Method, device and equipment for finding bone tracer coordinate system, and storage medium

Abstract

Embodiments of the present disclosure relate to a method, apparatus, device and storage medium for finding a bone tracer coordinate system, the method comprising: obtaining a current bone marker coordinate of a bone marker in a current bone tracer coordinate system; detecting whether the bone tracer moves relative to a bone in a case where the bone tracer moves relative to the bone; obtaining an adjusted bone tracer coordinate system of the bone tracer after being readjusted and fixed; obtaining an adjusted bone marker coordinate of the bone marker in the adjusted bone tracer coordinate system; and re-determining a conversion relationship between a bone coordinate system and the adjusted bone tracer coordinate system based on the adjusted bone marker coordinate and a preset conversion relationship, wherein the preset conversion relationship is a conversion relationship between a bone marker coordinate system and the bone coordinate system. The accuracy of the conversion relationship between the bone coordinate system and the bone tracer coordinate system can be improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of computer, and particularly, to a method and device for finding back a bone tracer coordinate system, an apparatus and a storage medium. BACKGROUND

[0002] At present, in orthopedic surgery, a bone tracer can be fixed on a bone, and a registration operation is performed to establish a conversion relationship between a bone tracer coordinate system and a bone coordinate system, so that the bone is positioned by tracking the bone tracer.

[0003] However, in orthopedic surgery, the bone tracer often moves relative to the bone due to collision, loosening or other reasons, thereby causing inaccurate positioning of the bone. SUMMARY

[0004] To solve the above technical problems or at least partially solve the above technical problems, embodiments of the present disclosure provide a method and device for finding back a bone tracer coordinate system, an apparatus and a storage medium.

[0005] A first aspect of embodiments of the present disclosure provides a method for finding back a bone tracer coordinate system, the method comprising:

[0006] obtaining a coordinate of a bone marker in a current bone tracer coordinate system to obtain a current bone marker coordinate;

[0007] detecting whether the bone tracer moves relative to the bone based on the current bone marker coordinate;

[0008] obtaining a bone tracer coordinate system corresponding to the bone tracer after being readjusted and fixed to obtain an adjusted bone tracer coordinate system in the case that the bone tracer moves relative to the bone;

[0009] obtaining a coordinate of the bone marker in the adjusted bone tracer coordinate system to obtain an adjusted bone marker coordinate;

[0010] re-determining a conversion relationship between a bone coordinate system and the adjusted bone tracer coordinate system based on the adjusted bone marker coordinate and a preset conversion relationship obtained in advance, wherein the preset conversion relationship is a conversion relationship between a bone marker coordinate system and the bone coordinate system.

[0011] A second aspect of embodiments of the present disclosure provides a device for finding back a bone tracer coordinate system, the device comprising:

[0012] a first obtaining module configured to obtain a coordinate of a bone marker in a current bone tracer coordinate system to obtain a current bone marker coordinate;

[0013] a first detecting module configured to detect whether the bone tracer moves relative to the bone based on the current bone marker coordinate;

[0014] The second obtaining module is configured to, in a case where the bone tracker moves relative to the skeleton, obtain a bone tracker coordinate system corresponding to the bone tracker after being readjusted and fixed, as an adjusted bone tracker coordinate system.

[0015] The third obtaining module is configured to obtain an adjusted bone-above-marker coordinate of the bone-above-marker in the adjusted bone tracker coordinate system.

[0016] The first determining module is configured to, based on the adjusted bone-above-marker coordinate and a preset conversion relationship obtained in advance, redetermine a conversion relationship between the bone coordinate system and the adjusted bone tracker coordinate system, wherein the preset conversion relationship is a conversion relationship between a bone-above-marker coordinate system and the bone coordinate system.

[0017] A third aspect of the embodiments of the present disclosure provides an electronic device, the server comprising: a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method of the first aspect.

[0018] A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, the storage medium storing a computer program, and when the computer program is executed by a processor, the method of the first aspect can be implemented.

[0019] The technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art:

[0020] The embodiments of the present disclosure can detect whether the bone tracker moves relative to the skeleton based on the coordinate of the bone-above-marker in the current bone tracker coordinate system, so that the bone tracker can be readjusted and fixed in time in a case where the bone tracker moves relative to the skeleton. Moreover, the embodiments of the present disclosure can also find back the bone tracker coordinate system corresponding to the bone tracker after being readjusted and fixed (i.e., the adjusted bone tracker coordinate system) in a case where the bone tracker moves relative to the skeleton, and then update the conversion relationship between the bone coordinate system and the adjusted bone tracker coordinate system, so that the accuracy of the conversion relationship between the bone coordinate system and the bone tracker coordinate system can be improved, and the accuracy of the skeleton positioning can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0023] Figure 1 is a flowchart of a method for finding a bone tracer coordinate system provided by an embodiment of the present disclosure;

[0024] Figure 2 is a schematic diagram of a bone marker provided by an embodiment of the present disclosure;

[0025] Figure 3 is a schematic diagram of another bone marker provided by an embodiment of the present disclosure;

[0026] Figure 4 is a structural schematic diagram of a bone tracer provided by an embodiment of the present disclosure;

[0027] Figure 5 is a structural schematic diagram of a probe provided by an embodiment of the present disclosure;

[0028] Figure 6 is a structural schematic diagram of a device for finding a bone tracer coordinate system provided by an embodiment of the present disclosure;

[0029] Figure 7 is a structural schematic diagram of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0031] In the following description, many specific details are set forth in order to provide a thorough understanding of the present disclosure. However, the present disclosure can be practiced without the specific details. It is apparent that the embodiments described in the specification are only some embodiments of the present disclosure, not all embodiments.

