Ultrasonic bone knife navigation method, system and storage medium

Abstract

The present invention provides an ultrasonic bone knife navigation method, system and storage medium, which scans the patient's oral cavity and oral reference plate to collect CBCT basic data, generates the axial plane, sagittal plane and coronal plane of the oral CBCT data through MPR three-dimensional reconstruction and establishes a cross operation interface, creates a three-dimensional model of the blade and performs surgical planning to obtain the ideal coordinate parameters of the blade head; analyzes and obtains the coordinate conversion relationship between the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system, and obtains the real-time coordinate parameters of the blade head; and performs real-time navigation of the ultrasonic bone knife according to the ideal coordinate parameters and real-time coordinate parameters of the blade head in the CT three-dimensional coordinate system. Visual operation conditions are provided through the cross operation interface, surgical planning is performed according to the actual situation of the patient's oral cavity, and operations such as multi-coordinate system one and bone knife calibration are performed before implementing navigation, which can maximize the adaptability of the ultrasonic bone knife in oral treatment and ensure navigation accuracy and treatment effect.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an ultrasonic osteotome navigation method, system and storage medium for assisting navigation during oral treatment surgery. Background Art

[0002] The ultrasonic bone knife is an oral treatment device that uses high-intensity focused ultrasound technology to convert electrical energy into mechanical energy through a transducer to produce high-frequency ultrasonic oscillations, which vaporizes the water in the tissue cells contacted by the bone knife head and breaks the protein hydrogen bonds, thereby completely destroying the bone tissue that needs to be cut during the operation.

[0003] The ultrasonic bone knife includes a handle, a blade and multiple trackers. The blade is arranged at the front end of the handle, and multiple trackers are arranged on the handle along the circumference. During the navigation process, the optical locator determines the real-time posture of the ultrasonic bone knife as a whole through the real-time posture of the tracker. Based on the ideal posture of the ultrasonic bone knife as a whole, it continuously guides the ultrasonic bone knife to drive its blade to move forward, continuously optimizes the posture, and finally makes the real-time posture of the ultrasonic bone knife as a whole overlap with its ideal posture, that is, achieves the navigation purpose. Compared with control through operator experience, the above method is more accurate.

[0004] Before implementing ultrasonic bone knife navigation, technical preparations such as CT data acquisition and navigation scheme design are required. In addition to ultrasonic bone knives, peripheral support equipment such as reference plates and probes are also involved. In the existing technology, ultrasonic bone knives are mostly used for other treatments. Considering the accuracy problem, they are rarely used in the field of oral treatment. How to improve navigation accuracy and maximize the adaptability of ultrasonic bone knives in oral treatment is an urgent problem to be solved in the field of oral treatment. Summary of the invention

[0005] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, an ultrasonic bone knife navigation method, system and storage medium are provided, which can optimize each link of the technical implementation process, maximize the adaptability of the ultrasonic bone knife in oral treatment, and ensure navigation accuracy and treatment effect.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] An ultrasonic bone scalpel navigation method, the ultrasonic bone scalpel navigation method comprising the following steps:

[0008] S1. After the oral reference plate is fixedly installed in the patient's oral cavity, CBCT basic data is collected by scanning the patient's oral cavity and the oral reference plate, wherein the CBCT basic data includes oral CBCT data and ceramic ball CBCT data;

[0009] S2. Perform MPR three-dimensional reconstruction based on CBCT basic data to generate axial plane, sagittal plane and coronal plane of oral CBCT data, and establish a cross operation interface based on the axial plane, sagittal plane and coronal plane, wherein the cross operation interface is composed of axial plane, sagittal plane and coronal plane that are orthogonal to each other;

[0010] S3. Create a three-dimensional model of the blade according to the osteotomy requirements, import the three-dimensional model of the blade into the cross operation interface, perform surgery planning by adjusting the relative position relationship between the three-dimensional model of the blade and the axial plane, sagittal plane and coronal plane, and obtain the ideal coordinate parameters of the blade head in the CT three-dimensional coordinate system;

[0011] S4. Based on the oral reference plate, the optical locator, and the CT scanning device, coordinate transformation relationship analysis is performed to obtain the coordinate transformation relationship between any two of the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system, and the CT three-dimensional coordinate system;

[0012] S5. Obtain the relative position relationship between the cutter head and the tracker, calibrate the ultrasonic bone knife according to the real-time image of the tracker and the relative position relationship between the cutter head and the tracker, and obtain the real-time coordinate parameters of the cutter head in the three-dimensional coordinate system of the optical locator;

[0013] S6. Collect real-time images of the tracking device and the reference plate positioning mark points, obtain the real-time coordinate parameters of the blade in the CT three-dimensional coordinate system based on the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system, and combine the real-time coordinate parameters of the blade in the optical locator three-dimensional coordinate system to perform real-time navigation of the ultrasonic bone knife according to the ideal coordinate parameters of the blade in the CT three-dimensional coordinate system and the real-time coordinate parameters of the blade in the CT three-dimensional coordinate system.

[0014] Compared with the existing technology, the beneficial effects of this technical solution are: providing visual operating conditions through the cross operation interface, performing surgical planning according to the actual oral conditions of the patient to obtain ideal coordinate parameters, and performing operations such as multi-coordinate system 1 and bone knife calibration before implementing navigation, which can maximize the adaptability of ultrasonic bone knife in oral treatment and ensure navigation accuracy and treatment effect.

