A method, device, equipment and medium for determining displacement body guidance coordinates

Abstract

The present application discloses a method, device, equipment and medium for determining the guiding coordinates of a replacement body, and the present application belongs to the field of surgical navigation technology. The method includes: constructing a three-dimensional image coordinate system of the target to be replaced based on a two-dimensional image; obtaining the three-dimensional force line of the target to be replaced in the three-dimensional image coordinate system; determining the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system based on the three-dimensional force line; obtaining a three-dimensional image of the replacement body, matching the three-dimensional image of the replacement body and the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to a preset rule to obtain a three-dimensional image of the replaced target; obtaining the three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced target, and guiding the replacement of the replacement body based on the three-dimensional image coordinates. Through this technical solution, the accuracy of navigation can be improved, and the navigation cost is low, and there is no need for planning during the replacement process, which improves the replacement efficiency.

Description

Technical Field

[0001] The present application belongs to the field of surgical navigation technology, and specifically relates to a method, device, equipment and medium for determining the guidance coordinates of a replacement body. Background Art

[0002] With the development of the medical industry, it has become common to use surgical navigation systems to assist doctors in joint replacement surgery. In order to improve the success rate of joint replacement, it is very important to study the method of determining the guidance coordinates of the replacement body.

[0003] In related technologies, reflective marker balls are typically attached to the outer surface of the patient's leg before surgery, and CT images of the leg are taken for preoperative planning. This preoperative planning process guides the surgeon through the joint replacement. Alternatively, during surgery, orthopedic Kirschner wires are inserted, the reflective marker ball holder is secured to the leg bone, and an O-arm is used to scan the intraoperative images for intraoperative planning. Once the planning is complete, the surgeon is guided through the joint replacement.

[0004] Due to factors such as the patient's respiratory movement, the reflective marker balls attached to the patient's skin often shift position or fall off, causing errors in the replacement registration and affecting navigation accuracy. Using an O-arm device is not only expensive but also requires intraoperative replacement planning, which prolongs the replacement time. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a method, device, equipment and medium for determining the guiding coordinates of a replacement body, which solves the problems of low navigation accuracy, high cost and long replacement time in the prior art. By obtaining a two-dimensional image of the target to be replaced, the three-dimensional force line and three-dimensional image of the target to be replaced are determined, and surgical planning is performed to obtain a three-dimensional image of the target after replacement, and the three-dimensional image coordinates of the replacement body in the three-dimensional image of the target after replacement are obtained. The replacement of the replacement body is guided based on the three-dimensional image coordinates, which can achieve the purpose of pre-planning before the replacement operation to guide the replacement body, improve the accuracy of navigation, and reduce the navigation cost, thereby improving the replacement efficiency.

[0006] In a first aspect, an embodiment of the present application provides a method for determining a displacement body guiding coordinate, the method comprising:

[0007] Acquire a first two-dimensional image and a second two-dimensional image of the object to be replaced;

[0008] constructing a three-dimensional image coordinate system of the object to be replaced according to the first two-dimensional image and the second two-dimensional image;

[0009] Acquire the three-dimensional force line of the target to be displaced in the three-dimensional image coordinate system;

[0010] determining a three-dimensional image of the object to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line;

[0011] Acquire a three-dimensional image of the replacement body, and match the three-dimensional image of the replacement body with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to a preset rule to obtain a three-dimensional image of the target after replacement;

[0012] The three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced object are acquired, and the replacement of the replacement body is guided based on the three-dimensional image coordinates.

[0013] Furthermore, determining a three-dimensional image of the target to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line includes:

[0014] determining a first two-dimensional force line and a second two-dimensional force line of the object to be displaced according to the first two-dimensional image and the second two-dimensional image;

[0015] Calculating a three-dimensional force line of the object to be displaced in the three-dimensional image coordinate system according to a projection result of the first two-dimensional force line and the second two-dimensional force line in the three-dimensional image coordinate system;

[0016] A three-dimensional image of the object to be replaced is acquired, and the three-dimensional image is aligned with the three-dimensional force line to obtain a three-dimensional image of the object to be replaced in the three-dimensional image coordinate system.

[0017] Furthermore, obtaining the three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced target, and guiding the replacement of the replacement body based on the three-dimensional image coordinates, includes:

[0018] Reading the rotation variable and translation variable of the displacement body in the three-dimensional image coordinate system;

[0019] determining the three-dimensional image coordinates of the displacement volume based on the rotation variable and the translation variable;

[0020] The displacement of the displacement volume is guided based on the three-dimensional image coordinates.

[0021] Furthermore, determining the three-dimensional image coordinates of the displacement body based on the rotation variable and the translation variable includes:

[0022] Obtaining cross-sectional coordinates of the displacement body in a displacement body coordinate system;

[0023] The three-dimensional image coordinates of the displacement volume in the three-dimensional image coordinate system are calculated according to the cross-sectional coordinates, the rotation variable, and the translation variable.

[0024] Furthermore, the target to be replaced is provided with at least three reflective marker balls;

[0025] Accordingly, guiding the displacement of the displacement body based on the three-dimensional image coordinates includes:

[0026] Acquiring a current three-dimensional image of the target to be replaced;

[0027] Overlapping the current three-dimensional image of the object to be replaced with the three-dimensional image of the object to be replaced in the three-dimensional image coordinate system to obtain an overlapped three-dimensional image of the object to be replaced;

[0028] Reading a first coordinate of the reflective marker ball in the overlapped three-dimensional image, and reading a second coordinate of the reflective marker ball in the optical positioning system;

[0029] The displacement of the displacement body is guided according to the first coordinate and the second coordinate.

[0030] Furthermore, guiding the displacement of the displacement body according to the first coordinate and the second coordinate includes:

[0031] Determine a conversion relationship between the three-dimensional image coordinate system of the object to be replaced and the optical positioning system according to the first coordinate and the second coordinate;

[0032] determining the coordinates of the displacement body in the optical positioning system according to the conversion relationship and the three-dimensional image coordinates of the displacement body;

[0033] The displacement of the displacement body is guided based on the coordinates of the displacement body in the optical positioning system.