[0032] In orthopedic surgery, since the navigation system can only recognize the bone tracer and cannot recognize the bone itself, the bone tracer is the basis of orthopedic surgery, and the bone tracer and the bone can be fixed as a rigid body. When the bone moves, the bone tracer will also move. When the navigation system captures the movement track of the bone tracer, the movement track of the bone can be inferred. However, the bone tracer often moves relative to the bone due to collision, loosening, or other reasons, resulting in a mismatch between the conversion relationship between the originally determined bone tracer coordinate system and the bone coordinate system and the actual relative position relationship between the bone tracer and the bone, and further resulting in inaccurate positioning of the bone.

[0033] The applicant found through research that if the registration is re-performed to update the conversion relationship between the bone tracer coordinate system and the bone coordinate system, some structures used for registration (for example, part of the bone has been sawn off) have been removed, the remaining structures may not be complete, or the amount of information that can be provided is less, which may cause the re-registration to fail. In view of this, the applicant proposes a bone tracer coordinate system recovery method, device, equipment and storage medium. First, the bone tracer coordinate system recovery method is described below.

[0034] Figure 1 A flowchart of a bone tracer coordinate system recovery method provided by an embodiment of the disclosure is shown in the figure. The method can be executed by an electronic device. The electronic device can be exemplarily understood as a device such as a navigation system, a mobile phone, a tablet computer, a notebook computer, a desktop computer, a smart television, etc. As shown in the figure, the method provided by the embodiment includes the following steps: Figure 1

[0035] S110, obtaining the coordinates of the bone markers in the current bone tracer coordinate system to obtain the current bone marker coordinates.

[0036] Specifically, the bone markers are markers fixed on the bone (the bone that will not be removed in the orthopedic surgery).

[0037] The specific number of bone markers can be set by a person skilled in the art according to the actual situation, and is not limited. Exemplarily, the number of bone markers is greater than or equal to 3, and at least 3 bone markers are not collinear.

[0038] The specific form of the bone markers can be set by a person skilled in the art according to the actual situation, and is not limited, as long as it is not easy to move relative to the bone. Exemplarily, the bone markers can include at least one of the following: bone pins, contact ends of bone tracers in contact with the bone, fluorescent dye markers, marks scratched on the bone surface using a scalpel, an electrotome, etc., but are not limited thereto.

[0039] In some examples, the bone tracer coordinate system is recovered by the following steps: Figure 2 ​As shown, a bone tracer 220 and three non-collinear bone markers are set on the skeleton, all of which are bone screws 210.

[0040] It is understandable that there is little relative movement between the bone screw and the bone. The bone screw and the bone can be considered as a rigid body, that is, the relative positional relationship between the bone screw and the bone remains unchanged. Therefore, using the bone screw as a bone marker is beneficial to improving the accuracy of detecting whether there is relative movement between the bone tracer and the bone based on the current bone marker coordinates.

[0041] In other examples, such as Figure 3 and Figure 4 As shown, a bone tracer 220 and three non-collinear bone markers are provided on the bone. One bone marker is a bone nail 210, and the other two bone markers are the two contact ends JCD of the bone tracer, wherein the contact ends JCD are in contact with the bone.

[0042] It is understandable that the contact end is in contact with the bone and is not easy to move relative to the bone. Reusing it as a bone marker can reduce damage to the bone.

[0043] Specifically, the current bone tracer coordinate system is the bone tracer coordinate system corresponding to the current position of the bone tracer.

[0044] There are various ways to obtain the coordinate system of a bone tracer. The following is a typical example, but it does not constitute a limitation of this disclosure.

[0045] In some embodiments, the process of obtaining the bone tracer coordinate system includes: S11, obtaining the coordinates of the first navigation mark on the bone tracer under the navigation system to obtain the first navigation mark coordinates; S12, establishing the bone tracer coordinate system based on the first navigation mark coordinates. It should be noted that the bone tracer coordinate system at each position can be obtained using this method, such as the current bone tracer coordinate system, the reference bone tracer coordinate system, and the initial bone tracer coordinate system described later.

[0046] Specifically, multiple first navigation markers are fixed to the bone tracer. The navigation system can identify these first navigation markers and determine their coordinates within the navigation system (i.e., the coordinates of the first navigation markers). Thus, a bone tracer coordinate system can be established based on the coordinates of these multiple first navigation markers. Furthermore, the transformation relationship between the bone tracer coordinate system and the navigation coordinate system can also be determined.

[0047] The specific number of first navigation markers can be greater than or equal to three, and at least three first navigation markers must not be collinear; the specific type of the first navigation markers may include optical navigation markers, but is not limited to these. For example, such as... Figure 4As shown, the bone tracer comprises 4 optical navigation markers (i.e. the first navigation markers BJ1). As shown, Figure 2 and Figure 3 As shown, the bone tracer coordinate system X1Y1Z1 is established based on the coordinates of the navigation markers on the bone tracer 220.

[0048] It should be noted that generally, 3 first navigation marker coordinates are sufficient to establish the bone tracer coordinate system, when the number of first navigation markers on the bone tracer is greater than 3, 3 first navigation marker coordinates can be randomly selected from the first navigation markers to establish the bone tracer coordinate system, or the bone tracer coordinate system can be established based on the coordinates of all first navigation markers, which is not limited.

[0049] It can be understood that the bone tracer coordinate system is established based on the coordinates of the first navigation markers on the bone tracer under the navigation system, which can make the establishment of the bone tracer coordinate system simple and convenient, and is conducive to reducing the difficulty of establishing the bone tracer coordinate system.

[0050] Specifically, the current bone marker coordinate is the coordinate of the bone marker under the current bone tracer coordinate system.