[0015] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0016] An ultrasonic osteotome navigation system, comprising:

[0017] A CT scanning module is used to collect CBCT basic data by scanning the patient's oral cavity and the oral reference plate after the oral reference plate is fixedly installed in the patient's oral cavity, wherein the CBCT basic data includes oral CBCT data and ceramic ball CBCT data;

[0018] A three-dimensional reconstruction module performs MPR three-dimensional reconstruction based on CBCT basic data, generates the axial plane, sagittal plane and coronal plane of the oral CBCT data, and establishes a cross operation interface based on the axial plane, sagittal plane and coronal plane, wherein the cross operation interface is composed of axial planes, sagittal planes and coronal planes that are orthogonal to each other in pairs;

[0019] The blade model building module is used to create a three-dimensional blade model according to the osteotomy requirements, import the three-dimensional blade model into the cross operation interface, and perform surgical planning by adjusting the relative position relationship between the three-dimensional blade model and the axial plane, sagittal plane and coronal plane to obtain the ideal coordinate parameters of the blade head in the CT three-dimensional coordinate system;

[0020] The coordinate transformation analysis module analyzes the coordinate transformation relationship based on the oral reference plate, the optical locator, and the CT scanning device, and obtains the coordinate transformation relationship between the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system, and the CT three-dimensional coordinate system;

[0021] The bone knife calibration module is used to obtain the relative position relationship between the knife head and the tracker, calibrate the ultrasonic bone knife according to the real-time image of the tracker and the relative position relationship between the knife head and the tracker, and obtain the real-time coordinate parameters of the knife head in the three-dimensional coordinate system of the optical locator;

[0022] The real-time navigation module is used to collect real-time images of the tracking device and the reference plate positioning identification points, obtain the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system based on the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system, and combine the real-time coordinate parameters of the cutter head in the optical locator three-dimensional coordinate system to perform real-time navigation of the ultrasonic bone knife according to the ideal coordinate parameters of the cutter head in the CT three-dimensional coordinate system and the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system.

[0023] Correspondingly, a storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the ultrasonic bone knife navigation method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flow chart of the ultrasonic bone knife navigation method of the present invention.

[0025] Figure 2 It is a schematic diagram of the ultrasonic osteotome in the present invention.

[0026] Figure 3 It is a schematic diagram of the coordination of the middle plate and the measuring cover plate of the ultrasonic bone knife navigation device of the present invention.

[0027] In the figure, the components represented by the reference numerals are as follows:

[0028] CT scanning module 1, three-dimensional reconstruction module 2, blade model building module 3, coordinate conversion analysis module 4, bone knife calibration module 5, real-time navigation module 6, ultrasonic bone knife 7, ultrasonic bone knife calibration plate 8;

[0029] Handle 701, blade 702, tracker 703;

[0030] Calibration plate body 801, positioning mark assembly 802, and cutting surface calibration groove 803. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two components. When a component is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other component or there can also be a central component. When a component is considered to be "connected" to another element, it can be directly connected to the other element or there can be a central element at the same time. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The ultrasonic bone knife is an oral treatment device that uses high-intensity focused ultrasound technology to convert electrical energy into mechanical energy through a transducer to produce high-frequency ultrasonic oscillations, which vaporizes the water in the tissue cells contacted by the bone knife head and breaks the protein hydrogen bonds, thereby completely destroying the bone tissue that needs to be cut during the operation.

[0035] like Figure 2As shown, the ultrasonic bone knife includes a handle 701, a blade 702 and a plurality of trackers 703, wherein the blade 702 is arranged at the front end of the handle 701, and the plurality of trackers 703 are arranged on the handle 701 along the circumferential direction. During the navigation process, the optical locator determines the real-time posture of the ultrasonic bone knife as a whole through the real-time posture of the tracker 703, and based on the ideal posture of the ultrasonic bone knife as a whole, continuously guides the ultrasonic bone knife to drive its blade 702 to move forward, continuously optimizes the posture, and finally makes the real-time posture of the ultrasonic bone knife as a whole overlap with its ideal posture, that is, achieves the navigation purpose. Compared with the control through the operator's experience, the above method has higher accuracy.

[0036] Before implementing ultrasonic bone knife navigation, technical preparations such as CT data acquisition and navigation scheme design are required. In addition to ultrasonic bone knives, peripheral support equipment such as reference plates and probes are also involved. In the existing technology, ultrasonic bone knives are mostly used for other treatments. Considering the accuracy problem, they are rarely used in the field of oral treatment. How to improve navigation accuracy and maximize the adaptability of ultrasonic bone knives in oral treatment is an urgent problem to be solved in the field of oral treatment.

[0037] In order to solve the above problems, the present invention provides an ultrasonic bone knife navigation method, system and storage medium, the method, system and storage medium are based on an ultrasonic bone knife navigation device, the ultrasonic bone knife navigation device includes components such as an ultrasonic bone knife, an oral reference plate, a spherical probe, an optical locator, a CT scanning device and an ultrasonic bone knife calibration plate 8. Specifically, the ultrasonic bone knife is provided with a handle 701, a knife head 702 and a plurality of trackers 703; the oral reference plate is provided with a plurality of ceramic balls, a plurality of hemispherical pits and a plurality of reference plate positioning identification points; the spherical probe is provided with a ball head and a plurality of probe positioning identification points; the optical locator faces the ultrasonic bone knife, the oral reference plate and the spherical probe, and the optical locator collects real-time images of a plurality of trackers 703, a plurality of reference plate positioning identification points and a plurality of probe positioning identification points; the CT scanning device is used to collect CBCT basic data.

[0038] like Figure 2As shown, in addition, the ultrasonic bone knife calibration plate 8 includes a calibration plate body 801, a positioning mark component 802 and a cutting surface calibration groove 803; the calibration plate body 801 is a square plate-shaped structure, and the positioning mark component 802 is formed on the upper surface of the calibration plate body 801; the positioning mark component 802 includes a positioning mark sheet and a positioning mark pattern arranged on the positioning mark sheet, and the positioning mark component 802 is provided with at least 4; the cutting surface calibration groove 803 is formed on the The upper surface of the calibration plate body 801, the cutting surface calibration groove 803 is a square recessed groove, the cutting surface calibration groove 803 consists of a cutting surface calibration bottom surface and four cutting surface calibration side surfaces, the cutting surface calibration bottom surface is parallel to the upper surface of the calibration plate body 801, the cutting surface calibration side surfaces are perpendicular to the upper surface of the calibration plate body 801, and the adjacent cutting surface calibration side surfaces form a first calibration right angle, a second calibration right angle, a third calibration right angle and a fourth calibration right angle respectively.

