system, and determining the target position of the designated bone point in the depth camera coordinate system based on the acquired position, includes:

[0014] When the tip of the probe touches the patient's first bone point, the first position of the tracer ball in the probe in the depth camera coordinate system is obtained;

[0015] Based on the first position, determine the first target position of the first skeleton point in the depth camera coordinate system;

[0016] When the tip of the probe touches the second bone point of the patient, the second position of the tracer ball in the probe in the depth camera coordinate system is obtained; wherein the first bone point and the second bone point are symmetrical points on the patient's pelvis;

[0017] Based on the second position, determine the second target position of the second skeleton point in the depth camera coordinate system;

[0018] The step of adjusting the initial patient coordinate system based on the target position to obtain a first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system includes:

[0019] Determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the initial coronal plane of the patient in the initial patient coordinate system to be parallel to the line connecting them. Use the adjusted coordinate system as the patient coordinate system to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

[0020] Optionally, establishing a patient coordinate system in the depth camera coordinate system based on the target location includes:

[0021] The operating table where the patient is located is scanned by the depth camera, and an operating table coordinate system is established in the depth camera coordinate system;

[0022] Determine the fourth coordinate transformation relationship between the operating table coordinate system and the depth camera coordinate system;

[0023] Determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the operating table coordinate system to be parallel to the line connecting them. Use the adjusted operating table coordinate system as the patient coordinate system.

[0024] Optionally, the surgical instruments include a femoral head harvester and an acetabular reamer; the second coordinate transformation relationship includes: a third coordinate transformation relationship between the coordinate system of the femoral head harvester and the coordinate system of the depth camera, and a fourth coordinate transformation relationship between the coordinate system of the acetabular reamer and the coordinate system of the depth camera;

[0025] The surgical navigation based on the first coordinate transformation relationship and the second coordinate transformation relationship includes:

[0026] During the process of the femoral head retrieval device operating on the patient's femoral head, the position of the femoral head retrieval device in the coordinate system of the femoral head retrieval device is transformed to the patient's coordinate system according to the first coordinate transformation relationship and the real-time third coordinate transformation relationship.

[0027] Based on the position of the femoral head harvester in the patient coordinate system, the original rotation center of the original acetabulum where the patient's femoral head is located is fitted.

[0028] During the process of grinding the patient's original acetabulum with the acetabular reamer, the rotation center of the acetabular reamer in the acetabular reamer coordinate system is transformed to the patient coordinate system according to the first coordinate transformation relationship and the real-time fourth coordinate transformation relationship.

[0029] The remaining grinding depth is determined based on the acetabular reamer rotation center and the original rotation center in the patient coordinate system.

[0030] Optionally, after fitting the original center of rotation of the original acetabulum where the patient's femoral head is located, the method further includes:

[0031] During the process of grinding the patient's original acetabulum with the acetabular reamer, the angle between the axis of the acetabular reamer and the first reference line is taken as the anteversion angle of the acetabular reamer, and the angle between the axis of the acetabular reamer and the second reference line is taken as the abduction angle of the acetabular reamer. The anteversion angle and abduction angle of the acetabular reamer are shown.

[0032] The first reference line passes through the original rotation center and is parallel to the line connecting the first target position and the second target position. The second reference line passes through the original rotation center, is perpendicular to the line connecting the first target position and the second target position, and is parallel to the operating table.

[0033] Secondly, embodiments of this application provide a surgical navigation device, the device comprising:

[0034] A module is established to create an initial coronal plane of the patient parallel to the operating table by taking a picture of the operating table with a depth camera when one coordinate axis of the depth camera coordinate system is parallel to the operating table where the patient is located.

[0035] The establishment module is further configured to establish a patient coordinate system based on the patient's initial coronal plane, and obtain a first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system;

[0036] The navigation module is used to perform surgical navigation based on the first coordinate transformation relationship and the second coordinate transformation relationship obtained by the establishment module, wherein the second coordinate transformation relationship is the coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system.

[0037] Optionally, the establishment module is specifically used for:

[0038] An initial patient coordinate system is established under the depth camera coordinate system, and the plane containing the two coordinate axes of the initial patient coordinate system is the initial coronal plane of the patient.

[0039] When the tip of the probe touches a designated bone point of the patient, the position of the tracer ball in the probe in the depth camera coordinate system is obtained, and the target position of the designated bone point in the depth camera coordinate system is determined based on the obtained position.

[0040] Based on the target location, the initial patient coordinate system is adjusted to obtain a first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system, wherein the two coordinate systems of the adjusted patient coordinate system are parallel to the true coronal plane of the patient.

[0041] Optionally, the establishment module is specifically used for:

[0042] When the tip of the probe touches the patient's first bone point, the first position of the tracer ball in the probe in the depth camera coordinate system is obtained;

[0043] Based on the first position, determine the first target position of the first skeleton point in the depth camera coordinate system;

[0044] When the tip of the probe touches the second bone point of the patient, the second position of the tracer ball in the probe in the depth camera coordinate system is obtained; wherein the first bone point and the second bone point are symmetrical points on the patient's pelvis;

[0045] Based on the second position, determine the second target position of the second skeleton point in the depth camera coordinate system;

[0046] The establishment module is specifically used for:

[0047] Determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the initial coronal plane of the patient in the initial patient coordinate system to be parallel to the line connecting them. Use the adjusted coordinate system as the patient coordinate system to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

[0048] Optionally, the surgical instruments include a femoral head harvester and an acetabular reamer; the second coordinate transformation relationship includes: a third coordinate transformation relationship between the coordinate system of the femoral head harvester and the coordinate system of the depth camera, and a fourth coordinate transformation relationship between the coordinate system of the acetabular reamer and the coordinate system of the depth camera;

[0049] The navigation module is specifically used for:

[0050] During the process of the femoral head retrieval device operating on the patient's femoral head, the position of the femoral head retrieval device in the coordinate system of the femoral head retrieval device is transformed to the patient's coordinate system according to the first coordinate transformation relationship and the real-time third coordinate transformation relationship.

[0051] Based on the position of the femoral head harvester in the patient coordinate system, the original rotation center of the original acetabulum where the patient's femoral head is located is fitted.

[0052] During the process of grinding the patient's original acetabulum with the acetabular reamer, the rotation center of the acetabular reamer in the acetabular reamer coordinate system is transformed to the patient coordinate system according to the first coordinate transformation relationship and the real-time fourth coordinate transformation relationship.

[0053] The remaining grinding depth is determined based on the acetabular reamer rotation center and the original rotation center in the patient coordinate system.