[0034] Furthermore, guiding the displacement of the displacement body based on the coordinates of the displacement body in the optical positioning system includes:

[0035] obtaining coordinates of the replacement tool in the optical positioning system;

[0036] determining a moving path of the replacement tool according to the coordinates of the replacement body in the optical positioning system and the coordinates of the replacement tool in the optical positioning system;

[0037] Control of the replacement tool is guided based on the movement path.

[0038] In a second aspect, an embodiment of the present application provides a device for determining displacement body guiding coordinates, the device comprising:

[0039] A two-dimensional image acquisition module, used to acquire a first two-dimensional image and a second two-dimensional image of the object to be replaced;

[0040] a three-dimensional coordinate system construction module, configured to construct a three-dimensional image coordinate system of the object to be replaced based on the first two-dimensional image and the second two-dimensional image;

[0041] A three-dimensional force line acquisition module, configured to acquire the three-dimensional force line of the target to be displaced in the three-dimensional image coordinate system;

[0042] a three-dimensional image determination module, configured to determine a three-dimensional image of the target to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line;

[0043] a replacement image acquisition module, configured to acquire a three-dimensional image of a replacement body, and match the three-dimensional image of the replacement body with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to a preset rule to obtain a three-dimensional image of the target after replacement;

[0044] The replacement guiding module is configured to obtain the three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced target, and guide the replacement of the replacement body based on the three-dimensional image coordinates.

[0045] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0046] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0047] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method described in the first aspect.

[0048] In an embodiment of the present application, a first two-dimensional image and a second two-dimensional image of a target to be replaced are obtained; a three-dimensional image coordinate system of the target to be replaced is constructed based on the first two-dimensional image and the second two-dimensional image; three-dimensional force lines of the target to be replaced in the three-dimensional image coordinate system are obtained; a three-dimensional image of the target to be replaced in the three-dimensional image coordinate system is determined based on the three-dimensional force lines; a three-dimensional image of a replacement body is obtained, and the three-dimensional image of the replacement body and the three-dimensional image of the target to be replaced are matched in the three-dimensional image coordinate system according to preset rules to obtain a three-dimensional image of the replaced target; three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced target are obtained, and replacement of the replacement body is guided based on the three-dimensional image coordinates. By using the above-mentioned method for determining the guiding coordinates of the replacement body, the problems of low navigation accuracy, high cost and long replacement time in the prior art are solved. By obtaining a two-dimensional image of the target to be replaced, the three-dimensional force line and the three-dimensional image of the target to be replaced are determined, and surgical planning is performed to obtain a three-dimensional image of the target after replacement, and the three-dimensional image coordinates of the replacement body in the three-dimensional image of the target after replacement are obtained. The replacement of the replacement body is guided based on the three-dimensional image coordinates, which can achieve the purpose of pre-planning before the replacement operation to guide the replacement body, thereby improving the accuracy of navigation, and having low navigation cost and improving the replacement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 1 is a flow chart of a method for determining displacement body guiding coordinates provided in an embodiment of the present application;

[0050] Figure 2 is a schematic diagram of two-dimensional force lines in the first two-dimensional image provided in this application;

[0051] Figure 3 is a schematic diagram of two-dimensional force lines in the second two-dimensional image provided by this application;

[0052] Figure 4 is a schematic diagram of three-dimensional force lines in a three-dimensional image coordinate system provided in an embodiment of the present application;

[0053] Figure 5 It is a schematic diagram provided by the present application for aligning the target to be displaced with the three-dimensional force line;

[0054] Figure 6 1 is a flow chart of a device for determining displacement body guiding coordinates provided in an embodiment of the present application;

[0055] Figure 7 is a schematic diagram of a target to be replaced after prosthesis planning is completed as provided in this application;

[0056] Figure 8 is a schematic diagram of a superimposed three-dimensional image of an object to be replaced provided by the present application;

[0057] Figure 9 It is a schematic diagram of intraoperative marker ball extraction of a target to be replaced provided by the present application;

[0058] Figure 10 1 is a schematic structural diagram of a device for determining displacement body guiding coordinates provided in an embodiment of the present application;

[0059] Figure 11 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. It should also be noted that, for ease of description, only parts related to the present application, not all of the contents, are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0061] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0062] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0063] The following describes in detail the method, device, equipment and medium for determining the displacement body guiding coordinates provided by the embodiments of the present application through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0064] Figure 1 FIG. 1 is a flow chart of a method for determining displacement body guide coordinates provided in an embodiment of the present application. Figure 1 As shown, the specific steps include:

[0065] S101, obtaining a first two-dimensional image and a second two-dimensional image of the object to be replaced;

[0066] First, the application scenario of this solution can be the scenario of navigation of joint replacement surgery, especially the scenario of preoperative planning and intraoperative navigation of joint replacement surgery.

[0067] Based on the above usage scenarios, it can be understood that the executor of this solution can be an electronic device with image acquisition, image processing and data processing capabilities, such as smart terminals such as mobile phones, tablets and desktop computers, and no further restrictions are made here.

[0068] The object to be replaced may be a lower limb bone of a joint to be replaced, for example, a femur or tibia. The first two-dimensional image may be an anteroposterior two-dimensional image of the object to be replaced. The second two-dimensional image may be a lateral two-dimensional image of the object to be replaced. The first two-dimensional image and the second two-dimensional image may be two-dimensional CT images.

[0069] In one embodiment, the first two-dimensional image and the second two-dimensional image of the object to be replaced are acquired by scanning the frontal two-dimensional image and the lateral two-dimensional image of the object to be replaced.