[0039] like Figure 1 As shown, in order to solve the above problems, the present invention provides an ultrasonic bone knife navigation method, which specifically includes the following steps:

[0040] S1. After the oral reference plate is fixedly installed in the patient's oral cavity, CBCT basic data is collected by scanning the patient's oral cavity and the oral reference plate. The CBCT basic data includes oral CBCT data and ceramic ball CBCT data. In step S1, after the oral reference plate is fixedly installed in the patient's oral cavity, a CT scan of the patient's oral cavity and the oral reference plate is performed as a whole. Since a ceramic ball is provided on the oral reference plate, ceramic ball CBCT data will be obtained when the oral reference plate is CT scanned, and oral CBCT data consisting of alveolar bones and teeth will be obtained when the patient's oral cavity is CT scanned. The above oral CBCT data and ceramic ball CBCT data are the data basis for subsequent MPR three-dimensional reconstruction and real-time positioning navigation.

[0041] S2. Perform MPR three-dimensional reconstruction based on CBCT basic data, generate the axial plane, sagittal plane and coronal plane of oral CBCT data, and establish a cross operation interface based on the axial plane, sagittal plane and coronal plane, wherein the cross operation interface is composed of mutually orthogonal axial planes, sagittal planes and coronal planes. In step S2, the axial plane, sagittal plane and coronal plane are obtained by MPR three-dimensional reconstruction, wherein the axial plane, sagittal plane and coronal plane are the three main planes used to describe the anatomical position of the human body in the field of medical imaging: the axial plane refers to a plane parallel to the ground that divides the human body into two parts, upper and lower, similar to a slice image cut in the direction from the top of the head to the sole of the foot. The sagittal plane refers to a plane that divides the body into two parts that are symmetrical along the front-to-back direction of the human body, corresponding to the longitudinal section along the front-to-back direction of the human body. The coronal plane, also known as the frontal plane, refers to a plane that divides the body into the front and back parts along the left-right direction of the human body. The establishment of a cross operation interface based on the axial plane, sagittal plane and coronal plane can provide an interactive window to perform operations such as rotation, translation and scaling on the three-dimensional reconstruction results, so as to observe and analyze the anatomical structure from different angles.

[0042] S3. Create a three-dimensional model of the blade according to the osteotomy requirements, import the three-dimensional model of the blade into the cross operation interface, and perform surgical planning by adjusting the relative position relationship between the three-dimensional model of the blade and the axial plane, sagittal plane and coronal plane to obtain the ideal coordinate parameters of the blade head in the CT three-dimensional coordinate system. In step S3, the so-called osteotomy requirements refer to what kind of cross section needs to be cut out on the patient's alveolar bone by the ultrasonic bone knife, that is, it can be directly understood as the position of the alveolar bone, the corresponding cutting depth and cutting direction; the so-called blade, that is, the cutting surface cut by the blade on the alveolar bone, can be created according to the osteotomy requirements and the bone knife parameters, such as the thickness of the bone knife working tip, that is, the three-dimensional model corresponding to the cutting surface cut by the blade head on the alveolar bone, and the blade three-dimensional model can be displayed on the cross operation interface after the blade three-dimensional model is imported. By using the three-dimensional model of the blade to plan cutting in the cross operation interface, the ideal state of the three-dimensional model of the blade is found according to the actual conditions reflected by the axial plane, sagittal plane and coronal plane. This is the ideal state of the cutting surface of the blade head. Since the position of the blade head on the ultrasonic bone knife is known, the ideal coordinate parameters of the blade head in the CT three-dimensional coordinate system can be analyzed based on the ideal state of the three-dimensional model of the blade, so as to navigate the ultrasonic bone knife accordingly.

[0043] S4. Based on the coordinate conversion relationship analysis of the oral reference plate, the optical locator, and the CT scanning device, the coordinate conversion relationship between the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system, and the CT three-dimensional coordinate system is obtained. In the oral reference plate, the optical locator, and the CT scanning device, each has its own three-dimensional coordinate system, and the different coordinate systems are not interoperable. Before the ultrasonic bone knife needs to be navigated, it is necessary to achieve interoperability between different coordinate systems. In step S4, after the coordinate conversion relationship between the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system, and the CT three-dimensional coordinate system is obtained, the different coordinate systems can be interoperable, that is, based on the coordinate value on a certain three-dimensional coordinate system, the coordinate value on the other two three-dimensional coordinate systems can be obtained.

[0044] S5. Obtain the relative position relationship between the blade head and the tracker, calibrate the ultrasonic bone knife according to the real-time image of the tracker and the relative position relationship between the blade head and the tracker, and obtain the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator. In step S5, the relative position relationship between the blade head and the tracker on the ultrasonic bone knife is known, and the ultrasonic bone knife is calibrated based on this. After calibration, the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator can be obtained, that is, the optical locator collects the real-time image of the tracker on the ultrasonic bone knife, and the real-time posture of the blade head at that moment can be obtained based on this.

[0045] S6. Collect real-time images of the tracking device and the reference plate positioning mark points, obtain the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system based on the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system, and combine the real-time coordinate parameters of the cutter head in the optical locator three-dimensional coordinate system to perform real-time navigation of the ultrasonic bone knife according to the ideal coordinate parameters of the cutter head in the CT three-dimensional coordinate system and the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system. In step S6, since the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system is known, when the real-time coordinate parameters of the cutter head in the optical locator three-dimensional coordinate system are obtained, the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system can be obtained. The ideal coordinate parameters of the cutter head in the CT three-dimensional coordinate system as a reference have been determined during the surgical planning. Therefore, according to the ideal coordinate parameters and the real-time coordinate parameters, the ultrasonic bone knife can be navigated in real time.