[0051] There are many specific ways to obtain the coordinate of the bone marker under the bone tracer coordinate system, and typical examples will be described below, but this does not constitute a limitation on the present disclosure.

[0052] In some embodiments, the process of obtaining the coordinate of the bone marker under the bone tracer coordinate system comprises: S21, obtaining the coordinates of the second navigation markers under the navigation system when the detection site on the probe touches the bone marker to obtain the second navigation marker coordinates; S22, establishing the probe coordinate system based on the second navigation marker coordinates and determining the conversion relationship between the probe coordinate system and the navigation system coordinate system; S23, determining the coordinate of the detection site under the probe coordinate system based on the pre-obtained preset relative position relationship to obtain the detection site coordinate, wherein the preset relative position relationship is used to represent the relative position relationship between the detection site and the probe coordinate system; S24, determining the coordinate of the detection site under the bone tracer coordinate system based on the detection site coordinate, the conversion relationship between the probe coordinate system and the navigation system coordinate system, and the conversion relationship between the bone tracer coordinate system and the navigation system coordinate system, and taking it as the coordinate of the bone marker under the bone tracer coordinate system. It should be noted that the coordinate of the bone marker under any bone tracer coordinate system can be obtained in this way, such as the coordinate of the bone marker under the current bone tracer coordinate system, the coordinate of the bone marker under the reference bone tracer coordinate system, and the coordinate of the bone marker under the initial bone tracer coordinate system.

[0053] Specifically, as shown, Figure 5 The detection site can include the probe tip JD, but is not limited thereto.

[0054] Specifically, a plurality of second navigation markers are fixed on the probe, and the navigation system can identify the second navigation markers and determine the coordinates of the second navigation markers under the navigation system (i.e., second navigation marker coordinates). In this way, the probe coordinate system can be established based on the plurality of second navigation marker coordinates, and the conversion relationship between the probe coordinate system and the navigation coordinate system can also be determined.

[0055] Specifically, since the position of the detection site on the probe is unchanged, the relative positional relationship between the detection site and the second navigation markers is unchanged and can be known in advance, and the relative positional relationship between the detection site and the probe coordinate system (i.e., the preset relative positional relationship) is unchanged and can be known in advance. Therefore, the coordinates of the detection site in the probe coordinate system can be obtained based on the probe coordinate system and the preset relative positional relationship, and the coordinates of the detection site in the bone tracer coordinate system can be determined based on the coordinates of the detection site in the probe coordinate system, the conversion relationship between the probe coordinate system and the navigation coordinate system, and the conversion relationship between the bone tracer coordinate system and the navigation coordinate system. Since the detection site coincides with the bone marker in space and on the bone, the coordinates of the detection site in the bone tracer coordinate system are the coordinates of the bone marker in the bone tracer coordinate system.

[0056] The specific number of second navigation markers can be greater than or equal to 3, and at least 3 second navigation markers are not collinear. The specific types of second navigation markers can include optical navigation markers, but are not limited thereto. For example, as shown in FIG. 2, the probe includes 3 optical navigation markers (i.e., second navigation markers BJ2). Figure 5

[0057] It should be noted that, in general, 3 second navigation marker coordinates are sufficient to establish the probe coordinate system. When the number of second navigation markers on the probe is greater than 3, 3 second navigation marker coordinates can be randomly selected to establish the probe coordinate system, or the probe coordinate system can be established based on all second navigation marker coordinates, which is not limited.

[0058] It can be understood that, based on the coordinates of the second navigation markers on the probe under the navigation system, the probe coordinate system can be established in a simple and convenient manner, and the coordinates of the bone marker in the bone tracer coordinate system can be obtained in a simple and convenient manner, which is beneficial to reduce the difficulty of obtaining the coordinates of the bone marker in the bone tracer coordinate system.

[0059] ​In some embodiments, the process of obtaining the coordinates of the bone- on markers in the bone tracker coordinate system comprises: obtaining the coordinates of the bone-on markers in the navigation coordinate system, and determining the coordinates of the bone-on markers in the bone tracker coordinate system based on the conversion relationship between the bone tracker coordinate system and the navigation coordinate system and the coordinates of the bone-on markers in the navigation coordinate system. It should be noted that the coordinates of the bone-on markers in any bone tracker coordinate system can be obtained in this way, such as the coordinates of the bone-on markers in the current bone tracker coordinate system, the coordinates of the bone-on markers in the reference bone tracker coordinate system, and the coordinates of the bone-on markers in the initial bone tracker coordinate system.

[0060] S120, detecting whether the bone tracker moves relative to the bone based on the current bone-on marker coordinates.

[0061] In some embodiments, S120 can comprise: if the difference between the current bone-on marker coordinates and the reference bone-on marker coordinates exceeds a preset threshold, determining that the bone tracker moves relative to the bone, wherein the reference bone-on marker coordinates are the coordinates of the bone-on markers in the reference bone tracker coordinate system, and the reference bone tracker coordinate system is the bone tracker coordinate system corresponding to the bone tracker before the bone tracker moves relative to the bone.