[0070] S102, constructing a three-dimensional image coordinate system of the object to be replaced based on the first two-dimensional image and the second two-dimensional image;

[0071] In one embodiment, the first two-dimensional image and the second two-dimensional image can be superimposed at a 90-degree angle to construct a three-dimensional image coordinate system for the object to be replaced. For example, two-dimensional image coordinate systems are constructed for the first two-dimensional image and the second two-dimensional image, and the image coordinate system of the first two-dimensional image is set as the xz coordinate axis, and the image coordinate system of the second two-dimensional image is set as the yz coordinate axis. Then, the z axes of the first two-dimensional image and the second two-dimensional image can be overlapped, and the x axis of the first two-dimensional image and the y axis of the second two-dimensional image form a 90-degree angle. At this time, the xyz three-dimensional image coordinate system is the three-dimensional image coordinate system of the object to be replaced.

[0072] S103, obtaining the three-dimensional force lines of the target to be displaced in the three-dimensional image coordinate system;

[0073] The force line may be an axis passing through the center of the hip joint, the center of the knee joint, and the center of the ankle joint.

[0074] In one embodiment, first and second two-dimensional force lines of the object to be displaced, i.e., two-dimensional force lines in the anteroposterior view and two-dimensional force lines in the lateral view, can be obtained based on the first and second two-dimensional images, respectively. Three-dimensional force lines of the object to be displaced in the three-dimensional image coordinate system are calculated based on the coordinates of the first two-dimensional force lines in the first two-dimensional image coordinate system and the coordinates of the second two-dimensional force lines in the second two-dimensional image coordinate system.

[0075] Figure 2 It is a schematic diagram of two-dimensional force lines in the first two-dimensional image provided in this application.

[0076] Figure 3 It is a schematic diagram of two-dimensional force lines in the second two-dimensional image provided by this application.

[0077] like Figure 2 as well as Figure 3 As shown, the hip joint center point, knee joint center point and ankle joint center point of the target to be replaced are identified according to the first two-dimensional image and the second two-dimensional image respectively. The above three center points are connected respectively to obtain the two-dimensional femoral force line and the two-dimensional tibial force line in the anteroposterior and lateral positions. The hip joint center point is determined by the femoral head. Since the femoral head is a relatively regular circle, the center of the femoral head, that is, the hip joint center, can be determined using a Mose circle or a compass tool. The knee joint center point is the midpoint of the horizontal soft tissue of the knee joint gap, the midpoint of the tibial intercondylar eminence and the midpoint of the tibial plateau. The ankle joint center point is the midpoint of the horizontal soft tissue of the ankle joint gap and the midpoint of the talus width.

[0078] Figure 4 It is a schematic diagram of three-dimensional force lines in a three-dimensional image coordinate system provided in an embodiment of the present application.

[0079] like Figure 4 As shown in the figure, the two thick lines near the z-axis of the three-dimensional image coordinate system are the three-dimensional force lines of the target to be replaced in the three-dimensional image coordinate system. Figure 2 and Figure 3 After obtaining the two-dimensional force lines in the first two-dimensional image and the second two-dimensional image, the three-dimensional force lines of the target to be replaced are simulated by averaging. For example: Figure 4 The coordinates of point A are (0, y, z), and the coordinates of point B are (x, 0, z`). Then the coordinates of point C on the three-dimensional force line corresponding to points A and B are Among them, point A, point B and point C are the same point on the target to be replaced.

[0080] S104, determining a three-dimensional image of the object to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line;

[0081] The three-dimensional image may be a three-dimensional point cloud image of the object to be replaced in the three-dimensional image coordinate system, which coincides with the three-dimensional force line.

[0082] In one embodiment, multiple local or full-length 2D CT slice images of the target to be replaced can be obtained. The skeletal contours of the target to be replaced are segmented from each slice image using an image segmentation algorithm. The segmented contours are closed using an approximation method, and the closed contour values ​​are extracted as the surface point cloud of the slice image. The surface point clouds of all the slice images are then superimposed to obtain a 3D point cloud image of the target to be replaced. The 3D point cloud image is aligned with the 3D force lines to obtain a 3D image of the target to be replaced in the 3D image coordinate system.

[0083] In one embodiment, optionally, determining the three-dimensional image of the target to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line includes:

[0084] determining a first two-dimensional force line and a second two-dimensional force line of the object to be displaced according to the first two-dimensional image and the second two-dimensional image;

[0085] Calculating a three-dimensional force line of the object to be displaced in the three-dimensional image coordinate system according to a projection result of the first two-dimensional force line and the second two-dimensional force line in the three-dimensional image coordinate system;

[0086] A three-dimensional image of the object to be replaced is acquired, and the three-dimensional image is aligned with the three-dimensional force line to obtain a three-dimensional image of the object to be replaced in the three-dimensional image coordinate system.

[0087] The first two-dimensional force lines may be force lines of the object to be replaced in the first two-dimensional image, and the second two-dimensional force lines may be force lines of the object to be replaced in the first two-dimensional image.

[0088] Figure 5 This is a schematic diagram provided by the present application for aligning the target to be displaced with the three-dimensional force line.

[0089] In one embodiment, the positions of the hip joint center point, knee joint center point and ankle joint center point of the target to be replaced in the first two-dimensional image and the second two-dimensional image can be determined respectively by image recognition, and the positions of the hip joint center point, knee joint center point and ankle joint center point are connected to obtain the first two-dimensional force line and the second two-dimensional force line. Each point in the first two-dimensional force line and each point in the second two-dimensional force line are projected to the three-dimensional image coordinate system respectively, and the coordinates of each point in the first two-dimensional force line and each point in the second two-dimensional force line in the three-dimensional image coordinate system are obtained as the projection results. The three-dimensional force line of the target to be replaced in the three-dimensional image coordinate system is calculated by averaging based on the projection results. Figure 5 As shown, the position of the knee joint center point of the three-dimensional force line in the three-dimensional image coordinate system is determined based on the position of the knee joint center point of the first two-dimensional force line in the three-dimensional image coordinate system and the position of the knee joint center point of the second two-dimensional force line in the three-dimensional image coordinate system. A three-dimensional image of the target to be replaced is obtained through point cloud extraction. The knee joint in the three-dimensional image is regarded as a cylinder through an approximate fitting method. The central axis of the cylinder is identified through a point cloud file. The central axis is used as the knee joint center point of the three-dimensional image. The knee joint center point of the three-dimensional image is aligned with the knee joint center point of the three-dimensional force line. The femur and tibia in the three-dimensional image are fine-tuned in rotation and translation respectively. The three-dimensional image is aligned with the three-dimensional force line to obtain a three-dimensional image of the target to be replaced in the three-dimensional image coordinate system.