[0054] Optionally, the device further includes:

[0055] The demonstration module, after fitting the original rotation center of the original acetabulum where the patient's femoral head is located, during the process of the acetabular file grinding the patient's original acetabulum, uses the angle between the axis of the acetabular file and the first reference line as the anteversion angle of the acetabular file, and the angle between the axis of the acetabular file and the second reference line as the abduction angle of the acetabular file, and displays the anteversion angle and abduction angle of the acetabular file;

[0056] The first reference line passes through the original rotation center and is parallel to the line connecting the first target position and the second target position. The second reference line passes through the original rotation center, is perpendicular to the line connecting the first target position and the second target position, and is parallel to the operating table.

[0057] Thirdly, embodiments of this application provide a surgical navigation system, the system comprising: a host computer and a depth camera; the host computer and the depth camera are communicatively connected;

[0058] The host computer is used to execute the steps of any of the surgical navigation methods described above;

[0059] The depth camera is used to locate the probe and the surgical instruments.

[0060] Fourthly, embodiments of this application provide an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0061] Memory, used to store computer programs;

[0062] The processor, when executing a program stored in memory, implements the surgical navigation method steps described above.

[0063] Fifthly, according to embodiments of this application, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the surgical navigation method steps described in any of the above claims.

[0064] Sixthly, embodiments of this application provide a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the surgical navigation methods described above.

[0065] Beneficial effects of the embodiments in this application:

[0066] The surgical navigation method, device, system, electronic device, and medium provided in this application embodiment can establish an initial coronal plane of the patient parallel to the operating table by photographing the operating table with a depth camera when one axis of the depth camera coordinate system is parallel to the operating table. Then, a patient coordinate system is established based on the initial coronal plane, yielding a first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system. Surgical navigation is then performed based on the first coordinate transformation relationship and a second coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system. Because this application embodiment uses the operating table and a depth camera to establish an initial coronal plane of the patient parallel to the operating table during surgical navigation, and uses this to establish the patient coordinate system, it eliminates the need for an invasive tracer inside the patient, reducing unnecessary surgical incisions. Therefore, surgical navigation can be performed without creating additional wounds for the patient or requiring CT image data, thus simplifying the surgical navigation process, reducing preoperative preparation time, and providing a gentler learning curve, thereby reducing the operational difficulty of surgical navigation.

[0067] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0068] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0069] Figure 1 This is a first flowchart of a surgical navigation method provided in an embodiment of this application;

[0070] Figure 2 An exemplary schematic diagram of a depth camera shooting scene provided in an embodiment of this application;

[0071] Figure 3 A second flowchart of the surgical navigation method provided in the embodiments of this application;

[0072] Figure 4 A third flowchart of the surgical navigation method provided in the embodiments of this application;

[0073] Figure 5 This is an exemplary schematic diagram of a pelvic structure provided in an embodiment of this application;

[0074] Figure 6 An exemplary schematic diagram of the surgical mode provided in the embodiments of this application;

[0075] Figure 7 An exemplary schematic diagram of an acetabular file provided in this application embodiment;

[0076] Figure 8 This is an exemplary schematic diagram of a femoral head harvesting device provided in an embodiment of this application;

[0077] Figure 9 A fourth flowchart of the surgical navigation method provided in the embodiments of this application;

[0078] Figure 10 An exemplary schematic diagram of the remaining wear depth provided in an embodiment of this application;

[0079] Figure 11 An exemplary schematic diagram of a forward tilt angle and an abduction angle provided for an embodiment of this application;

[0080] Figure 12 This is a schematic diagram of the structure of a surgical navigation system provided in an embodiment of this application;

[0081] Figure 13 This is a schematic diagram of the structure of a surgical navigation device provided in an embodiment of this application;

[0082] Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0083] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0084] First, the imaging principle of the depth camera involved in the embodiments of this application will be explained.

[0085] The key to depth camera imaging technology lies in acquiring distance information between the depth camera and the scanned object, thereby generating a depth image, which can be a red-green-blue (RGB) image.

[0086] When a depth camera is based on the principle of 3D laser imaging, it emits laser pulse signals. After the laser pulse signals reach the object being scanned, they are reflected back to the depth camera through the surface of the object. By analyzing the phase change between the emitted and received reflected laser pulse signals, the depth camera can indirectly calculate the distance between itself and the object being scanned.

[0087] When a depth camera is based on the principle of structured light, it emits striped laser or white light. Then, based on the shape of the light stripes produced by the laser or white light on the scanned object, the distance information between the depth camera and the scanned object, as well as the three-dimensional surface information of the scanned object, can be calculated using calculation methods such as triangulation.

[0088] To enable surgical navigation while meeting minimally invasive requirements, embodiments of this application provide a surgical navigation method. This method can be applied to electronic devices, such as the host computer in a traditional surgical navigation system, or other devices with data processing capabilities, such as desktop computers or laptops that can communicate with depth cameras. Figure 1 As shown, the method includes the following steps:

[0089] S101. When one axis of the depth camera coordinate system is parallel to the operating table where the patient is located, the operating table is photographed by the depth camera to establish the patient's initial coronal plane parallel to the operating table.

[0090] See Figure 2 , Figure 2The patient lies supine on the operating table. Near the operating table, there is a cross-shaped target base with a support. A depth camera is installed at the end of the support of the target base. Both the patient and the operating table are within the scanning range of the depth camera.

[0091] As can be seen, the depth camera is mounted on a targeting mount, which is placed near the operating table. The targeting mount can perform six degrees of freedom of attitude adjustment and is also equipped with a gyroscope, which can adjust at least one axis of the depth camera's coordinate system to be horizontal, thus ensuring parallelism with the operating table. For example, see... Figure 2 Adjust the reference axis of the depth camera coordinate system so that the X-axis is parallel to the wide side of the operating table, the Z-axis is parallel to the long side of the operating table, and the Y-axis is perpendicular to the operating table.

[0092] Optionally, when the depth camera coordinate system, the target base coordinate system, and the gyroscope coordinate system are inconsistent, compensation and correction can be performed through algorithms to obtain the coordinate transformation relationship between each pair of coordinate systems in the depth camera coordinate system, the target base coordinate system, and the gyroscope coordinate system, thereby ensuring the accuracy of surgical navigation.

[0093] Then, the operating table can be photographed with a depth camera to obtain a depth image, and the position of the operating table in the depth camera coordinate system can be obtained based on the depth image, thereby establishing the patient's initial coronal plane parallel to the operating table.

[0094] S102. Establish a patient coordinate system based on the patient's initial coronal plane and obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

[0095] In this embodiment, a first coordinate axis and a second coordinate axis that are perpendicular to each other can be established on the initial coronal plane, and a third coordinate axis that is perpendicular to the initial coronal plane can be established, thereby obtaining the patient coordinate system.

[0096] Alternatively, a patient coordinate system can be established through other methods, as described below.

[0097] S103. Perform surgical navigation based on the first coordinate transformation relationship and the second coordinate transformation relationship; wherein, the second coordinate transformation relationship is the coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system.