[0046] Based on the above technical solution, visual operating conditions are provided through the cross operation interface, and surgical planning is carried out according to the actual oral conditions of the patient to obtain ideal coordinate parameters. Before implementing navigation, multi-coordinate system 1 and bone knife calibration and other operations are performed to maximize the adaptability of ultrasonic bone knife in oral treatment and ensure navigation accuracy and treatment effect.

[0047] Preferably, in step S2, performing MPR three-dimensional reconstruction based on CBCT basic data to generate the axial plane, sagittal plane and coronal plane of oral CBCT data and establishing a cross operation interface according to the axial plane, sagittal plane and coronal plane specifically includes the following steps:

[0048] S201. Slice the image according to the CBCT basic data to extract the axial two-dimensional image, sagittal two-dimensional image and coronal two-dimensional image. The CBCT basic data is the data collected by the CT device itself, which is different from the data used in the field of medical imaging. Therefore, in step S201, the CBCT basic data needs to be sliced ​​according to the requirements of medical imaging to obtain the axial two-dimensional image, sagittal two-dimensional image and coronal two-dimensional image that can be used in the field of medical imaging.

[0049] S202. Record the direction vector and physical coordinates of each axial two-dimensional image, record the direction vector and physical coordinates of each sagittal two-dimensional image, and record the direction vector and physical coordinates of each coronal two-dimensional image. In step S202, the direction vector and physical coordinates of the corresponding two-dimensional images are recorded to prepare data for three-dimensional reconstruction.

[0050] S203. Based on the direction vector and physical coordinates of each axial two-dimensional image, the direction vector and physical coordinates of each sagittal two-dimensional image, and the direction vector and physical coordinates of each coronal two-dimensional image, perform MPR three-dimensional reconstruction according to preset image processing plane parameters to obtain an MPR three-dimensional model. In step S203, the preset image processing plane parameters include the direction parameters of the axial plane, the sagittal plane, and the coronal plane. Although they are both three-dimensional models, they are different from the CBCT basic data. The MPR three-dimensional model is obtained by processing the CBCT basic data according to the direction parameters of the axial plane, the sagittal plane, and the coronal plane, which can be applied to the field of medical imaging.

[0051] S204. Cutting the MPR three-dimensional model to obtain axial plane, sagittal plane and coronal plane. In step S204, based on the known MPR three-dimensional reconstruction, a series of axial planes, sagittal planes and coronal planes can be obtained by adjusting the cutting angle.

[0052] S205. A cross operation interface is established according to the axial plane, the sagittal plane and the coronal plane. In the cross operation interface, the operator can conduct multi-angle real-time observation, which can greatly improve the pertinence of surgical planning and the accuracy of surgical implementation.

[0053] Based on the above technical solution, after the CBCT basic data is obtained through scanning, the CBCT basic data is not directly used as the basis for operation visualization data. Instead, an MPR three-dimensional model is obtained by performing MPR three-dimensional reconstruction, and a cross operation interface is established through the axial plane, sagittal plane and coronal plane to provide a visualization data basis.

[0054] Preferably, the step S4 specifically includes the following steps:

[0055] S401. Obtain CBCT basic data, and identify ceramic ball CBCT data from the CBCT basic data according to preset ceramic ball size parameters. In the oral reference plate, since the density of ceramic balls is relatively high, the ceramic ball CBCT data can be directly obtained through CT scanning.

[0056] S402. Obtain a three-dimensional data model of an oral reference plate, wherein the three-dimensional data model of the oral reference plate includes three-dimensional data models of a plurality of ceramic balls, a plurality of hemispherical pits, and a plurality of reference plate positioning identification points. In the oral reference plate, the relative positional relationship between the plurality of ceramic balls, the plurality of hemispherical pits, and the plurality of reference plate positioning identification points is known, and accordingly, a corresponding three-dimensional data model can be established.

[0057] S403. Perform registration based on the CBCT data of the ceramic ball and the three-dimensional data model of multiple ceramic balls in the oral reference plate to obtain the coordinate conversion relationship between the three-dimensional coordinate system of the reference plate and the three-dimensional coordinate system of CT. The specific position of the ceramic ball in the oral reference plate remains unchanged. Step S403 uses this as a bridge for registration, and the coordinate conversion relationship between the three-dimensional coordinate system of the reference plate and the three-dimensional coordinate system of CT can be analyzed.

[0058] S404. When the ball head of the spherical probe abuts against the hemispherical pit on the oral reference plate, the optical locator is controlled to collect real-time images of the probe positioning mark points, and based on the relative position relationship between the multiple ceramic balls, multiple hemispherical pits and multiple reference plate positioning mark points in the oral reference plate, the coordinate conversion relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate is obtained. The ball head and the hemispherical pit are one-to-one corresponding. When the ball head of the spherical probe is controlled to abut against the hemispherical pit on the oral reference plate, on the one hand, the optical locator can collect real-time images of the probe positioning mark points, and on the other hand, according to the established three-dimensional data model of the oral reference plate and the abutment relationship between the ball head and the hemispherical pit, the coordinate conversion relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate can be analyzed.

[0059] S405. Based on the coordinate conversion relationship between each of the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system, and the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the reference plate three-dimensional coordinate system, the coordinate conversion relationship between each of the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system is analyzed and obtained.

[0060] In the above technical scheme, the coordinate conversion relationship between the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system is first obtained, and then the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the reference plate three-dimensional coordinate system is obtained, and then the coordinate conversion relationship is further established between the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system. The multi-coordinate system can provide a data processing basis for ultrasonic bone knife navigation.

[0061] Specifically, step S403 includes the following steps:

[0062] S4031. Obtain the coordinates of the three ceramic balls in the CT three-dimensional coordinate system based on the ceramic ball CBCT data , and , according to the three-dimensional data model of multiple ceramic balls in the oral reference plate, the coordinates of the three ceramic balls in the three-dimensional coordinate system of the reference plate are obtained. , and, in,

[0063] , , ;

[0064] , , .