[0090] In this solution, the two-dimensional force lines of the target to be replaced are determined based on the two-dimensional image, and the three-dimensional force lines of the target to be replaced in the three-dimensional image coordinate system are calculated based on the projection results of the two-dimensional force lines in the three-dimensional image coordinate system, and a three-dimensional image of the target to be replaced is obtained. The three-dimensional image is aligned with the three-dimensional force lines to obtain a three-dimensional image of the target to be replaced in the three-dimensional image coordinate system. This can achieve the purpose of constructing a three-dimensional image of the target to be replaced, improve the accuracy of obtaining preoperative three-dimensional images of the target to be replaced, and facilitate subsequent preoperative planning.

[0091] S105, obtaining a three-dimensional image of the replacement body, and matching the three-dimensional image of the replacement body with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to a preset rule to obtain a three-dimensional image of the target after replacement;

[0092] The replacement body may be a replacement body used to perform a joint replacement on a target object. The preset rules may be rules for joint replacement, such as the positional relationship between the replacement body and the target object, as well as replacement parameters. The three-dimensional image of the target object after replacement may be a three-dimensional image obtained after the replacement body replaces the joint of the target object.

[0093] In one embodiment, a three-dimensional image of a displacement body can be constructed by modeling, and the three-dimensional coordinates of a cross section of the displacement body in its own coordinate system can be obtained. The three-dimensional image of the displacement body is imported into the origin of the three-dimensional image coordinate system, and the position of the displacement body of the target to be replaced is determined according to a preset rule. The three-dimensional image of the displacement body is matched with the three-dimensional image of the target to be replaced, and the three-dimensional image of the displacement body is rotated and translated from the origin to the displacement body position to obtain a three-dimensional image of the target after replacement.

[0094] S106 , obtaining the three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced object, and guiding the replacement of the replacement body based on the three-dimensional image coordinates.

[0095] The three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced object may be coordinates of a cross section of the replacement body in a three-dimensional image coordinate system.

[0096] In one embodiment, a rotation and translation matrix of the displacement body when the three-dimensional image of the displacement body is rotated and translated from the origin to the position of the displacement body of the target to be replaced can be obtained, and the rotation and translation matrix can be used as the transformation relationship between the displacement body coordinate system and the three-dimensional image coordinate system. The three-dimensional image coordinates of the displacement body in the three-dimensional image of the replaced target are calculated based on the transformation relationship and the three-dimensional coordinates of the cross section of the displacement body in its own coordinate system. Then, based on the three-dimensional image coordinates, the displacement body is guided so that the cross-sectional coordinates in the three-dimensional image coordinate system reach the three-dimensional image coordinates after the actual replacement is completed.

[0097] The technical solution provided in the embodiment of the present application comprises the following steps: obtaining a first two-dimensional image and a second two-dimensional image of a target to be replaced; constructing a three-dimensional image coordinate system of the target to be replaced based on the first two-dimensional image and the second two-dimensional image; obtaining three-dimensional force lines of the target to be replaced in the three-dimensional image coordinate system; determining a three-dimensional image of the target to be replaced in the three-dimensional image coordinate system based on the three-dimensional force lines; obtaining a three-dimensional image of a replacement body, matching the three-dimensional image of the replacement body and the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to preset rules to obtain a three-dimensional image of the replaced target; obtaining the three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced target, and guiding the replacement of the replacement body based on the three-dimensional image coordinates. By using the above-mentioned method for determining the guiding coordinates of the replacement body, the problems of low navigation accuracy, high cost and long replacement time in the prior art are solved. By obtaining a two-dimensional image of the target to be replaced, the three-dimensional force line and the three-dimensional image of the target to be replaced are determined, and surgical planning is performed to obtain a three-dimensional image of the target after replacement, and the three-dimensional image coordinates of the replacement body in the three-dimensional image of the target after replacement are obtained. The replacement of the replacement body is guided based on the three-dimensional image coordinates, which can achieve the purpose of pre-planning before the replacement operation to guide the replacement body, thereby improving the accuracy of navigation, and having low navigation cost and improving the replacement efficiency.

[0098] Figure 6 FIG. 1 is a flow chart of a device for determining displacement body guide coordinates according to an embodiment of the present application. Figure 6 As shown, the specific steps include:

[0099] S601, acquiring a first two-dimensional image and a second two-dimensional image of the object to be replaced;

[0100] S602, constructing a three-dimensional image coordinate system of the object to be replaced based on the first two-dimensional image and the second two-dimensional image;

[0101] S603, obtaining the three-dimensional force lines of the target to be displaced in the three-dimensional image coordinate system;

[0102] S604, determining a three-dimensional image of the object to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line;

[0103] S605, obtaining a three-dimensional image of the replacement body, and matching the three-dimensional image of the replacement body with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to a preset rule to obtain a three-dimensional image of the target after replacement;

[0104] S606, reading the rotation variable and translation variable of the displacement body in the three-dimensional image coordinate system;

[0105] In one embodiment, the rotation variable and the translation variable of the displacement body moved from the origin of the three-dimensional image coordinate system to the position of the displacement body of the displacement target are read.