[0098] Since obtaining the first and second coordinate transformation relationships is equivalent to unifying the patient coordinate system and the surgical instrument coordinate system under the depth camera coordinate system, the patient coordinate system and the surgical instrument coordinate system can be transformed into each other through the depth camera coordinate system to obtain the relative positional relationship between the surgical instrument and the patient, thereby enabling precise operation of the surgical instrument during the operation.

[0099] The surgical navigation method provided in this application embodiment allows for the establishment of an initial coronal plane of the patient parallel to the operating table by photographing the operating table with a depth camera when one axis of the depth camera coordinate system is parallel to the operating table. Then, a patient coordinate system is established based on this initial coronal plane, yielding a first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system. Surgical navigation is then performed based on this first coordinate transformation relationship and a second coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system. Because this application embodiment utilizes the operating table and a depth camera to establish an initial coronal plane of the patient parallel to the operating table, and uses this plane to establish the patient coordinate system, it eliminates the need for an invasive tracer inside the patient, reducing unnecessary surgical incisions. Therefore, surgical navigation can be performed without creating additional wounds for the patient or requiring CT image data, simplifying the surgical navigation process, reducing preoperative preparation time, and providing a gentler learning curve, thus reducing the operational difficulty of surgical navigation.

[0100] In this embodiment, the patient can be placed on the operating table before surgery, either in a lateral or supine position. When the patient is in a supine position, the coronal plane is approximately parallel to the operating table, but there may be errors. When the patient is in a lateral position, the coronal plane is not parallel to the operating table. In this case, to ensure positioning accuracy, the patient's anterior pelvic plane can be adjusted to be perpendicular to the plane of the operating table.

[0101] Because the patient's actual coronal plane may not be parallel to the operating table, the initial coronal plane can be adjusted to obtain a more accurate patient coordinate system. See also Figure 3 The method for establishing a patient coordinate system based on the patient's initial coronal plane and obtaining the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system in S102 above includes the following steps:

[0102] S1021. Establish the initial patient coordinate system in the depth camera coordinate system.

[0103] The plane containing the two coordinate axes of the initial patient coordinate system is the patient's initial coronal plane.

[0104] In the depth image of the operating table captured by the depth camera, any point located on the patient can be selected as the origin of the initial patient coordinate system. The three coordinate axes of the initial patient coordinate system are set such that the first coordinate axis is parallel to the long side of the operating table, the second coordinate axis is parallel to the wide side of the operating table, and the third coordinate axis is perpendicular to the plane of the operating table, thereby obtaining the coordinate transformation relationship between the initial patient coordinate system and the depth camera coordinate system.

[0105] S1022. When the tip of the probe touches the designated bone point of the patient, the position of the tracer ball in the probe in the depth camera coordinate system is obtained, and the target position of the designated bone point in the depth camera coordinate system is determined based on the obtained position.

[0106] When the probe tip touches a designated bone point on the patient, a depth camera can take pictures of both the probe and the patient on the operating table to obtain a depth image. The center of the tracer sphere of the probe in the depth image is identified, and the three-dimensional distance between the center of the tracer sphere and the depth camera is obtained, that is, the position of the center of the tracer sphere in the depth camera coordinate system.

[0107] Then, based on the positions of the probe's tracer sphere center in the depth camera coordinate system and the tracer sphere center in the probe coordinate system, the coordinate transformation relationship between the probe coordinate system and the depth camera coordinate system can be determined. Furthermore, based on the probe's structure, the position of the designated bone point touched by the probe tip in the probe coordinate system is transformed to the depth camera coordinate system, thereby obtaining the target position of the designated bone point in the depth camera coordinate system.

[0108] The designated bone points are located in the patient's actual coronal plane, and the specific location can be determined based on the surgical procedure to be performed.

[0109] S1023. Based on the target position, adjust the initial patient coordinate system to obtain the first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system.

[0110] In this context, the plane containing the two coordinate axes of the adjusted patient coordinate system represents the patient's true coronal plane.

[0111] For example, the origin of the initial patient coordinate system can be adjusted to the target position to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

[0112] Alternatively, the first coordinate transformation relationship can be determined in other ways, as described below.

[0113] Using the above method, the embodiments of this application can collect the location of the patient's designated bone points and adjust the patient's initial coronal plane to the patient's true coronal plane, thereby making the established patient coordinate system more accurate, and further making the first coordinate transformation relationship between the obtained patient coordinate system and the depth camera coordinate system more accurate.

[0114] The embodiments of this application can be applied to hip replacement surgery, where the designated bone points can be symmetrical points on the patient's pelvis, including a first bone point and a second bone point. For example, the first bone point is the patient's left anterior superior iliac spine, and the second bone point is the patient's right anterior superior iliac spine. Based on this, see [link to relevant documentation]. Figure 4 At this point, the method described in S1022 for determining the target position of the specified bone point in the depth camera coordinate system can be implemented as follows:

[0115] S10221. When the tip of the probe touches the patient's first bone point, obtain the first position of the tracer ball in the probe in the depth camera coordinate system.

[0116] Taking the patient's left anterior superior iliac spine as the first skeletal point, a depth image can be obtained by taking pictures of the probe and the patient on the operating table when the tip of the probe touches the patient's left anterior superior iliac spine. The center of the tracer sphere of the probe in the depth image is identified, and the three-dimensional distance between the center of the tracer sphere and the depth camera is obtained, that is, the first position of the center of the tracer sphere in the depth camera coordinate system is obtained.

[0117] S10222. Based on the first position, determine the first target position of the first skeleton point in the depth camera coordinate system.

[0118] Taking the patient's left anterior superior iliac spine as the first skeletal point as an example, the coordinate transformation relationship between the probe coordinate system and the depth camera coordinate system can be determined based on the first position of the tracer ball's center in the depth camera coordinate system and the position of the tracer ball's center in the probe coordinate system. Furthermore, based on the probe's structure, the position of the left anterior superior iliac spine touched by the probe tip in the probe coordinate system is transformed to the depth camera coordinate system, thus obtaining the first target position of the left anterior superior iliac spine in the depth camera coordinate system.

[0119] S10223. When the tip of the probe touches the patient's second bone point, obtain the second position of the tracer ball in the probe in the depth camera coordinate system.

[0120] Taking the patient's right anterior superior iliac spine as the second skeletal point as an example, a depth image can be obtained by taking pictures of the probe and the patient on the operating table when the tip of the probe touches the patient's right anterior superior iliac spine. The center of the tracer sphere of the probe in the depth image is identified, and the three-dimensional distance between the center of the tracer sphere and the depth camera is obtained, that is, the second position of the center of the tracer sphere in the depth camera coordinate system is obtained.

[0121] S10224. Based on the second position, determine the second target position of the second skeleton point in the depth camera coordinate system.