[0065] S4032.Based on , and Calculate the center points of the three ceramic balls in the CT three-dimensional coordinate system ,based on , and Calculate the center points of the three ceramic balls in the three-dimensional coordinate system of the reference plate ,in, , .

[0066] S4033. Construct the decentralized point set of three ceramic balls in the CT three-dimensional coordinate system and the decentralized point set in the reference board 3D coordinate system ,in, , , The values ​​are 1, 2, and 3. include , and , include , and , include , and , include , and .

[0067] S4034. Calculate the rotation matrix of the reference plate 3D coordinate system and the CT 3D coordinate system according to the SVD algorithm ,in, .

[0068] S4035. Calculate the translation vector of the reference plate 3D coordinate system and the CT 3D coordinate system ,in, .

[0069] S4036. Rotation matrix based on the reference plate 3D coordinate system and the CT 3D coordinate system and translation vector , calculate the coordinate transformation relationship between the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system.

[0070] Specifically, step S404 includes the following steps:

[0071] S4041. When the ball head of the spherical probe sequentially abuts against the three hemispherical pits on the oral reference plate, the coordinates of the ball head in the three-dimensional coordinate system of the optical locator are obtained according to the real-time image of the probe positioning mark point. , and According to the relative position relationship between the multiple ceramic balls, the multiple hemispherical pits and the multiple reference plate positioning identification points, the coordinates of the three hemispherical pits in the three-dimensional coordinate system of the reference plate are obtained. , and ;in,

[0072] , , ;

[0073] , , .

[0074] S4042.Based on , and Calculate the center point of the ball head in the three-dimensional coordinate system of the optical locator ,based on , and Calculate the center points of the three hemispherical pits in the three-dimensional coordinate system of the reference plate , , .

[0075] S4043. Construct the decentered point set of the ball head in the three-dimensional coordinate system of the optical locator and the decentered point set of the three hemispherical pits in the three-dimensional coordinate system of the reference plate ,in, , , The values ​​are 4, 5, and 6. include , and , include , and , include , and , include , and .

[0076] S4044. Calculate the rotation matrix of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate according to the SVD algorithm ,in, ;

[0077] S4045. Calculate the translation vector of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate ,in, .

[0078] S4046. Rotation matrix based on the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate and translation vectors , calculate the coordinate transformation relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate.

[0079] Based on the above data processing process, the position characteristics of the same object and the position relationship between two objects are utilized to calculate the coordinate transformation relationship between different three-dimensional coordinate systems by constructing a decentralized point set, calculating the rotation matrix and translation vector, etc. It has the advantages of ingenious structure, simple application and efficient data processing process.

[0080] Preferably, the step S5 specifically includes the following steps:

[0081] S501. Obtain the structural parameters of the ultrasonic bone knife and the structural parameters of the ultrasonic bone knife calibration body; the structural parameters of the ultrasonic bone knife include the relative position relationship between the handle, the tracker and the blade head; the structural parameters of the ultrasonic bone knife calibration plate include the relative position relationship between the calibration plate body, the positioning mark assembly and the cutting surface calibration groove, and the structural parameters of the ultrasonic bone knife calibration device also include the relative position relationship between each positioning mark pattern on the positioning mark assembly.

[0082] S502. When the blade head of the ultrasonic bone knife abuts against the first calibrated right angle, the second calibrated right angle, the third calibrated right angle and the fourth calibrated right angle in the calibrated groove of the cutting surface in sequence, the real-time image of the tracker on the ultrasonic bone knife is collected, and the real-time image of the positioning mark pattern in the positioning mark component on the calibration plate of the ultrasonic bone knife is collected at the same time. In step S502, on the one hand, the operating blade head abuts against the first calibrated right angle, the second calibrated right angle, the third calibrated right angle and the fourth calibrated right angle in the calibrated groove of the cutting surface in sequence, and on the other hand, when the cutting surface of the head abuts against a certain calibrated right angle, it remains still, collects the real-time image of the tracker on the ultrasonic bone knife, and collects the real-time image of the positioning mark pattern in the positioning mark component on the calibration plate of the ultrasonic bone knife at the same time. Therefore, in this step, it is necessary to stop 4 times and collect data 4 times.

[0083] S503. Based on the structural parameters of the ultrasonic bone knife calibration device and the real-time image of the positioning identification pattern on the ultrasonic bone knife calibration device, the real-time coordinate parameters of the cutting surface calibration groove on the ultrasonic bone knife calibration device in the three-dimensional coordinate system of the optical locator are obtained.

[0084] S504. Based on the real-time images of the tracker on the ultrasonic bone knife when the blade head sequentially abuts against the first calibration right angle, the second calibration right angle, the third calibration right angle and the fourth calibration right angle in the cutting surface calibration groove, the real-time coordinate parameters of the cutting surface calibration groove on the ultrasonic bone knife calibration device in the three-dimensional coordinate system of the optical locator are analyzed and obtained.

[0085] S505. Perform data matching on the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator and the real-time image of the tracker on the ultrasonic bone knife, establish a coordinate conversion relationship between the three-dimensional coordinate system of the tracker and the cutting surface of the blade head, complete the calibration operation of the ultrasonic bone knife, and obtain the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator.

[0086] Based on the above technical solution, the ultrasonic bone knife is calibrated with the help of an ultrasonic bone knife calibration plate. Based on the structural parameters of the ultrasonic bone knife and the structural parameters of the ultrasonic bone knife calibration body, a coordinate conversion relationship is established between the three-dimensional coordinate system of the tracker and the cutting surface of the blade. In this way, the real-time coordinate parameters of the blade in the three-dimensional coordinate system of the optical locator are obtained. During the operation, the optical locator only needs to collect the real-time image of the tracker to perform real-time positioning of the cutting surface of the blade.