[0106] S607, determining the three-dimensional image coordinates of the displacement volume based on the rotation variable and the translation variable;

[0107] In one embodiment, the rotation variable and the translation variable can be used as a conversion relationship between the three-dimensional image coordinate system and the displacement body coordinate system, and the three-dimensional image coordinates of the displacement body can be determined based on the conversion relationship and the coordinates of the cross section of the displacement body in the displacement body coordinate system.

[0108] In one embodiment, optionally, determining the three-dimensional image coordinates of the displacement volume based on the rotation variable and the translation variable includes:

[0109] Obtaining cross-sectional coordinates of the displacement body in a displacement body coordinate system;

[0110] The three-dimensional image coordinates of the displacement volume in the three-dimensional image coordinate system are calculated according to the cross-sectional coordinates, the rotation variable, and the translation variable.

[0111] In one embodiment, a coordinate system may be established for the displacement body to obtain cross-sectional coordinate values ​​of a cross section of the displacement body in the displacement body coordinate system, and the three-dimensional image coordinates of the displacement body in the three-dimensional image coordinate system may be calculated based on the cross-sectional coordinates, the rotation variable, and the translation variable.

[0112] Figure 7 This is a schematic diagram of the target to be replaced after prosthesis planning is completed as provided in this application.

[0113] like Figure 7As shown, a coordinate system can be established for the displaced body, and the cross-sectional coordinates of the displaced body in the displaced body coordinate system can be obtained, denoted as PProInSelf. A displaced body is selected based on the parameters of the target to be displaced and the preset rules. If there are two displaced bodies, the spacing and position of the displaced bodies need to be adjusted according to the preset rules. The displaced body's displacement position is determined by importing the displaced body's 3D image into the origin of the 3D image coordinates and projecting the displaced body onto the first and second 2D images, respectively. The 3D image of the displaced body is placed at the displacement position, and fine-tuning is performed based on the overlap between the displaced body and the target to be displaced to complete the displaced body planning. The rotation and translation variables of the displaced body from the origin to the completion of the displaced body planning are obtained. These rotation and translation variables are used as the transformation matrix TPro2img from the displaced body coordinate system to the 3D image coordinate system, thereby obtaining the cross-sectional coordinate values ​​in the image coordinate system: PProInImg = TProToImg·PProInSelf.

[0114] This solution can improve the efficiency and accuracy of converting the cross-sectional coordinates of the displacement body to the three-dimensional image coordinate system by obtaining the cross-sectional coordinates of the displacement body in the displacement body coordinate system and calculating the three-dimensional image coordinates of the displacement body in the three-dimensional image coordinate system based on the cross-sectional coordinates, the rotation variable and the translation variable.

[0115] S608: Guiding the displacement of the displacement body based on the three-dimensional image coordinates.

[0116] In one embodiment, an intraoperative three-dimensional image of the target to be replaced can be obtained, and the intraoperative three-dimensional image can be aligned with the three-dimensional image of the target to be replaced in a three-dimensional image coordinate system. Based on the three-dimensional image coordinates of the replacement body, the replacement body can be guided so that the cross-sectional coordinates in the three-dimensional image coordinate system can reach the three-dimensional image coordinates after the actual replacement is completed.

[0117] In one embodiment, optionally, the target to be replaced is provided with at least three reflective marker balls;

[0118] Accordingly, guiding the displacement of the displacement body based on the three-dimensional image coordinates includes:

[0119] Acquiring a current three-dimensional image of the target to be replaced;

[0120] Overlapping the current three-dimensional image of the object to be replaced with the three-dimensional image of the object to be replaced in the three-dimensional image coordinate system to obtain an overlapped three-dimensional image of the object to be replaced;

[0121] Reading a first coordinate of the reflective marker ball in the overlapped three-dimensional image, and reading a second coordinate of the reflective marker ball in the optical positioning system;

[0122] The displacement of the displacement body is guided according to the first coordinate and the second coordinate.

[0123] The reflective marker ball can be a marker ball that can be recognized by an optical positioning system and is used to identify the object to be replaced. The current three-dimensional image of the object to be replaced can be an intraoperative three-dimensional image of the object to be replaced. The superimposed three-dimensional image can be a three-dimensional image obtained by superimposing the intraoperative three-dimensional image with the replaced object and the preoperative three-dimensional image.

[0124] Figure 8 Schematic diagram of the overlapped three-dimensional image of the target to be replaced provided by this application.

[0125] In one embodiment, a three-dimensional C-arm can be used to scan the target to be replaced to obtain a current three-dimensional image of the target to be replaced, which is recorded as CBCT. Using an image segmentation algorithm and an approximate fitting algorithm, a CBCT point cloud image of the target to be replaced (referred to as PCBCTfemur and PCBCTtibia) is obtained. Using a point cloud registration algorithm, a transformation matrix TCBCT-CT is obtained from the intraoperative CBCT image to the preoperative three-dimensional CT image. The current three-dimensional image of the target to be replaced is overlapped with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system through the matrix to obtain a overlapped three-dimensional image of the target to be replaced. The overlapped three-dimensional image is shown as follows: Figure 8 shown.

[0126] In one embodiment, the target to be replaced can be provided with at least three, preferably four, reflective marker balls during the intraoperative stage. Since the reflective marker balls have been provided on the target to be replaced during the intraoperative stage, the image of the reflective marker balls in the CBCT image can read the first coordinates of the reflective marker balls in the three-dimensional image after the overlap by image recognition. The second coordinates of the reflective marker balls in the optical positioning system are read by the optical positioning system. The SVD algorithm can be used to calculate the conversion relationship between the three-dimensional image coordinate system and the optical positioning system based on the first coordinates and the second coordinates, and the target coordinates of the replacement body under the optical positioning system can be determined using the conversion relationship. The replacement of the replacement body can be guided under the optical positioning system based on the target coordinates.