[0062] Specifically, the reference bone tracker coordinate system is the bone tracker coordinate system corresponding to the bone tracker after the last adjustment and fixation of the bone tracker. For example, at the beginning of the orthopedic surgery, the bone tracker is adjusted and fixed for the first time (i.e., the bone tracker is installed on the bone), and then the bone tracker coordinate system corresponding to the bone tracker is immediately obtained to obtain the initial bone tracker coordinate system, and the coordinates of the bone-on markers in the initial bone tracker coordinate system are obtained to obtain the initial bone-on marker coordinates. Then, after the current bone-on marker coordinates are obtained, the difference between the current bone-on marker coordinates and the initial bone-on marker coordinates (i.e., the reference bone-on marker coordinates) is detected to detect whether the bone tracker moves relative to the bone. For another example, during the orthopedic surgery, after the bone tracker moves relative to the bone for the Nth time (N is an integer greater than or equal to 1) and is adjusted and fixed again, the bone tracker coordinate system corresponding to the bone tracker is immediately obtained to obtain the Nth time adjusted bone tracker coordinate system, and the coordinates of the bone-on markers in the Nth time adjusted bone tracker coordinate system are obtained to obtain the Nth time adjusted bone-on marker coordinates. Then, after the current bone-on marker coordinates are obtained, the difference between the current bone-on marker coordinates and the Nth time adjusted bone-on marker coordinates (i.e., the reference bone-on marker coordinates) is detected to detect whether the bone tracker moves relative to the bone.

[0063] Specifically, the specific value of the preset threshold can be set by a person skilled in the art according to the actual situation, which is not limited here.

[0064] It can be understood that, since the relative positional relationship between the bone on which the bone marker is fixed and the bone on which the bone tracer is fixed remains unchanged (such as the bone marker and the bone tracer being on the same bone, etc.), and the bone marker and the bone on which it is located are not prone to relative movement, the bone marker and the bone can be considered as a rigid body. Therefore, when the bone tracer and the bone on which it is located do not move relative to each other, the current bone marker coordinate of the bone marker under the current bone tracer should be the same as the reference bone marker coordinate of the bone marker under the reference bone tracer, and when the bone tracer and the bone on which it is located move relative to each other, the current bone marker coordinate of the bone marker under the current bone tracer should be different from the reference bone marker coordinate of the bone marker under the reference bone tracer. Therefore, whether the bone tracer moves relative to the bone can be detected based on whether the difference between the current bone marker coordinate and the reference bone marker coordinate exceeds a preset threshold. Specifically, in some examples, if, for each bone marker, the difference between the current bone marker coordinate and the reference bone marker coordinate of the bone marker exceeds the preset threshold, it is determined that the bone tracer moves relative to the bone; otherwise, it is determined that the bone tracer does not move relative to the bone. In other examples, if there is at least one bone marker whose difference between the current bone marker coordinate and the reference bone marker coordinate exceeds the preset threshold, it is determined that the bone tracer moves relative to the bone; otherwise, it is determined that the bone tracer does not move relative to the bone. This way of detecting whether the bone tracer moves relative to the bone is simple and convenient, and is conducive to reducing the implementation difficulty.

[0065] Optionally, if it is detected that the bone tracer moves relative to the bone, the method can further include: issuing prompt information that the bone tracer moves relative to the bone. In this way, the bone tracer can be timely readjusted and fixed.

[0066] Of course, in other embodiments, S120 can include: inputting the current bone marker coordinate into a pre-trained detection model, and obtaining a detection result output by the detection model for whether the bone tracer moves relative to the bone.

[0067] S130, in the case where the bone tracer moves relative to the bone, obtaining an adjusted bone tracer coordinate system corresponding to the bone tracer after the bone tracer is readjusted and fixed.

[0068] Specifically, how to obtain the adjusted bone tracer coordinate system can be referred to the description of the foregoing specific implementation of “obtaining the bone tracer coordinate system”, which will not be described here again.

[0069] S140, obtaining an adjusted bone marker coordinate of the bone marker under the adjusted bone tracer coordinate system.

[0070] Specifically, how to obtain the adjusted bone-on-marker coordinates can refer to the description of the specific embodiment of “obtaining the coordinates of the bone-on-marker under the bone tracer” in the foregoing description, which will not be repeated here.

[0071] In S150, a conversion relationship between the bone coordinate system and the adjusted bone tracer coordinate system is re-determined based on the adjusted bone-on-marker coordinates and the preset conversion relationship, where the preset conversion relationship is a conversion relationship between the bone-on-marker coordinate system and the bone coordinate system.

[0072] Specifically, the bone coordinate system is a coordinate system of a three-dimensional bone model reconstructed based on CT data of the patient, and the relative positional relationship between the bone coordinate system and the bone is always unchanged.

[0073] Specifically, in the case of being installed in place, the bone-on-marker and the bone are not prone to relative movement, and the bone-on-marker and the bone can be considered as a rigid body, and thus the relative relationship between the bone-on-marker and the bone can be considered as unchanged. In addition, the relative positional relationship between the bone coordinate system and the bone is always unchanged, and thus the relative positional relationship between the bone-on-marker coordinate system and the bone coordinate system is always unchanged, and thus the conversion relationship (i.e., the preset conversion relationship) between the bone-on-marker coordinate system and the bone coordinate system is always unchanged.

[0074] There are various ways to obtain the preset conversion relationship, and the following will be described based on typical examples, but this does not constitute a limitation on the present disclosure.

[0075] In some embodiments, the process of obtaining the preset conversion relationship includes: obtaining a conversion relationship between the bone coordinate system and an initial bone tracer coordinate system through registration; obtaining coordinates of the bone-on-marker under the initial bone tracer coordinate system to obtain initial bone-on-marker coordinates; establishing an initial bone-on-marker coordinate system based on the initial bone-on-marker coordinates; and determining a conversion relationship between the bone coordinate system and the initial bone-on-marker coordinate system based on the conversion relationship between the bone coordinate system and the initial bone tracer coordinate system and the conversion relationship between the initial bone-on-marker coordinate system and the initial bone tracer coordinate system to obtain the preset conversion relationship.

[0076] Specifically, the conversion relationship between the bone coordinate system and the initial bone tracer coordinate system can be obtained by any possible registration method, and no limitation is made in this regard.