[0122] Taking the patient's right anterior superior iliac spine as the second skeletal point as an example, the coordinate transformation relationship between the probe coordinate system and the depth camera coordinate system can be determined based on the second position of the tracer ball's center in the depth camera coordinate system and the position of the tracer ball's center in the probe coordinate system. Furthermore, based on the probe's structure, the position of the right anterior superior iliac spine touched by the probe tip in the probe coordinate system is transformed to the depth camera coordinate system, thus obtaining the second target position of the right anterior superior iliac spine in the depth camera coordinate system.

[0123] It should be noted that S10221 can be executed first, followed by S10223; or S10223 can be executed first, followed by S10221; or S10221 and S10223 can be executed simultaneously, that is, two probes can be used simultaneously to touch the patient's first and second bone points respectively, thereby obtaining the first and second positions.

[0124] Using the above method, the embodiments of this application can obtain the position of the patient's pelvic symmetry point in the depth camera coordinate system by means of a probe, without the need to place an invasive tracer in the patient's body, thus reducing surgical costs and preparation time for placing an invasive tracer in the patient's body before surgery, and also reducing the infection rate.

[0125] Based on this, see Figure 4 The above-mentioned method of adjusting the initial patient coordinate system based on the target position can be implemented as follows: S10231, determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the initial coronal plane of the patient in the initial patient coordinate system to be parallel to the line connecting the target position. Use the adjusted coordinate system as the patient coordinate system to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

[0126] In this embodiment, the positions of the patient's pelvic symmetry points in the depth camera coordinate system are acquired, namely the first target position and the second target position. The line connecting the first target position and the second target position lies in the patient's true coronal plane. Since the patient is on an operating table, the plane formed by this line and the axis parallel to the long side of the operating table is the patient's true coronal plane. Specifically, the axis parallel to the wide side of the operating table in the initial patient coordinate system can be adjusted to coincide with this line, while maintaining the axis parallel to the long side of the operating table. The axis perpendicular to the operating table plane can also be adjusted to be perpendicular to the adjusted true coronal plane. Using this adjusted coordinate system as the patient coordinate system, a first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system is obtained.

[0127] For example, see Figure 5 , Figure 5 The two dashed hollow circles in the middle represent the patient's left and right anterior superior iliac spines, respectively. The line connecting them is used as the X-axis of the patient's coordinate system. The Y-axis of the patient's coordinate system is set to be parallel to the long side of the operating table, and the Z-axis of the patient's coordinate system is set to be perpendicular to both the X-axis and the Y-axis.

[0128] The embodiments of this application can first obtain an initial patient coordinate system, and then adjust the initial patient coordinate system through a first target position and a second target position, thereby obtaining a patient coordinate system that conforms to the actual situation of the patient, thus ensuring the accuracy of subsequent surgical navigation.

[0129] In addition to establishing the patient coordinate system and obtaining the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system, it is also necessary to obtain the second coordinate transformation relationship between the surgical machine coordinate system and the depth camera coordinate system when performing surgical navigation.

[0130] When performing hip replacement surgery on a patient, the surgical instruments may include a femoral head harvester and an acetabular reamer. Accordingly, the second coordinate transformation relationship includes: a third coordinate transformation relationship between the femoral head harvester coordinate system and the depth camera coordinate system, and a fourth coordinate transformation relationship between the acetabular reamer coordinate system and the depth camera coordinate system.

[0131] Optional, such as Figure 6 As shown, Figure 6 In the left image, traditional surgical instruments are mounted at the end of a robotic arm, which controls the instruments. Figure 6 In the right image, traditional surgical instruments can be controlled by the doctor by hand.

[0132] See Figure 7 When surgical instruments are held by the surgeon, a tracer can be installed on the surgical instruments. A camera takes a depth image of the surgical instruments and identifies the position of the tracer in the depth camera coordinate system. By using the position of the tracer in the depth camera coordinate system and the position of the tracer in the surgical instrument coordinate system, the real-time coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system can be determined.

[0133] That is, when obtaining the third coordinate transformation relationship, see [reference needed]. Figure 8 One end of the femoral head retrieval device can be connected to the patient's femoral head. A first tracer is installed on the connecting rod of the femoral head retrieval device, for example, by means of a clip. The femoral head retrieval device can also be called a femoral head extractor.

[0134] After the femoral head harvester is connected to the patient's femoral head, a depth camera can be used to acquire depth images of the patient and the femoral head harvester in real time, and identify the position of the first tracer in the depth image in the depth camera coordinate system. By using the position of the first tracer in the depth camera coordinate system and the position of the first tracer in the femoral head harvester coordinate system, the real-time third coordinate transformation relationship between the femoral head harvester coordinate system and the depth camera coordinate system can be determined.

[0135] Similarly, see Figure 7 A second tracer is installed on the connecting rod of the acetabular reamer, for example, by means of a snap-fit.

[0136] When grinding and rubbing the original acetabulum of a patient with an acetabular reamer, a depth camera can be used to acquire depth images of the patient and the acetabular reamer in real time, and identify the position of the second tracer in the depth image in the depth camera coordinate system. By using the position of the second tracer in the depth camera coordinate system and the position of the second tracer in the acetabular reamer coordinate system, the real-time fourth coordinate transformation relationship between the acetabular reamer coordinate system and the depth camera coordinate system can be determined.

[0137] The transformation relationship between the coordinate systems of other surgical instruments and the coordinate system of the depth camera can also be determined in the same way.

[0138] When surgical instruments are controlled by a robotic arm, the robotic arm has a third tracer, which can be mounted on the robotic arm carriage, for example. The position of the surgical instruments can be determined by tracking the position of the third tracer.

[0139] That is, when obtaining the third coordinate transformation relationship, a depth camera can be used to capture a depth image of the robotic arm, a third tracer can be identified in the depth image, and the coordinate transformation relationship between the robotic arm coordinate system and the depth camera coordinate system can be determined based on the position of the third tracer in the depth camera coordinate system and the position of the third tracer in the robotic arm coordinate system. Then, based on the robotic arm structure and the connection between the robotic arm and the femoral head harvester, the coordinate transformation relationship between the femoral head harvester coordinate system and the robotic arm coordinate system can be determined, or the coordinate transformation relationship between the femoral head harvester coordinate system and the robotic arm coordinate system can be obtained through a calibration instrument. Finally, based on the coordinate transformation relationships between the robotic arm coordinate system and the depth camera coordinate system, and between the femoral head harvester coordinate system and the robotic arm coordinate system, the third coordinate transformation relationship between the femoral head harvester coordinate system and the depth camera coordinate system can be obtained.