[0127] In this solution, at least three reflective marker balls are set on the target to be replaced, and the current three-dimensional image of the target to be replaced is obtained, the current three-dimensional image of the target to be replaced is overlapped with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system to obtain the overlapped three-dimensional image of the target to be replaced, the first coordinate of the reflective marker ball in the overlapped three-dimensional image is read, and the second coordinate of the reflective marker ball in the optical positioning system is read, and the replacement of the replacement body is guided according to the first coordinate and the second coordinate, thereby achieving the purpose of aligning the preoperative three-dimensional image of the target to be replaced with the intraoperative three-dimensional image, avoiding the problem of intraoperative planning, and enabling joint replacement surgery to be navigated under the guidance of optical positioning by setting the reflective marker balls, thereby improving the accuracy of joint replacement.

[0128] In one embodiment, optionally, guiding the displacement of the displacement body according to the first coordinate and the second coordinate includes:

[0129] Determine a conversion relationship between the three-dimensional image coordinate system of the object to be replaced and the optical positioning system according to the first coordinate and the second coordinate;

[0130] determining the coordinates of the displacement body in the optical positioning system according to the conversion relationship and the three-dimensional image coordinates of the displacement body;

[0131] The displacement of the displacement body is guided based on the coordinates of the displacement body in the optical positioning system.

[0132] In one embodiment, an SVD algorithm is used to determine a conversion relationship between the three-dimensional image coordinate system of the object to be displaced and the optical positioning system based on the first and second coordinates. The three-dimensional image coordinates of the displaced object are converted into its coordinates in the optical positioning system based on the conversion relationship. Based on the coordinates of the displaced object in the optical positioning system, the cross-sectional coordinates of the displaced object in the optical positioning system are guided to reach the coordinates of the displaced object in the optical positioning system obtained by the conversion after the actual displacement is completed.

[0133] Figure 9 This is a schematic diagram of the intraoperative marker ball extraction of the target to be replaced provided in this application.

[0134] like Figure 9As shown, during surgery, after the patient is anesthetized and the wound is opened, the reflective marker ball holder can be fixed to the target to be replaced using orthopedic Kirschner wires. At this time, the current three-dimensional image of the target to be replaced already includes the image of the reflective marker ball. After the current three-dimensional image of the target to be replaced is superimposed with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system to obtain the superimposed three-dimensional image of the target to be replaced, the first coordinate of the reflective marker ball in the superimposed three-dimensional image can be read using an image recognition algorithm, recorded as PMarkerInImg. The second coordinate of the reflective marker ball in the optical positioning system is obtained by the optical positioning system, recorded as PMarkerInOpt. Based on the first and second coordinates, the SVD (singular value decomposition) algorithm is used to calculate the transformation matrix TImgToOpt between the optical positioning system and the three-dimensional image coordinate system. Based on the transformation matrix and the three-dimensional image coordinates of the replacement object, the coordinates of the replacement object in the optical positioning system, PProInOpt = TImgToOpt·PProInImg, are determined. The replacement body is guided to complete the replacement based on the coordinates of the replacement body under the optical positioning system.

[0135] This solution determines the conversion relationship between the three-dimensional image coordinate system of the target to be replaced and the optical positioning system based on the first coordinate and the second coordinate, determines the coordinates of the replacement body in the optical positioning system based on the conversion relationship and the three-dimensional image coordinates of the replacement body, and guides the replacement of the replacement body based on the coordinates of the replacement body in the optical positioning system, thereby achieving the purpose of converting the target to be replaced from the three-dimensional image coordinate system to the optical positioning system, thereby improving the accuracy of joint replacement.

[0136] In one embodiment, optionally, guiding the displacement of the displacement body based on the coordinates of the displacement body in the optical positioning system includes:

[0137] obtaining coordinates of the replacement tool in the optical positioning system;

[0138] determining a moving path of the replacement tool according to the coordinates of the replacement body in the optical positioning system and the coordinates of the replacement tool in the optical positioning system;

[0139] Control of the replacement tool is guided based on the movement path.

[0140] The replacement tool may be a tool for cutting the object to be replaced for joint replacement, such as a bone saw. The moving path of the replacement tool may be the cutting direction and cutting path of the replacement tool.

[0141] In one embodiment, a second reflective marker ball can be set on the replacement tool in advance, and the positional relationship between the second reflective marker ball and the replacement tool can be obtained by registering the second reflective marker ball. The coordinates of the second reflective marker ball are obtained through the optical positioning system, and then the coordinates of the replacement tool in the optical positioning system are determined based on the coordinates of the second reflective marker ball and the positional relationship. The movement path of the replacement tool for cutting the target to be replaced according to the position of the replacement body is determined based on the coordinates of the replacement body in the optical positioning system and the coordinates of the replacement tool in the optical positioning system, and the movement direction and cutting movement of the replacement tool are controlled according to the above movement path to guide the cutting result of the replacement tool to conform to the replacement position pre-planned for the replacement body. The replacement position pre-planned for the replacement body can be the three-dimensional image coordinates of the replacement body.

[0142] This solution obtains the coordinates of the replacement tool in the optical positioning system, determines the moving path of the replacement tool based on the coordinates of the replacement body in the optical positioning system and the coordinates of the replacement tool in the optical positioning system, and guides the control of the replacement tool based on the moving path. This can achieve the purpose of using the optical positioning system to guide the replacement body to complete the replacement, thereby improving the accuracy of joint replacement.

[0143] The technical solution provided in the embodiment of the present application can achieve the purpose of preoperative planning of joint replacement by reading the rotation variable and translation variable of the replacement body in the three-dimensional image coordinate system, determining the three-dimensional image coordinates of the replacement body based on the rotation variable and the translation variable, and guiding the replacement of the replacement body based on the three-dimensional image coordinates, thereby reducing the operation time and improving the operation efficiency.