[0087] Preferably, the step S6 specifically includes the following steps:

[0088] S601. Perform real-time coordinate analysis based on the real-time coordinate parameters of the tool head in the CT three-dimensional coordinate system to obtain real-time X-axis coordinate values, real-time Y-axis coordinate values, and real-time Z-axis coordinate values, wherein the real-time coordinate parameters of the tool head in the CT three-dimensional coordinate system are The real-time X-axis coordinate value, real-time Y-axis coordinate value, and real-time Z-axis coordinate value are , and .

[0089] S602. Extract the ideal coordinates of the ideal coordinate parameters of the tool head in the CT three-dimensional coordinate system to obtain the ideal X-axis coordinate value, the ideal Y-axis coordinate value and the ideal Z-axis coordinate value, wherein the ideal coordinate parameters of the tool head in the CT three-dimensional coordinate system are , the ideal X-axis coordinate value, the ideal Y-axis coordinate value and the ideal Z-axis coordinate value are , and .

[0090] S603. Perform real-time coordinate deviation analysis based on the real-time X-axis coordinate value, the real-time Y-axis coordinate value, the real-time Z-axis coordinate value and the ideal X-axis coordinate value, the ideal Y-axis coordinate value, and the ideal Z-axis coordinate value, and compare the real-time X-axis coordinate value with the ideal X-axis coordinate value to obtain the X-axis deviation value, compare the real-time Y-axis coordinate value with the ideal Y-axis coordinate value to obtain the Y-axis deviation value, and compare the real-time Z-axis coordinate value with the ideal Z-axis coordinate value to obtain the Z-axis deviation value; wherein the X-axis deviation value, the Y-axis deviation value, and the Z-axis deviation value are respectively , and .

[0091] S604. Perform path planning based on the X-axis deviation value, the Y-axis deviation value, and the Z-axis deviation value, and calculate the direction adjustment vector parameter; wherein the direction adjustment vector parameter .

[0092] S605. Generate navigation instructions according to the direction adjustment vector parameters, and execute the navigation instructions to perform real-time navigation of the ultrasonic osteotome.

[0093] Path planning is performed based on the X-axis deviation value, Y-axis deviation value, and Z-axis deviation value. The corresponding navigation instructions are generated by adjusting the direction vector parameters, and accurate navigation can be performed according to the actual deviation.

[0094] like Figure 3 As shown, in order to solve the above problems, the present invention provides an ultrasonic bone knife navigation system, which is based on an ultrasonic bone knife navigation device. The ultrasonic bone knife navigation device includes a CT scanning module 1, a three-dimensional reconstruction module 2, a blade model establishment module 3, a coordinate transformation analysis module 4, a bone knife calibration module 5 and a real-time navigation module 6.

[0095] Specifically, the CT scanning module 1 is used to collect CBCT basic data by scanning the patient's mouth and the oral reference plate after the oral reference plate is fixedly installed in the patient's mouth, wherein the CBCT basic data includes oral CBCT data and ceramic ball CBCT data; the 3D reconstruction module 2 performs MPR 3D reconstruction based on the CBCT basic data, generates the axial plane, sagittal plane and coronal plane of the oral CBCT data, and establishes a cross operation interface based on the axial plane, sagittal plane and coronal plane, wherein the cross operation interface consists of axial planes, sagittal planes and coronal planes that are orthogonal to each other; the blade model establishment module 3 is used to create a blade 3D model according to the osteotomy requirements, import the blade 3D model into the cross operation interface, perform surgery planning by adjusting the relative position relationship between the blade 3D model and the axial plane, sagittal plane and coronal plane, and obtain the ideal coordinate parameters of the blade head in the CT 3D coordinate system; the coordinate transformation analysis module 4 performs MPR 3D reconstruction based on the oral reference plate, optical microscope, and microscope. The locator and the CT scanning device perform coordinate conversion relationship analysis to obtain the coordinate conversion relationship between the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system; the bone knife calibration module 5 is used to obtain the relative position relationship between the blade head 702 and the tracker 703, calibrate the ultrasonic bone knife according to the real-time image of the tracker 703 and the relative position relationship between the blade head 702 and the tracker 703, and obtain the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator; the real-time navigation module 6 is used to collect the real-time image of the tracker 703 and the reference plate positioning mark point, based on the coordinate conversion relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the CT, combined with the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator, obtain the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the CT, and perform real-time navigation of the ultrasonic bone knife according to the ideal coordinate parameters of the blade head in the three-dimensional coordinate system of the CT and the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the CT.

[0096] Preferably, the three-dimensional reconstruction module 2 includes an image slicing unit, a parameter recording unit, a three-dimensional reconstruction unit, a plane cutting unit and an operation interface establishment unit. The image slicing unit is used to perform image slicing according to the CBCT basic data, and extract axial two-dimensional images, sagittal two-dimensional images and coronal two-dimensional images; the parameter recording unit is used to record the direction vector and physical coordinates of each axial two-dimensional image, the direction vector and physical coordinates of each sagittal two-dimensional image, and the direction vector and physical coordinates of each coronal two-dimensional image; the three-dimensional reconstruction unit performs MPR three-dimensional reconstruction according to preset image processing plane parameters based on the direction vector and physical coordinates of each axial two-dimensional image, the direction vector and physical coordinates of each sagittal two-dimensional image, and the direction vector and physical coordinates of each coronal two-dimensional image, to obtain an MPR three-dimensional model; the plane cutting unit is used to cut the MPR three-dimensional model to obtain an axial plane, a sagittal plane and a coronal plane; the operation interface establishment unit is used to establish a cross operation interface according to the axial plane, the sagittal plane and the coronal plane.