[0077] Specifically, how to obtain the initial bone tracer coordinate system can refer to the description of the specific embodiment of “obtaining the bone tracer coordinate system” in the foregoing description, and how to obtain the initial bone-on-marker coordinates can refer to the description of the specific embodiment of “obtaining the coordinates of the bone-on-marker under the bone tracer” in the foregoing description, which will not be repeated here.

[0078] There are various specific implementations of the specific implementation of "re-determining the conversion relationship between the bone coordinate system and the adjusted bone tracer coordinate system", and the following will be described based on typical examples, but it does not constitute a limitation to the present disclosure.

[0079] In some embodiments, S150 comprises: re-establishing the bone marker coordinate system based on the adjusted bone marker coordinates to obtain an adjusted bone marker coordinate system; determining the conversion relationship between the adjusted bone marker coordinate system and the adjusted bone tracer coordinate system to obtain an adjusted conversion relationship; and re-determining the conversion relationship between the bone coordinate system and the adjusted bone tracer coordinate system based on the preset conversion relationship and the adjusted conversion relationship.

[0080] It can be understood that there is a conversion relationship between the bone coordinate system and the bone marker coordinate system, and there is a conversion relationship between the bone tracer coordinate system and the bone marker coordinate system, so the bone coordinate system and the bone tracer coordinate system can be connected through the bone marker coordinate system, thereby re-determining the conversion relationship between the bone coordinate system and the adjusted bone tracer coordinate system. This method has the effect of being simple and convenient.

[0081] In some embodiments, S150 comprises: inputting the adjusted bone marker coordinates and the pre-acquired preset conversion relationship into the pre-trained update model to obtain the conversion relationship between the bone coordinate system and the adjusted bone tracer coordinate system output by the update model.

[0082] The embodiments of the present disclosure can detect whether the bone tracer moves relative to the skeleton based on the coordinates of the bone marker in the current bone tracer coordinate system, so that the bone tracer can be timely adjusted and fixed in the case that the bone tracer moves relative to the skeleton. Moreover, the embodiments of the present disclosure can also retrieve the bone tracer coordinate system (i.e. the adjusted bone tracer coordinate system) corresponding to the bone tracer after being adjusted and fixed again in the case that the bone tracer moves relative to the skeleton, and then update the conversion relationship between the bone coordinate system and the adjusted bone tracer coordinate system, so as to improve the accuracy of the conversion relationship between the bone coordinate system and the bone tracer coordinate system, and further improve the accuracy of the skeleton positioning.

[0083] The method for retrieving the bone tracer coordinate system provided by the present disclosure will be described in detail below taking the bone marker as a bone screw as an example. The same applies to other types of bone markers, which will not be described here. Specifically, 3 non-collinear bone screws are installed on the skeleton, and the bone screw coordinate system (i.e. the bone marker coordinate system) is established through the 3 non-collinear bone screws, and the conversion relationship between the bone coordinate system and the bone tracer coordinate system is connected, for example, as shown in Figure 2 The bone marker coordinate system X2Y2Z2 is established through the 3 non-collinear bone screws 210. Of course, in other examples, the bone marker coordinate system can also be established as shown in Figure 3As shown, a bone marker coordinate system (X2Y2Z2) is established using one bone screw 210 and two contact ends (JCD). This bone screw coordinate system allows verification of whether the relative position of the bone tracer and the bone has changed, and also enables the recovery of the bone tracer coordinate system and updating the transformation relationship between the two coordinate systems when the relative position changes. This method consists of a preparation section and a detection and recovery section.

[0084] The preparation phase only needs to be performed once after the initial installation of the bone tracer and bone screws, and confirmation that they are in place. The preparation process is as follows:

[0085] 1. The transformation relationship between the bone coordinate system and the initial bone tracer coordinate system is obtained through registration, denoted as:

[0086] 2. With the probe tip sequentially touching bone screws P1, P2, and P3, the coordinates of each bone screw in the initial bone tracer coordinate system are obtained sequentially. BF P1, BF P2, BF P3.

[0087] 3. Establish an initial bone screw coordinate system based on the coordinates of each bone screw in the initial bone tracer coordinate system, and obtain the transformation relationship between the initial bone screw coordinate system and the initial bone tracer coordinate system, denoted as .

[0088]

[0089] in,

[0090] for BF P2 and BF The direction vector between P1;

[0091] for BF P2 and BF The distance between P1, for The corresponding unit direction vector is also one of the coordinate axes of the bone nail coordinate system;

[0092] for BF P3 and BF The direction vector between P1;

[0093] To and Vertical and with Vertical direction vector;

[0094] For The corresponding unit direction vector is also one of the coordinate axes of the bone nail coordinate system; is perpendicular to and is perpendicular to

[0095] The corresponding unit direction vector is also one of the coordinate axes of the bone nail coordinate system;

[0096] is the coordinate origin of the bone nail coordinate system.

[0097] 4、According to the conversion relationship between the bone coordinate system and the initial bone tracer coordinate system and the conversion relationship between the initial bone nail coordinate system and the initial bone tracer coordinate system Calculate the conversion relationship between the bone coordinate system and the initial bone nail coordinate system (i.e. the preset conversion relationship), denoted as

[0098] is the inverse matrix of .

[0099] The process of detecting the recovered part is as follows:

[0100] 1、In the case of using the probe tip to touch the bone nails P1, P2 and P3 in the order of the preparation part, respectively get the coordinates of each bone nail in the current bone tracer coordinate system BF P1′, BF P2′, BF P3′.

[0101] 2、For each bone nail, judge whether the difference between its coordinates in the current bone tracer coordinate system and its coordinates in the initial bone tracer coordinate system (here, the difference refers to the value obtained by taking the absolute value after the difference between the two) exceeds the preset threshold value, if all do not exceed the preset threshold value, it is considered that the relative position of the bone tracer and the bone has not changed (as shown in the following formula).