[0144] Figure 10 Schematic diagram of the structure of the device for determining the displacement body guide coordinates provided in the embodiment of the present application. Figure 10 As shown, specifically including the following:

[0145] A two-dimensional image acquisition module 1001 is used to acquire a first two-dimensional image and a second two-dimensional image of the object to be replaced;

[0146] A three-dimensional coordinate system construction module 1002 is configured to construct a three-dimensional image coordinate system of the object to be replaced based on the first two-dimensional image and the second two-dimensional image;

[0147] A three-dimensional force line acquisition module 1003 is used to acquire the three-dimensional force line of the target to be replaced in the three-dimensional image coordinate system;

[0148] A three-dimensional image determining module 1004 is configured to determine a three-dimensional image of the object to be displaced in the three-dimensional image coordinate system according to the three-dimensional force lines;

[0149] The replacement image acquisition module 1005 is used to obtain a three-dimensional image of the replacement body, and match the three-dimensional image of the replacement body with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to a preset rule to obtain a three-dimensional image of the target after replacement;

[0150] The replacement guiding module 1006 is configured to obtain the three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced target, and guide the replacement of the replacement body based on the three-dimensional image coordinates.

[0151] Furthermore, the three-dimensional image determination module 1004 is specifically configured to:

[0152] determining a first two-dimensional force line and a second two-dimensional force line of the object to be displaced according to the first two-dimensional image and the second two-dimensional image;

[0153] Calculating a three-dimensional force line of the object to be displaced in the three-dimensional image coordinate system according to a projection result of the first two-dimensional force line and the second two-dimensional force line in the three-dimensional image coordinate system;

[0154] A three-dimensional image of the object to be replaced is acquired, and the three-dimensional image is aligned with the three-dimensional force line to obtain a three-dimensional image of the object to be replaced in the three-dimensional image coordinate system.

[0155] Furthermore, the replacement guidance module 1006 is specifically configured to:

[0156] Reading the rotation variable and translation variable of the displacement body in the three-dimensional image coordinate system;

[0157] determining the three-dimensional image coordinates of the displacement volume based on the rotation variable and the translation variable;

[0158] The displacement of the displacement volume is guided based on the three-dimensional image coordinates.

[0159] Furthermore, the replacement guidance module 1006 is specifically configured to:

[0160] Obtaining cross-sectional coordinates of the displacement body in a displacement body coordinate system;

[0161] The three-dimensional image coordinates of the displacement volume in the three-dimensional image coordinate system are calculated according to the cross-sectional coordinates, the rotation variable, and the translation variable.

[0162] Furthermore, the target to be replaced is provided with at least three reflective marker balls;

[0163] The replacement guidance module 1006 is specifically configured to:

[0164] Acquiring a current three-dimensional image of the target to be replaced;

[0165] Overlapping the current three-dimensional image of the object to be replaced with the three-dimensional image of the object to be replaced in the three-dimensional image coordinate system to obtain an overlapped three-dimensional image of the object to be replaced;

[0166] Reading a first coordinate of the reflective marker ball in the overlapped three-dimensional image, and reading a second coordinate of the reflective marker ball in the optical positioning system;

[0167] The displacement of the displacement body is guided according to the first coordinate and the second coordinate.

[0168] Furthermore, the replacement guidance module 1006 is specifically configured to:

[0169] Determine a conversion relationship between the three-dimensional image coordinate system of the object to be replaced and the optical positioning system according to the first coordinate and the second coordinate;

[0170] determining the coordinates of the displacement body in the optical positioning system according to the conversion relationship and the three-dimensional image coordinates of the displacement body;

[0171] The displacement of the displacement body is guided based on the coordinates of the displacement body in the optical positioning system.

[0172] Furthermore, the replacement guidance module 1006 is specifically configured to:

[0173] obtaining coordinates of the replacement tool in the optical positioning system;

[0174] determining a moving path of the replacement tool according to the coordinates of the replacement body in the optical positioning system and the coordinates of the replacement tool in the optical positioning system;

[0175] Control of the replacement tool is guided based on the movement path.

[0176] The technical solution provided by the embodiments of the present application includes a two-dimensional image acquisition module for acquiring a first two-dimensional image and a second two-dimensional image of a target to be replaced; a three-dimensional coordinate system construction module for constructing a three-dimensional image coordinate system of the target to be replaced based on the first two-dimensional image and the second two-dimensional image; a three-dimensional force line acquisition module for acquiring the three-dimensional force lines of the target to be replaced in the three-dimensional image coordinate system; a three-dimensional image determination module for determining the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system based on the three-dimensional force lines; a replacement image acquisition module for acquiring a three-dimensional image of a replacement body, matching the three-dimensional image of the replacement body and the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to preset rules to obtain a three-dimensional image of the replaced target; and a replacement guidance module for acquiring the three-dimensional image coordinates of the replacement body in the three-dimensional image of the replaced target, and guiding the replacement of the replacement body based on the three-dimensional image coordinates. The above-mentioned device for determining the guiding coordinates of the replacement body solves the problems of low navigation accuracy, high cost and long replacement time in the prior art. By obtaining a two-dimensional image of the target to be replaced, the three-dimensional force line and the three-dimensional image of the target to be replaced are determined, and surgical planning is performed to obtain a three-dimensional image of the target after replacement, and the three-dimensional image coordinates of the replacement body in the three-dimensional image of the target after replacement are obtained. The replacement of the replacement body is guided based on the three-dimensional image coordinates, which can achieve the purpose of pre-planning before the replacement operation to guide the replacement body, improve the accuracy of navigation, and reduce the navigation cost, thereby improving the replacement efficiency.

[0177] The device for determining the displacement body guidance coordinates in the embodiments of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine (ATM), or a self-service machine, etc., and the embodiments of the present application do not specifically limit this.

[0178] The device for determining the displacement body guidance coordinates in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0179] The apparatus for determining the displacement body guiding coordinates provided in the embodiment of the present application can implement the various processes implemented in the above-mentioned method embodiments. To avoid repetition, they will not be described here.