[0140] Similarly, when obtaining the fourth coordinate transformation relationship, a depth camera can be used to capture a depth image of the robotic arm. The third tracer can be identified within this image, and its position in the depth camera coordinate system and the robotic arm coordinate system can be used to determine the coordinate transformation relationship between the robotic arm coordinate system and the depth camera coordinate system. Then, based on the robotic arm structure and the connection between the robotic arm and the acetabular reamer, the coordinate transformation relationship between the acetabular reamer coordinate system and the robotic arm coordinate system can be determined. Alternatively, the coordinate transformation relationship between the acetabular reamer coordinate system and the robotic arm coordinate system can be obtained through a calibration instrument. Finally, based on the coordinate transformation relationships between the robotic arm coordinate system and the depth camera coordinate system, and between the acetabular reamer coordinate system and the robotic arm coordinate system, the fourth coordinate transformation relationship between the acetabular reamer coordinate system and the depth camera coordinate system can be obtained.

[0141] Optionally, embodiments of this application may use a depth camera with a high refresh rate to ensure the real-time nature of the second coordinate transformation relationship between the determined surgical instrument coordinate system and the depth camera coordinate system, thereby ensuring the accuracy of surgical navigation. For example, the refresh rate of the depth camera may be 10 Hz, that is, 10 depth images are captured per second.

[0142] After determining the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system, and the second coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system, see [link to relevant documentation]. Figure 9 The surgical navigation method described above (S103) includes the following steps:

[0143] S1031. During the process of operating the femoral head of the femoral head harvester on the patient's femoral head, the position of the femoral head harvester in the coordinate system of the femoral head harvester is transformed to the patient's coordinate system according to the first coordinate transformation relationship and the real-time third coordinate transformation relationship.

[0144] After the femoral head harvester is connected to the patient's femoral head, the doctor or robotic arm can operate the connecting rod of the femoral head harvester to move in a circular motion.

[0145] The position of the femoral head harvester in the coordinate system can be transformed to the depth camera coordinate system in real time using a third coordinate transformation relationship. Then, the position of the femoral head harvester in the depth camera coordinate system can be transformed to the patient coordinate system using a first coordinate transformation relationship.

[0146] S1032. Based on the position of the femoral head harvester in the patient's coordinate system, fit the original rotation center of the original acetabulum where the patient's femoral head is located.

[0147] Based on the structure of the femoral head harvester, the patient's original acetabulum can be fitted using a sphere fitting algorithm, and the center of the fitted sphere can be used as the original rotation center of the original acetabulum.

[0148] Once the original center of rotation is obtained, a prompt message can be sent to alert the doctor that the subsequent procedure of removing the patient's femoral head is ready.

[0149] S1033. During the process of grinding and rubbing the patient's original acetabulum with an acetabular reamer, the rotation center of the acetabular reamer in the acetabular reamer coordinate system is transformed to the patient coordinate system according to the first coordinate transformation relationship and the real-time fourth coordinate transformation relationship.

[0150] After removing the femoral head using a femoral head extractor, the patient's original acetabulum can be ground and roughened using an acetabular file.

[0151] The end of the acetabular reamer, which grinds the original acetabulum, is approximately spherical. The center of this sphere in the acetabular reamer coordinate system, i.e., the center of rotation of the acetabular reamer, can be calculated based on the structure of the acetabular reamer. Then, using a real-time fourth coordinate transformation, the center of rotation of the acetabular reamer in the acetabular reamer coordinate system is transformed to the depth camera coordinate system. Finally, using a first coordinate transformation, the center of rotation of the acetabular reamer in the depth camera coordinate system is transformed to the patient coordinate system.

[0152] S1034. Determine the remaining grinding depth based on the rotation center and original rotation center of the acetabular reamer in the patient coordinate system.

[0153] The patient's original acetabulum and acetabular reamer are both approximately spherical and have similar structures. Furthermore, after the patient's original acetabulum was reamed, the prosthesis installed in the original acetabulum, namely the acetabular cup, is also approximately spherical and has a structure similar to that of the patient's original acetabulum.

[0154] When using an acetabular reamer to grind the patient's original acetabulum, grinding is required until the center of rotation of the acetabular reamer coincides with the original center of rotation of the original acetabulum. See also Figure 10 , Figure 10 There are two semicircles in the middle; the upper semicircle represents the original acetabulum, and the lower semicircle represents the acetabular reamer. The size of the acetabular reamer, i.e., its radius, is approximately the same as the radius of the original acetabulum. Figure 10 As shown, the distance between the intersection of the acetabular file axis and the arc edge of the acetabular file, and the intersection of the acetabular file axis and the original arc edge of the acetabulum, is taken as the remaining filing depth.

[0155] Since the acetabular file is approximately identical to the original acetabulum structure, the distance between the rotation center of the acetabular file and the original rotation center can be used as the remaining grinding depth.

[0156] Using the above method, the embodiments of this application can determine the remaining abrasion depth in real time, so as to show the remaining abrasion depth to the doctor, facilitate the doctor's operation, thereby improving the efficiency and ease of use of the surgical navigation system and the surgical robot system including the robotic arm, and improving the surgical accuracy and robustness.

[0157] In this embodiment of the application, the relative positional relationship between the surgical instruments and the patient can also be displayed in real time during the operation, thereby facilitating the doctor's operation.

[0158] That is, during the process of grinding and polishing the patient's original acetabulum with an acetabular reamer, the angle between the axis of the acetabular reamer and the first reference line is taken as the anteversion angle of the acetabular reamer, and the angle between the axis of the acetabular reamer and the second reference line is taken as the abduction angle of the acetabular reamer, thus demonstrating the anteversion and abduction angles of the acetabular reamer.

[0159] The first reference line passes through the original rotation center and is parallel to the line connecting the first target position and the second target position. The second reference line passes through the original rotation center, is perpendicular to the line connecting the first target position and the second target position, and is parallel to the operating table.

[0160] Taking the left anterior superior iliac spine as the first skeletal point and the right anterior superior iliac spine as the second skeletal point as an example, see [reference needed]. Figure 11 The first reference line is Figure 11 In the right-hand diagram, the dashed line, the first reference line, is parallel to the line connecting the left and right anterior superior iliac spines and passes through the original center of rotation of the patient's original acetabulum. The second reference line is... Figure 11 In the left image, the dashed line, the second reference line, passes through the original center of rotation of the patient's original acetabulum, is perpendicular to the line connecting the left and right anterior superior iliac spines, and is parallel to the operating table. For example, one can first determine the line connecting the midpoint of the line connecting the left and right anterior superior iliac spines and the pubic symphysis, and then draw a reference line parallel to this line that passes through the original center of rotation as the second reference line.

[0161] Figure 11 The axis in the middle can be the axis of the femoral head extractor or the axis of the acetabular reamer.