[0102] | BF P′1- BF P1|<δ

[0103] | BF P′2- BF P2|<δ

[0104] | BF P′3- BF P3|<δ

[0105] wherein, BF P′1- BF P1| is BF P′1and BF P1between, BF P′2- BF P2| is BF P′2and BF P2between, BF P′3- BF P3| is BF P′3and BF P3between, δ is a preset threshold value.

[0106] 3. Otherwise, it is considered that the relative position of the bone tracer and the bone changes.

[0107] At this time, the fixed bone tracer can be readjusted to ensure rigid connection with the corresponding bone.

[0108] 4. In the case of using the probe tip to touch the bone nail P1, the bone nail P2 and the bone nail P3 in the order of the preparation part, the coordinates of each bone nail in the adjusted bone tracer coordinate system are obtained respectively BF P″1, BF P″2, BF P″3.

[0109] 5. The adjusted bone nail coordinate system is established according to the coordinates of each bone nail in the adjusted bone tracer coordinate system, and the conversion relationship between the adjusted bone nail coordinate system and the adjusted bone tracer coordinate system is obtained, which is recorded as

[0110]

[0111] wherein:

[0112] is BF P″2and BF P″1between;

[0113] is BF P″2and BF P″1between, is the corresponding unit direction vector, which is also one of the coordinate axes of the adjusted bone nail coordinate system;

[0114] is BF P″3and BFThe direction vector between P1 and P2;

[0115] The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3; The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3; The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3;

[0116] The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3; The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3;

[0117] The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3; The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3; The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3;

[0118] The direction vector between P1 and P2 is perpendicular to the direction vector between P2 and P3.

[0119] 6、According to the conversion relationship between the bone coordinate system and the bone nail coordinate system obtained in the preparation part Calculate the conversion relationship between the bone coordinate system and the adjusted bone tracer coordinate system, denoted as

[0120]

[0121] 7、Update the relationship between the bone coordinate system and the bone tracer coordinate system

[0122] Figure 6 The structure diagram of the bone tracer coordinate system recovery device provided by the embodiment of the disclosure can be understood as the electronic device or part of the functional modules in the electronic device. As shown in the figure, the bone tracer coordinate system recovery device 600 includes: Figure 6 The first acquisition module 610 is configured to acquire the coordinates of the bone markers in the current bone tracer coordinate system to obtain the current bone marker coordinates.

[0123] The first detection module 620 is configured to detect whether the bone tracer moves relative to the bone based on the current bone marker coordinates.

[0124] The second acquisition module 630 is configured to acquire the bone tracer coordinate system corresponding to the bone tracer after being readjusted and fixed to obtain the adjusted bone tracer coordinate system when the bone tracer moves relative to the bone.

[0125]

[0126] ​The third obtaining module 640 is configured to obtain coordinates of the bone surface marker in the adjusted bone tracker coordinate system as adjusted bone surface marker coordinates.

[0127] The first determining module 650 is configured to re-determine the conversion relationship between the bone coordinate system and the adjusted bone tracker coordinate system based on the adjusted bone surface marker coordinates and a preset conversion relationship, where the preset conversion relationship is a conversion relationship between a bone surface marker coordinate system and the bone coordinate system.

[0128] In some embodiments, the first detecting module 620 is specifically configured to determine that the bone tracker moves relative to the skeleton if a difference between the current bone surface marker coordinates and reference bone surface marker coordinates exceeds a preset threshold, where the reference bone surface marker coordinates are coordinates of the bone surface marker in a reference bone tracker coordinate system, and the reference bone tracker coordinate system is a bone tracker coordinate system corresponding to the bone tracker before the bone tracker moves relative to the skeleton.

[0129] In some embodiments, the first determining module 650 is specifically configured to re-establish a bone surface marker coordinate system based on the adjusted bone surface marker coordinates to obtain an adjusted bone surface marker coordinate system; determine a conversion relationship between the adjusted bone surface marker coordinate system and the adjusted bone tracker coordinate system to obtain an adjusted conversion relationship; and re-determine the conversion relationship between the bone coordinate system and the adjusted bone tracker coordinate system based on the preset conversion relationship and the adjusted conversion relationship.

[0130] In some embodiments, the device further includes a fourth obtaining module configured to obtain the preset conversion relationship, and the fourth obtaining module is specifically configured to obtain a conversion relationship between the bone coordinate system and an initial bone tracker coordinate system through registration; obtain coordinates of the bone surface marker in the initial bone tracker coordinate system as initial bone surface marker coordinates; establish an initial bone surface marker coordinate system based on the initial bone surface marker coordinates; and determine a conversion relationship between the bone coordinate system and the initial bone surface marker coordinate system based on the conversion relationship between the bone coordinate system and the initial bone tracker coordinate system and the conversion relationship between the initial bone surface marker coordinate system and the initial bone tracker coordinate system to obtain the preset conversion relationship.

[0131] In some embodiments, the device further includes a fifth obtaining module configured to obtain a bone tracker coordinate system, and the fifth obtaining module is specifically configured to obtain coordinates of a first navigation marker on the bone tracker in a navigation system as first navigation marker coordinates; and establish the bone tracker coordinate system based on the first navigation marker coordinates.