[0180] like Figure 11 As shown, an embodiment of the present application also provides an electronic device 1100, including a processor 1101, a memory 1102, and a program or instruction stored in the memory 1102 and executable on the processor 1101. When the program or instruction is executed by the processor 1101, each process of the embodiment of the device for determining the guide coordinates of the displacement body described above is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0181] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0182] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned embodiment of the device for determining the guide coordinates of the displacement body are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0183] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0184] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned embodiment of the device for determining the guided coordinates of the displacement body, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0185] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0186] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0187] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0188] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0189] The above are only preferred embodiments of the present application and the technical principles employed. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that are possible for those skilled in the art will not depart from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include more other equivalent embodiments without departing from the concept of the present application. The scope of the present application is determined by the scope of the claims.

Claims

1. A method for determining the guiding coordinates of a displacement body, characterized in that: The method comprises: Acquire a first two-dimensional image and a second two-dimensional image of the object to be replaced; constructing a three-dimensional image coordinate system of the object to be replaced according to the first two-dimensional image and the second two-dimensional image; Acquire the three-dimensional force line of the target to be displaced in the three-dimensional image coordinate system; determining a three-dimensional image of the object to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line; Acquire a three-dimensional image of the replacement body, and match the three-dimensional image of the replacement body with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to a preset rule to obtain a three-dimensional image of the target after replacement; Obtaining the three-dimensional image coordinates of the displacement body in the three-dimensional image of the replaced target, and guiding the displacement of the displacement body based on the three-dimensional image coordinates, which includes: reading the rotation variable and the translation variable of the displacement body in the three-dimensional image coordinate system, determining the three-dimensional image coordinates of the displacement body based on the rotation variable and the translation variable, and guiding the displacement of the displacement body based on the three-dimensional image coordinates.

2. The method for determining the displacement body guiding coordinates according to claim 1, wherein: Determining a three-dimensional image of the target to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line includes: determining a first two-dimensional force line and a second two-dimensional force line of the object to be displaced according to the first two-dimensional image and the second two-dimensional image; Calculating a three-dimensional force line of the object to be displaced in the three-dimensional image coordinate system according to a projection result of the first two-dimensional force line and the second two-dimensional force line in the three-dimensional image coordinate system; A three-dimensional image of the object to be replaced is acquired, and the three-dimensional image is aligned with the three-dimensional force line to obtain a three-dimensional image of the object to be replaced in the three-dimensional image coordinate system.

3. The method for determining displacement body guiding coordinates according to claim 1, wherein: The determining of the three-dimensional image coordinates of the displacement body based on the rotation variable and the translation variable comprises: Obtaining cross-sectional coordinates of the displacement body in a displacement body coordinate system; The three-dimensional image coordinates of the displacement volume in the three-dimensional image coordinate system are calculated according to the cross-sectional coordinates, the rotation variable, and the translation variable.

4. The method for determining displacement body guiding coordinates according to claim 1, wherein: The target to be replaced is provided with at least three reflective marker balls; Accordingly, guiding the displacement of the displacement body based on the three-dimensional image coordinates includes: Acquiring a current three-dimensional image of the target to be replaced; Overlapping the current three-dimensional image of the object to be replaced with the three-dimensional image of the object to be replaced in the three-dimensional image coordinate system to obtain an overlapped three-dimensional image of the object to be replaced; Reading a first coordinate of the reflective marker ball in the overlapped three-dimensional image, and reading a second coordinate of the reflective marker ball in the optical positioning system; The displacement of the displacement body is guided according to the first coordinate and the second coordinate.

5. The method for determining displacement body guiding coordinates according to claim 4, characterized in that: The guiding the displacement of the displacement body according to the first coordinate and the second coordinate includes: Determine a conversion relationship between the three-dimensional image coordinate system of the object to be replaced and the optical positioning system according to the first coordinate and the second coordinate; determining the coordinates of the displacement body in the optical positioning system according to the conversion relationship and the three-dimensional image coordinates of the displacement body; The displacement of the displacement body is guided based on the coordinates of the displacement body in the optical positioning system.

6. The method for determining displacement body guiding coordinates according to claim 5, characterized in that: The guiding of the displacement of the displacement body based on the coordinates of the displacement body in the optical positioning system includes: obtaining coordinates of the replacement tool in the optical positioning system; determining a moving path of the replacement tool according to the coordinates of the replacement body in the optical positioning system and the coordinates of the replacement tool in the optical positioning system; Control of the replacement tool is guided based on the movement path.

7. A device for determining displacement body guide coordinates, characterized in that: The device comprises: A two-dimensional image acquisition module, used to acquire a first two-dimensional image and a second two-dimensional image of the object to be replaced; a three-dimensional coordinate system construction module, configured to construct a three-dimensional image coordinate system of the object to be replaced based on the first two-dimensional image and the second two-dimensional image; A three-dimensional force line acquisition module, configured to acquire the three-dimensional force line of the target to be displaced in the three-dimensional image coordinate system; a three-dimensional image determination module, configured to determine a three-dimensional image of the target to be displaced in the three-dimensional image coordinate system according to the three-dimensional force line; a replacement image acquisition module, configured to acquire a three-dimensional image of a replacement body, and match the three-dimensional image of the replacement body with the three-dimensional image of the target to be replaced in the three-dimensional image coordinate system according to a preset rule to obtain a three-dimensional image of the target after replacement; A displacement guidance module is used to obtain the three-dimensional image coordinates of the displacement body in the three-dimensional image of the replaced target, and guide the displacement of the displacement body based on the three-dimensional image coordinates. The displacement guidance module is specifically used to: read the rotation variable and translation variable of the displacement body in the three-dimensional image coordinate system, determine the three-dimensional image coordinates of the displacement body based on the rotation variable and the translation variable, and guide the displacement of the displacement body based on the three-dimensional image coordinates.

8. An electronic device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method for determining the displacement body guiding coordinates according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the method for determining the displacement body guiding coordinates according to any one of claims 1 to 6 are implemented.

Images