[0097] Preferably, the coordinate transformation analysis module includes:

[0098] A CT data acquisition unit, used for acquiring CBCT basic data, and identifying ceramic ball CBCT data from the CBCT basic data according to preset ceramic ball size parameters;

[0099] A model data acquisition unit, used to acquire a three-dimensional data model of an oral reference plate, wherein the three-dimensional data model of the oral reference plate includes a three-dimensional data model of a plurality of ceramic balls, a three-dimensional data model of a plurality of hemispherical pits, and a three-dimensional data model of a plurality of reference plate positioning identification points;

[0100] The first coordinate conversion unit performs registration based on the ceramic ball CBCT data and the three-dimensional data model of multiple ceramic balls in the oral reference plate to obtain the coordinate conversion relationship between the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system, specifically including:

[0101] The first coordinate acquisition component is used to obtain the coordinates of the three ceramic balls in the CT three-dimensional coordinate system according to the ceramic ball CBCT data. , and , according to the three-dimensional data model of multiple ceramic balls in the oral reference plate, the coordinates of the three ceramic balls in the three-dimensional coordinate system of the reference plate are obtained. , and ,in, , , ;

[0102] , , ;

[0103] The first center point calculation component is based on , and Calculate the center points of the three ceramic balls in the CT three-dimensional coordinate system ,based on , and Calculate the center points of the three ceramic balls in the three-dimensional coordinate system of the reference plate ,

[0104] in, , ;

[0105] The first decentralized point set construction component is used to construct decentralized point sets of three ceramic balls in the CT three-dimensional coordinate system. and the decentralized point set in the reference board 3D coordinate system ,in, , , The values ​​are 1, 2, and 3. include , and , include , and , include , and , include , and ;

[0106] The first rotation matrix calculation component is used to calculate the rotation matrix of the reference plate 3D coordinate system and the CT 3D coordinate system according to the SVD algorithm ,in, ;

[0107] The first translation vector calculation component is used to calculate the translation vector of the reference plate 3D coordinate system and the CT 3D coordinate system ,in, ;

[0108] The first coordinate transformation relationship determination component is based on the rotation matrix of the reference plate 3D coordinate system and the CT 3D coordinate system and translation vector , calculate the coordinate transformation relationship between the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system;

[0109] The second coordinate conversion unit is used to control the optical locator to collect real-time images of the probe positioning mark points when the ball head of the spherical probe abuts against the hemispherical pit on the oral reference plate, and obtain the coordinate conversion relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate based on the relative position relationship between the multiple ceramic balls, the multiple hemispherical pits and the multiple reference plate positioning mark points in the oral reference plate. The second coordinate conversion unit specifically includes:

[0110] The second coordinate acquisition component is used to obtain the coordinates of the ball head in the three-dimensional coordinate system of the optical locator according to the real-time image of the probe positioning mark point when the ball head of the spherical probe sequentially abuts against the three hemispherical pits on the oral reference plate, and to obtain the coordinates of the three hemispherical pits in the three-dimensional coordinate system of the reference plate according to the relative position relationship between the multiple ceramic balls, the multiple hemispherical pits and the multiple reference plate positioning mark points. , and According to the relative position relationship between the multiple ceramic balls, the multiple hemispherical pits and the multiple reference plate positioning identification points, the coordinates of the three hemispherical pits in the three-dimensional coordinate system of the reference plate are obtained. , and ;in,

[0111] , , ;

[0112] , , ;

[0113] The second center point calculation component is based on , and Calculate the center point of the ball head in the three-dimensional coordinate system of the optical locator ,based on , and Calculate the center points of the three hemispherical pits in the three-dimensional coordinate system of the reference plate , , ;

[0114] The second decentralized point set construction component is used to construct the decentralized point set of the ball head in the three-dimensional coordinate system of the optical locator. and the decentered point set of the three hemispherical pits in the three-dimensional coordinate system of the reference plate ,in, , , The values ​​are 4, 5, and 6. include , and , include , and , include , and , include , and ;

[0115] The second rotation matrix calculation component is used to calculate the rotation matrix of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate according to the SVD algorithm ,in, ;

[0116] The second translation vector calculation component is used to calculate the translation vector of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate ,in, ;

[0117] The second coordinate transformation relationship determination component is based on the rotation matrix of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate and translation vector , calculate the coordinate transformation relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate;

[0118] The coordinate transformation relationship analysis unit analyzes the coordinate transformation relationship between each of the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system, and the coordinate transformation relationship between the optical locator three-dimensional coordinate system and the reference plate three-dimensional coordinate system to obtain the coordinate transformation relationship between each of the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system.

[0119] Preferably, the bone knife calibration module specifically includes a structural parameter acquisition unit, a real-time image acquisition unit, a coordinate parameter acquisition unit, a coordinate parameter analysis unit and a matching calibration unit. Specifically, the structural parameter acquisition unit is used to acquire the structural parameters of the ultrasonic bone knife and the structural parameters of the ultrasonic bone knife calibration body; the structural parameters of the ultrasonic bone knife include the relative position relationship between the handle, the tracker and the blade head; the structural parameters of the ultrasonic bone knife calibration plate include the relative position relationship between the calibration plate body, the positioning mark assembly and the cutting surface calibration groove, and the structural parameters of the ultrasonic bone knife calibration device also include the relative position relationship between each positioning mark pattern on the positioning mark assembly; the real-time image acquisition unit is used to acquire the real-time image of the tracker on the ultrasonic bone knife when the blade head of the ultrasonic bone knife is successively abutted against the first calibration right angle, the second calibration right angle, the third calibration right angle and the fourth calibration right angle in the cutting surface calibration groove, and at the same time acquire the real-time image of the positioning mark pattern in the positioning mark assembly on the ultrasonic bone knife calibration plate; the coordinate parameter acquisition unit, based on the structural parameters of the ultrasonic bone knife calibration device and the positioning mark assembly on the ultrasonic bone knife calibration device A real-time image of the identification pattern is obtained to obtain the real-time coordinate parameters of the cutting surface calibration groove on the ultrasonic bone knife calibration device in the three-dimensional coordinate system of the optical locator; a coordinate parameter analysis unit, based on the real-time image of the tracker on the ultrasonic bone knife when the knife head is successively abutted against the first calibration right angle, the second calibration right angle, the third calibration right angle and the fourth calibration right angle in the cutting surface calibration groove, analyzes and obtains the real-time coordinate parameters of the knife head in the ultrasonic bone knife in the three-dimensional coordinate system of the optical locator through the real-time coordinate parameters of the cutting surface calibration groove on the ultrasonic bone knife calibration device in the three-dimensional coordinate system of the optical locator; a matching calibration unit is used to match the real-time coordinate parameters of the knife head in the ultrasonic bone knife in the three-dimensional coordinate system of the optical locator with the real-time image of the tracker on the ultrasonic bone knife, establish a coordinate conversion relationship between the three-dimensional coordinate system of the tracker and the cutting surface of the knife head, complete the calibration operation of the ultrasonic bone knife, and obtain the real-time coordinate parameters of the knife head in the three-dimensional coordinate system of the optical locator.