[0162] The display interface can simultaneously show the tilt angle and abduction angle of the surgical instruments, as well as the current simulated image of the surgical instruments and the pelvis. In addition, it can also display other information such as the acetabular reference plane. This application embodiment does not specifically limit the content included in the display interface or the arrangement of that content.

[0163] In this embodiment, a depth camera unifies the patient's coordinate system and the surgical instrument's coordinate system, eliminating the need for an infrared camera tracking system and an invasive tracer within the patient's body. Therefore, the system comprised of the various devices involved is also applicable to image-based surgical navigation systems that utilize CT images. This allows the system in this embodiment to simultaneously support both image-based and image-free surgical navigation, enabling surgeons to select the appropriate surgical navigation method based on the specific scenario without replacing core components or the main structure.

[0164] Based on the same inventive concept, and corresponding to the above method embodiments, this application also provides a surgical navigation system, such as... Figure 12 As shown, the system includes: a host computer 1201 and a depth camera 1202; the host computer and the depth camera are connected for communication.

[0165] The host computer 1201 is used to execute the steps of the surgical navigation method in the above method embodiments;

[0166] Depth camera 1202 is used to locate probes and surgical instruments.

[0167] Based on the same inventive concept, and corresponding to the above method embodiments, this application provides a surgical navigation device, such as... Figure 13 As shown, the device includes: a setup module 1301 and a navigation module 1302;

[0168] Module 1301 is used to create an initial coronal plane of the patient parallel to the operating table by taking pictures of the operating table with the depth camera when one coordinate axis of the depth camera coordinate system is parallel to the operating table where the patient is located.

[0169] The module 1301 is also used to establish a patient coordinate system based on the patient's initial coronal plane and obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

[0170] The navigation module 1302 is used for surgical navigation based on the first coordinate transformation relationship and the second coordinate transformation relationship obtained by the establishment module 1301. The second coordinate transformation relationship is the coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system.

[0171] Optionally, module 1301 is created, specifically for:

[0172] An initial patient coordinate system is established in the depth camera coordinate system, and the plane containing the two coordinate axes of the initial patient coordinate system is the initial coronal plane of the patient.

[0173] When the tip of the probe touches the designated bone point of the patient, the position of the tracer ball in the probe in the depth camera coordinate system is obtained, and the target position of the designated bone point in the depth camera coordinate system is determined based on the obtained position.

[0174] Based on the target location, the initial patient coordinate system is adjusted to obtain the first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system, wherein the two coordinate systems of the adjusted patient coordinate system are parallel to the patient's true coronal plane.

[0175] Optionally, module 1301 is created, specifically for:

[0176] When the tip of the probe touches the patient's first bone point, the first position of the tracer ball in the probe in the depth camera coordinate system is obtained;

[0177] Based on the first position, determine the first target position of the first skeleton point in the depth camera coordinate system;

[0178] When the tip of the probe touches the patient's second bone point, the second position of the tracer ball in the probe in the depth camera coordinate system is obtained; wherein the first bone point and the second bone point are symmetrical points on the patient's pelvis;

[0179] Based on the second position, determine the second target position of the second skeleton point in the depth camera coordinate system;

[0180] Module 1301 is created, specifically for:

[0181] Determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the initial coronal plane of the patient in the initial patient coordinate system to be parallel to the line connecting them. Use the adjusted coordinate system as the patient coordinate system to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

[0182] Optionally, the surgical instruments include a femoral head harvester and an acetabular reamer; the second coordinate transformation relationship includes: a third coordinate transformation relationship between the coordinate system of the femoral head harvester and the coordinate system of the depth camera, and a fourth coordinate transformation relationship between the coordinate system of the acetabular reamer and the coordinate system of the depth camera;

[0183] Navigation module 1302 is specifically used for:

[0184] During the process of manipulating the femoral head with the femoral head harvester, the position of the femoral head harvester in the coordinate system is transformed to the patient's coordinate system based on the first coordinate transformation relationship and the real-time third coordinate transformation relationship.

[0185] Based on the position of the femoral head harvester in the patient's coordinate system, the original rotation center of the original acetabulum where the patient's femoral head is located is fitted.

[0186] During the process of grinding and rubbing the original acetabulum of the patient with the acetabular reamer, the rotation center of the acetabular reamer in the acetabular reamer coordinate system is transformed to the patient coordinate system according to the first coordinate transformation relationship and the real-time fourth coordinate transformation relationship.

[0187] The remaining grinding depth is determined based on the rotation center of the acetabular reamer in the patient coordinate system and the original rotation center.

[0188] Optionally, the device may also include:

[0189] The demonstration module, after fitting the original rotation center of the original acetabulum where the patient's femoral head is located, during the process of grinding the patient's original acetabulum with the acetabular reamer, uses the angle between the axis of the acetabular reamer and the first reference line as the anteversion angle of the acetabular reamer, and the angle between the axis of the acetabular reamer and the second reference line as the abduction angle of the acetabular reamer, and displays the anteversion angle and abduction angle of the acetabular reamer.

[0190] The first reference line passes through the original rotation center and is parallel to the line connecting the first target position and the second target position. The second reference line passes through the original rotation center, is perpendicular to the line connecting the first target position and the second target position, and is parallel to the operating table.

[0191] This application also provides an electronic device, such as... Figure 14As shown, it includes a processor 1401, a communication interface 1402, a memory 1403, and a communication bus 1404, wherein the processor 1401, the communication interface 1402, and the memory 1403 communicate with each other through the communication bus 1404.

[0192] Memory 1403 is used to store computer programs;

[0193] When the processor 1401 executes the program stored in the memory 1403, it implements the method steps executed by the host computer in the above method embodiment.

[0194] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0195] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0196] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0197] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0198] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the surgical navigation methods described above.

[0199] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the surgical navigation methods described above.

[0200] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0201] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0202] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and system embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0203] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A surgical navigation device, characterized in that, The device includes: A module is established to create an initial coronal plane of the patient parallel to the operating table by taking a picture of the operating table with a depth camera when one coordinate axis of the depth camera coordinate system is parallel to the operating table where the patient is located. The establishment module is further configured to establish an initial patient coordinate system under the depth camera coordinate system, wherein the plane containing the two coordinate axes of the initial patient coordinate system is the initial coronal plane of the patient; when the tip of the probe touches a designated bone point of the patient, the position of the tracer ball in the probe under the depth camera coordinate system is obtained, and the target position of the designated bone point under the depth camera coordinate system is determined based on the obtained position; based on the target position, the initial patient coordinate system is adjusted to obtain a first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system, wherein the plane containing the two coordinate axes of the adjusted patient coordinate system is the true coronal plane of the patient; The navigation module is used to perform surgical navigation based on the first coordinate transformation relationship and the second coordinate transformation relationship obtained by the establishment module, wherein the second coordinate transformation relationship is the coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system.