[0132] In some embodiments, the process of obtaining the coordinates of the bone markers in the bone tracer coordinate system specifically comprises: obtaining coordinates of the second navigation marker in the navigation system when the detection part on the probe touches the bone markers to obtain second navigation marker coordinates;

[0133] establishing a probe coordinate system based on the second navigation marker coordinates and determining the conversion relationship between the probe coordinate system and the navigation system coordinate system;

[0134] determining the coordinates of the detection part in the probe coordinate system based on the preset relative position relationship obtained in advance to obtain detection part coordinates, wherein the preset relative position relationship is used to represent the relative position relationship between the detection part and the probe coordinate system;

[0135] determining the coordinates of the detection part in the bone tracer coordinate system based on the detection part coordinates, the conversion relationship between the probe coordinate system and the navigation system coordinate system, and the conversion relationship between the bone tracer coordinate system and the navigation system coordinate system, and taking the coordinates of the detection part in the bone tracer coordinate system as the coordinates of the bone markers in the bone tracer coordinate system.

[0136] In some embodiments, the number of bone markers is 3; wherein the 3 bone markers are all bone screws; or 1 bone marker is a bone screw, and the other 2 bone markers are respectively 2 contact ends of the bone tracer in contact with the bone.

[0137] The device provided in the embodiment can execute the method of any of the above-mentioned embodiments, and has similar execution modes and beneficial effects, which will not be described here again.

[0138] The embodiment of the present disclosure also provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program, and when the computer program is executed by the processor, the method of any of the above-mentioned embodiments can be implemented.

[0139] An example of the electronic device is shown in FIG. 7. Figure 7 is a structural schematic diagram of an electronic device in an embodiment of the present disclosure. Specific reference will be made below to Figure 7 which shows a structural schematic diagram suitable for implementing the electronic device 700 in the embodiment of the present disclosure. The electronic device 700 in the embodiment of the present disclosure can include but is not limited to a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a PMP (Portable Multimedia Player), a vehicle terminal (such as a vehicle navigation terminal), and the like, and a fixed terminal such as a digital TV, a desktop computer, and the like. Figure 7 The electronic device shown is only an example, and should not impose any limitation on the functions and use range of the embodiment of the present disclosure.

[0140] like Figure 7 As shown, the electronic device 700 may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. The RAM 703 also stores various programs and data required for the operation of the electronic device 700. The processing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0141] Typically, the following devices can be connected to I / O interface 705: input devices 706 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 707 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 708 including, for example, magnetic tapes, hard disks, etc.; and communication devices 709. Communication device 709 allows electronic device 700 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 An electronic device 700 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0142] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 709, or installed from storage device 708, or installed from ROM 702. When the computer program is executed by processing device 701, it performs the functions defined in the methods of embodiments of this disclosure.

[0143] It should be noted that the computer-readable medium described above can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus or device. In the present disclosure, the computer-readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave in a propagated data signal, in which the computer-readable program code is contained. Such a propagated data signal can take many forms, including but not limited to, an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium that can send, propagate or transfer the program for use by or in connection with the instruction execution system, apparatus or device. The program code contained in the computer-readable medium can be transmitted by any suitable medium, including but not limited to, wire, cable, RF (radio frequency), etc., or any suitable combination of the above.

[0144] In some embodiments, the client, server, or both can communicate using any current known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet, and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any current known or future developed networks.

[0145] The computer-readable medium described above can be included in the electronic device described above; or can exist separately from the electronic device, and not be assembled into the electronic device.

[0146] The computer readable medium described above carries one or more programs, when the one or more programs are executed by the electronic device, cause the electronic device to: obtain coordinates of the bone marker in a current bone tracker coordinate system to obtain current bone marker coordinates; detect whether the bone tracker moves relative to the skeleton based on the current bone marker coordinates; in the case where the bone tracker moves relative to the skeleton, obtain a bone tracker coordinate system corresponding to the bone tracker after being readjusted and fixed to obtain an adjusted bone tracker coordinate system; obtain coordinates of the bone marker in the adjusted bone tracker coordinate system to obtain adjusted bone marker coordinates; and based on the adjusted bone marker coordinates and a preset conversion relationship obtained in advance, re-determine a conversion relationship between a bone coordinate system and the adjusted bone tracker coordinate system, wherein the preset conversion relationship is a conversion relationship between a bone marker coordinate system and the bone coordinate system.

[0147] Computer program code for carrying out operations of the present disclosure can be written in any one or more of a variety of programming languages or combinations of languages including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0148] The flow and block diagrams in the drawings show architectural, functional, and operational architectures of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow and block diagrams can represent a module, a segment, or a portion of code that comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0149] The units described in the embodiments of the present disclosure can be implemented by means of software, or by hardware. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0150] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0151] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0152] The embodiments of the present disclosure also provide a computer-readable storage medium, wherein the storage medium stores a computer program. When the computer program is executed by a processor, the method of any of the above-mentioned embodiments can be implemented, and the execution manner and beneficial effects are similar, which will not be described here again.

[0153] It should be noted that, in this document, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a... " does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0154] The foregoing is merely illustrative of the various implementations of the present disclosure and the general principles thereof. Numerous modifications can be made to these illustrations, and equivalents can be substituted therefor, without departing from the scope of the present disclosure. The specific embodiments commensurate with the specific application are intended to be illustrative only and not limiting of the scope of the application as set forth in the following claims.