2. The apparatus according to claim 1, characterized in that, The establishment module is specifically used for: When the tip of the probe touches the patient's first bone point, the first position of the tracer ball in the probe in the depth camera coordinate system is obtained; Based on the first position, determine the first target position of the first skeleton point in the depth camera coordinate system; When the tip of the probe touches the second bone point of the patient, the second position of the tracer ball in the probe in the depth camera coordinate system is obtained; wherein the first bone point and the second bone point are symmetrical points on the patient's pelvis; Based on the second position, determine the second target position of the second skeleton point in the depth camera coordinate system; The establishment module is specifically used for: Determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the initial coronal plane of the patient in the initial patient coordinate system to be parallel to the line connecting them. Use the adjusted coordinate system as the patient coordinate system to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

3. The apparatus according to claim 2, characterized in that, The surgical instruments include a femoral head extractor and an acetabular reamer; the second coordinate transformation relationship includes: a third coordinate transformation relationship between the coordinate system of the femoral head extractor and the coordinate system of the depth camera, and a fourth coordinate transformation relationship between the coordinate system of the acetabular reamer and the coordinate system of the depth camera; The navigation module is specifically used for: During the process of the femoral head retrieval device operating on the patient's femoral head, the position of the femoral head retrieval device in the coordinate system of the femoral head retrieval device is transformed to the patient's coordinate system according to the first coordinate transformation relationship and the real-time third coordinate transformation relationship. Based on the position of the femoral head harvester in the patient coordinate system, the original rotation center of the original acetabulum where the patient's femoral head is located is fitted. During the process of grinding the patient's original acetabulum with the acetabular reamer, the rotation center of the acetabular reamer in the acetabular reamer coordinate system is transformed to the patient coordinate system according to the first coordinate transformation relationship and the real-time fourth coordinate transformation relationship. The remaining grinding depth is determined based on the acetabular reamer rotation center and the original rotation center in the patient coordinate system.

4. The apparatus according to claim 3, characterized in that, The device further includes: The display module is used to, after fitting the original rotation center of the original acetabulum where the femoral head of the patient is located, during the process of the acetabular file grinding the patient's original acetabulum, take the angle between the axis of the acetabular file and the first reference line as the anteversion angle of the acetabular file, and the angle between the axis of the acetabular file and the second reference line as the abduction angle of the acetabular file, and display the anteversion angle and abduction angle of the acetabular file. The first reference line passes through the original rotation center and is parallel to the line connecting the first target position and the second target position. The second reference line passes through the original rotation center, is perpendicular to the line connecting the first target position and the second target position, and is parallel to the operating table.

5. A surgical navigation system, characterized in that, The system includes: a host computer and a depth camera; the host computer and the depth camera are communicatively connected; The host computer is used to: capture images of the operating table using a depth camera when one axis of the depth camera coordinate system is parallel to the operating table where the patient is located; establish an initial coronal plane of the patient parallel to the operating table; establish an initial patient coordinate system under the depth camera coordinate system, wherein the plane containing the two axes of the initial patient coordinate system is the initial coronal plane of the patient; when the tip of the probe touches a designated bone point of the patient, acquire the position of the tracer ball in the probe under the depth camera coordinate system, and determine the target position of the designated bone point under the depth camera coordinate system based on the acquired position; adjust the initial patient coordinate system based on the target position to obtain a first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system, wherein the plane containing the two axes of the adjusted patient coordinate system is the true coronal plane of the patient; and perform surgical navigation according to the first coordinate transformation relationship and a second coordinate transformation relationship, wherein the second coordinate transformation relationship is the coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system. The depth camera is used to locate the probe and surgical instruments.

6. The system according to claim 5, characterized in that, The host computer is specifically used for: When the tip of the probe touches the patient's first bone point, the first position of the tracer ball in the probe in the depth camera coordinate system is obtained; Based on the first position, determine the first target position of the first skeleton point in the depth camera coordinate system; When the tip of the probe touches the second bone point of the patient, the second position of the tracer ball in the probe in the depth camera coordinate system is obtained; wherein the first bone point and the second bone point are symmetrical points on the patient's pelvis; Based on the second position, determine the second target position of the second skeleton point in the depth camera coordinate system; The host computer is specifically used for: Determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the initial coronal plane of the patient in the initial patient coordinate system to be parallel to the line connecting them. Use the adjusted coordinate system as the patient coordinate system to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

7. The system according to claim 6, characterized in that, The surgical instruments include a femoral head harvester and an acetabular reamer; the second coordinate transformation relationship includes: a third coordinate transformation relationship between the coordinate system of the femoral head harvester and the coordinate system of the depth camera, and a fourth coordinate transformation relationship between the coordinate system of the acetabular reamer and the coordinate system of the depth camera; the host computer is specifically used for: During the process of the femoral head retrieval device operating on the patient's femoral head, the position of the femoral head retrieval device in the coordinate system of the femoral head retrieval device is transformed to the patient's coordinate system according to the first coordinate transformation relationship and the real-time third coordinate transformation relationship. Based on the position of the femoral head harvester in the patient coordinate system, the original rotation center of the original acetabulum where the patient's femoral head is located is fitted. During the process of grinding the patient's original acetabulum with the acetabular reamer, the rotation center of the acetabular reamer in the acetabular reamer coordinate system is transformed to the patient coordinate system according to the first coordinate transformation relationship and the real-time fourth coordinate transformation relationship. The remaining grinding depth is determined based on the acetabular reamer rotation center and the original rotation center in the patient coordinate system.

8. The system according to claim 7, characterized in that, The host computer is also used for: After fitting the original rotation center of the original acetabulum where the patient's femoral head is located, during the process of the acetabular file grinding the patient's original acetabulum, the angle between the axis of the acetabular file and the first reference line is taken as the anteversion angle of the acetabular file, and the angle between the axis of the acetabular file and the second reference line is taken as the abduction angle of the acetabular file, thus demonstrating the anteversion angle and abduction angle of the acetabular file; The first reference line passes through the original rotation center and is parallel to the line connecting the first target position and the second target position. The second reference line passes through the original rotation center, is perpendicular to the line connecting the first target position and the second target position, and is parallel to the operating table.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When executing a program stored in memory, the processor performs the following steps: When one axis of the depth camera coordinate system is parallel to the operating table where the patient is located, the processor takes a picture of the operating table using a depth camera to establish an initial coronal plane of the patient parallel to the operating table; an initial patient coordinate system is established under the depth camera coordinate system, wherein the plane containing the two axes of the initial patient coordinate system is the initial coronal plane of the patient; when the tip of the probe touches a designated bone point of the patient, the processor acquires the position of the tracer ball in the probe under the depth camera coordinate system, and determines the target position of the designated bone point under the depth camera coordinate system based on the acquired position; based on the target position, the processor adjusts the initial patient coordinate system to obtain a first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system, wherein the plane containing the two axes of the adjusted patient coordinate system is the true coronal plane of the patient; surgical navigation is performed according to the first coordinate transformation relationship and a second coordinate transformation relationship, wherein the second coordinate transformation relationship is the coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system.