Claims

1. A method for retrieving the coordinate system of a bone tracer, characterized in that, include: Obtain the coordinates of the bone marker in the current bone tracer coordinate system to get the current bone marker coordinates; Based on the current bone marker coordinates, detect whether the bone tracer has moved relative to the bone; When the bone tracer moves relative to the bone, the bone tracer coordinate system corresponding to the readjusted and fixed bone tracer is obtained to obtain the adjusted bone tracer coordinate system. The coordinates of the bone marker in the adjusted bone tracer coordinate system are obtained to obtain the adjusted bone marker coordinates. Based on the adjusted bone marker coordinates and the pre-acquired preset transformation relationship, the transformation relationship between the bone coordinate system and the adjusted bone tracer coordinate system is redefined, wherein the preset transformation relationship is the transformation relationship between the bone marker coordinate system and the bone coordinate system. The process of acquiring the bone tracer coordinate system includes: The coordinates of the first navigation marker on the bone tracer are obtained under the navigation system to obtain the coordinates of the first navigation marker. The bone tracer coordinate system is established based on the coordinates of the first navigation marker. The process of obtaining the coordinates of bone markers in the bone tracer coordinate system includes: When the probe touches the bone marker, the coordinates of the second navigation marker on the probe are obtained under the navigation system to obtain the coordinates of the second navigation marker. A probe coordinate system is established based on the coordinates of the second navigation marker, and the transformation relationship between the probe coordinate system and the navigation system coordinate system is determined. Based on a pre-acquired preset relative positional relationship, the coordinates of the detection part in the probe coordinate system are determined to obtain the coordinates of the detection part. The preset relative positional relationship is used to characterize the relative positional relationship between the detection part and the probe coordinate system. Based on the coordinates of the detection site, the transformation relationship between the probe coordinate system and the navigation system coordinate system, and the transformation relationship between the bone tracer coordinate system and the navigation system coordinate system, the coordinates of the detection site in the bone tracer coordinate system are determined and used as the coordinates of the bone marker in the bone tracer coordinate system.

2. The method according to claim 1, characterized in that, The step of detecting whether the bone tracer has moved relative to the bone based on the current bone marker coordinates includes: If the difference between the current bone marker coordinates and the reference bone marker coordinates exceeds a preset threshold, it is determined that the bone tracer has moved relative to the skeleton. The reference bone marker coordinates are the coordinates of the bone marker in the reference bone tracer coordinate system, and the reference bone tracer coordinate system is the bone tracer coordinate system corresponding to the bone tracer before it moved relative to the skeleton.

3. The method according to claim 1, characterized in that, The step of redetermining the transformation relationship between the bone coordinate system and the adjusted bone tracer coordinate system based on the adjusted bone marker coordinates and the pre-acquired preset transformation relationship includes: Based on the adjusted bone marker coordinates, the bone marker coordinate system is re-established to obtain the adjusted bone marker coordinate system. The transformation relationship between the adjusted bone marker coordinate system and the adjusted bone tracer coordinate system is determined to obtain the adjusted transformation relationship; Based on the preset transformation relationship and the adjusted transformation relationship, the transformation relationship between the bone coordinate system and the adjusted bone tracer coordinate system is redefined.

4. The method according to claim 1, characterized in that, The process of obtaining the preset conversion relationship includes: The transformation relationship between the bone coordinate system and the initial bone tracer coordinate system is obtained through registration. The initial bone marker coordinates are obtained by acquiring the coordinates of the bone marker in the initial bone tracer coordinate system; An initial bone marker coordinate system is established based on the initial bone marker coordinates; Based on the transformation relationship between the bone coordinate system and the initial bone tracer coordinate system, and the transformation relationship between the initial bone marker coordinate system and the initial bone tracer coordinate system, the preset transformation relationship is obtained by determining the transformation relationship between the bone coordinate system and the initial bone marker coordinate system.

5. The method according to claim 1, characterized in that, The number of bone markers is three; Among them, three of the bone markers are bone screws; or; one of the bone markers is a bone screw, and the other two bone markers are the two contact ends of the bone tracer that are in contact with the bone.

6. A device for retrieving the coordinate system of a bone tracer, characterized in that, include: The first acquisition module is used to obtain the coordinates of the bone marker in the current bone tracer coordinate system to obtain the current bone marker coordinates. The first detection module is used to detect whether the bone tracer has moved relative to the bone based on the current bone marker coordinates; The second acquisition module is used to acquire the bone tracer coordinate system corresponding to the bone tracer after it has been readjusted and fixed, and obtain the adjusted bone tracer coordinate system when the bone tracer moves relative to the bone. The third acquisition module is used to acquire the coordinates of the bone mark in the adjusted bone tracer coordinate system to obtain the adjusted bone mark coordinates. The first determining module is used to redetermine the transformation relationship between the bone coordinate system and the adjusted bone tracer coordinate system based on the adjusted bone marker coordinates and the pre-acquired preset transformation relationship, wherein the preset transformation relationship is the transformation relationship between the bone marker coordinate system and the bone coordinate system. The fifth acquisition module is used to acquire the coordinate system of the bone tracer. Specifically, the fifth acquisition module is used to acquire the coordinates of the first navigation mark on the bone tracer under the navigation system to obtain the coordinates of the first navigation mark. The bone tracer coordinate system is established based on the coordinates of the first navigation marker. The process of obtaining the coordinates of bone markers in the bone tracer coordinate system includes: When the probe touches the bone marker, the coordinates of the second navigation marker on the probe are obtained under the navigation system to obtain the coordinates of the second navigation marker. A probe coordinate system is established based on the coordinates of the second navigation marker, and the transformation relationship between the probe coordinate system and the navigation system coordinate system is determined. Based on a pre-acquired preset relative positional relationship, the coordinates of the detection part in the probe coordinate system are determined to obtain the coordinates of the detection part. The preset relative positional relationship is used to characterize the relative positional relationship between the detection part and the probe coordinate system. Based on the coordinates of the detection site, the transformation relationship between the probe coordinate system and the navigation system coordinate system, and the transformation relationship between the bone tracer coordinate system and the navigation system coordinate system, the coordinates of the detection site in the bone tracer coordinate system are determined and used as the coordinates of the bone marker in the bone tracer coordinate system.

7. An electronic device, characterized in that, include: A processor and a memory, wherein the memory stores a computer program that, when executed by the processor, performs the method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1-5.

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