10. The electronic device according to claim 9, characterized in that, The processor is specifically used for: When the tip of the probe touches the patient's first bone point, the first position of the tracer ball in the probe in the depth camera coordinate system is obtained; Based on the first position, determine the first target position of the first skeleton point in the depth camera coordinate system; When the tip of the probe touches the second bone point of the patient, the second position of the tracer ball in the probe in the depth camera coordinate system is obtained; wherein the first bone point and the second bone point are symmetrical points on the patient's pelvis; Based on the second position, determine the second target position of the second skeleton point in the depth camera coordinate system; The processor is specifically used for: Determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the initial coronal plane of the patient in the initial patient coordinate system to be parallel to the line connecting them. Use the adjusted coordinate system as the patient coordinate system to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

11. The electronic device according to claim 10, characterized in that, The surgical instruments include a femoral head harvester and an acetabular reamer; the second coordinate transformation relationship includes: a third coordinate transformation relationship between the coordinate system of the femoral head harvester and the coordinate system of the depth camera, and a fourth coordinate transformation relationship between the coordinate system of the acetabular reamer and the coordinate system of the depth camera; the processor is specifically used for: During the process of the femoral head retrieval device operating on the patient's femoral head, the position of the femoral head retrieval device in the coordinate system of the femoral head retrieval device is transformed to the patient's coordinate system according to the first coordinate transformation relationship and the real-time third coordinate transformation relationship. Based on the position of the femoral head harvester in the patient coordinate system, the original rotation center of the original acetabulum where the patient's femoral head is located is fitted. During the process of grinding the patient's original acetabulum with the acetabular reamer, the rotation center of the acetabular reamer in the acetabular reamer coordinate system is transformed to the patient coordinate system according to the first coordinate transformation relationship and the real-time fourth coordinate transformation relationship. The remaining grinding depth is determined based on the acetabular reamer rotation center and the original rotation center in the patient coordinate system.

12. The electronic device according to claim 11, characterized in that, The processor is also used for: After fitting the original rotation center of the original acetabulum where the patient's femoral head is located, during the process of the acetabular file grinding the patient's original acetabulum, the angle between the axis of the acetabular file and the first reference line is taken as the anteversion angle of the acetabular file, and the angle between the axis of the acetabular file and the second reference line is taken as the abduction angle of the acetabular file, thus demonstrating the anteversion angle and abduction angle of the acetabular file; The first reference line passes through the original rotation center and is parallel to the line connecting the first target position and the second target position. The second reference line passes through the original rotation center, is perpendicular to the line connecting the first target position and the second target position, and is parallel to the operating table.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the following method: when one axis of the depth camera coordinate system is parallel to the operating table where the patient is located, the operating table is photographed by the depth camera to establish an initial coronal plane of the patient parallel to the operating table; an initial patient coordinate system is established under the depth camera coordinate system, and the plane containing the two coordinate axes of the initial patient coordinate system is the initial coronal plane of the patient. When the tip of the probe touches a designated bone point of the patient, the position of the tracer ball in the probe in the depth camera coordinate system is obtained, and the target position of the designated bone point in the depth camera coordinate system is determined based on the obtained position. Based on the target location, the initial patient coordinate system is adjusted to obtain a first coordinate transformation relationship between the adjusted patient coordinate system and the depth camera coordinate system, wherein the plane containing the two coordinate axes of the adjusted patient coordinate system is the true coronal plane of the patient; surgical navigation is performed according to the first coordinate transformation relationship and the second coordinate transformation relationship, wherein the second coordinate transformation relationship is the coordinate transformation relationship between the surgical instrument coordinate system and the depth camera coordinate system.

14. The computer-readable storage medium according to claim 13, characterized in that, When the computer program is executed by the processor, it specifically implements the following method: When the tip of the probe touches the patient's first bone point, the first position of the tracer ball in the probe in the depth camera coordinate system is obtained; Based on the first position, determine the first target position of the first skeleton point in the depth camera coordinate system; When the tip of the probe touches the second bone point of the patient, the second position of the tracer ball in the probe in the depth camera coordinate system is obtained; wherein the first bone point and the second bone point are symmetrical points on the patient's pelvis; Based on the second position, determine the second target position of the second skeleton point in the depth camera coordinate system; When the computer program is executed by the processor, it specifically implements the following method: Determine the line connecting the first target position and the second target position, and adjust one coordinate axis of the initial coronal plane of the patient in the initial patient coordinate system to be parallel to the line connecting them. Use the adjusted coordinate system as the patient coordinate system to obtain the first coordinate transformation relationship between the patient coordinate system and the depth camera coordinate system.

15. The computer-readable storage medium according to claim 14, characterized in that, The surgical instruments include a femoral head harvester and an acetabular reamer; the second coordinate transformation relationship includes: a third coordinate transformation relationship between the coordinate system of the femoral head harvester and the coordinate system of the depth camera, and a fourth coordinate transformation relationship between the coordinate system of the acetabular reamer and the coordinate system of the depth camera; the computer program, when executed by the processor, specifically implements the following method: During the process of the femoral head retrieval device operating on the patient's femoral head, the position of the femoral head retrieval device in the coordinate system of the femoral head retrieval device is transformed to the patient's coordinate system according to the first coordinate transformation relationship and the real-time third coordinate transformation relationship. Based on the position of the femoral head harvester in the patient coordinate system, the original rotation center of the original acetabulum where the patient's femoral head is located is fitted. During the process of grinding the patient's original acetabulum with the acetabular reamer, the rotation center of the acetabular reamer in the acetabular reamer coordinate system is transformed to the patient coordinate system according to the first coordinate transformation relationship and the real-time fourth coordinate transformation relationship. The remaining grinding depth is determined based on the acetabular reamer rotation center and the original rotation center in the patient coordinate system.

16. The computer-readable storage medium according to claim 15, characterized in that, When the computer program is executed by the processor, it also implements the following methods: After fitting the original rotation center of the original acetabulum where the patient's femoral head is located, during the process of the acetabular file grinding the patient's original acetabulum, the angle between the axis of the acetabular file and the first reference line is taken as the anteversion angle of the acetabular file, and the angle between the axis of the acetabular file and the second reference line is taken as the abduction angle of the acetabular file, thus demonstrating the anteversion angle and abduction angle of the acetabular file; The first reference line passes through the original rotation center and is parallel to the line connecting the first target position and the second target position. The second reference line passes through the original rotation center, is perpendicular to the line connecting the first target position and the second target position, and is parallel to the operating table.

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