[0120] Preferably, the real-time navigation module 6 specifically includes:

[0121] The real-time coordinate analysis unit performs real-time coordinate analysis based on the real-time coordinate parameters of the tool head in the CT three-dimensional coordinate system to obtain real-time X-axis coordinate values, real-time Y-axis coordinate values, and real-time Z-axis coordinate values, wherein the real-time coordinate parameters of the tool head in the CT three-dimensional coordinate system are The real-time X-axis coordinate value, real-time Y-axis coordinate value, and real-time Z-axis coordinate value are , and ;

[0122] The ideal coordinate extraction unit is used to extract the ideal coordinate parameters of the tool head in the CT three-dimensional coordinate system to obtain the ideal X-axis coordinate value, the ideal Y-axis coordinate value and the ideal Z-axis coordinate value, wherein the ideal coordinate parameters of the tool head in the CT three-dimensional coordinate system are , the ideal X-axis coordinate value, the ideal Y-axis coordinate value and the ideal Z-axis coordinate value are , and ;

[0123] The deviation value calculation unit performs real-time coordinate deviation analysis based on the real-time X-axis coordinate value, the real-time Y-axis coordinate value, the real-time Z-axis coordinate value and the ideal X-axis coordinate value, the ideal Y-axis coordinate value, and the ideal Z-axis coordinate value, and compares the real-time X-axis coordinate value with the ideal X-axis coordinate value to obtain the X-axis deviation value, compares the real-time Y-axis coordinate value with the ideal Y-axis coordinate value to obtain the Y-axis deviation value, and compares the real-time Z-axis coordinate value with the ideal Z-axis coordinate value to obtain the Z-axis deviation value; wherein the X-axis deviation value, the Y-axis deviation value, and the Z-axis deviation value are respectively , and ;

[0124] A path planning unit is used to plan a path according to the X-axis deviation value, the Y-axis deviation value and the Z-axis deviation value, and calculate a direction adjustment vector parameter; wherein the direction adjustment vector parameter ;

[0125] The instruction generation unit is used to generate navigation instructions according to the direction adjustment vector parameters, and execute the navigation instructions to perform real-time navigation of the ultrasonic bone knife.

[0126] In order to solve the above problems, the present invention provides a storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the ultrasonic bone knife navigation method as described above.

[0127] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. An ultrasonic osteotome navigation method, characterized in that: The ultrasonic bone scalpel navigation method is based on an ultrasonic bone scalpel navigation device, and the ultrasonic bone scalpel navigation device comprises: An ultrasonic bone knife, wherein the ultrasonic bone knife is provided with a handle, a knife head and a plurality of trackers; An oral reference plate, wherein the oral reference plate is provided with a plurality of ceramic balls, a plurality of hemispherical pits and a plurality of reference plate positioning marking points; A spherical probe, wherein the spherical probe is provided with a ball head and a plurality of probe positioning marking points; An optical locator, the optical locator is oriented toward the ultrasonic osteotome, the oral reference plate, and the spherical probe, and the optical locator collects real-time images of multiple trackers, multiple reference plate positioning identification points, and multiple probe positioning identification points; CT scanning equipment, the CT scanning equipment is used to collect CBCT basic data; The ultrasonic osteotome navigation method comprises the following steps: S1. After the oral reference plate is fixedly installed in the patient's oral cavity, CBCT basic data is collected by scanning the patient's oral cavity and the oral reference plate, wherein the CBCT basic data includes oral CBCT data and ceramic ball CBCT data; S2. Perform MPR three-dimensional reconstruction based on CBCT basic data to generate axial plane, sagittal plane and coronal plane of oral CBCT data, and establish a cross operation interface based on the axial plane, sagittal plane and coronal plane, wherein the cross operation interface is composed of axial plane, sagittal plane and coronal plane that are orthogonal to each other; S3. Create a three-dimensional model of the blade according to the osteotomy requirements, import the three-dimensional model of the blade into the cross operation interface, perform surgery planning by adjusting the relative position relationship between the three-dimensional model of the blade and the axial plane, sagittal plane and coronal plane, and obtain the ideal coordinate parameters of the blade head in the CT three-dimensional coordinate system; S4. Based on the oral reference plate, the optical locator, and the CT scanning device, coordinate transformation relationship analysis is performed to obtain the coordinate transformation relationship between any two of the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system, and the CT three-dimensional coordinate system; S5. Obtain the relative position relationship between the cutter head and the tracker, calibrate the ultrasonic bone knife according to the real-time image of the tracker and the relative position relationship between the cutter head and the tracker, and obtain the real-time coordinate parameters of the cutter head in the three-dimensional coordinate system of the optical locator; S6. Collect real-time images of the tracking device and the reference plate positioning mark points, obtain the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system based on the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system, and combine the real-time coordinate parameters of the cutter head in the optical locator three-dimensional coordinate system to perform real-time navigation of the ultrasonic bone knife according to the ideal coordinate parameters of the cutter head in the CT three-dimensional coordinate system and the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system; The step S5 is also based on an ultrasonic bone knife calibration plate, wherein the ultrasonic bone knife calibration plate includes a calibration plate body, a positioning mark component and a cutting surface calibration groove; The calibration plate body is a square plate-shaped structure, and the positioning mark assembly is formed on the upper surface of the calibration plate body; the positioning mark assembly includes a positioning mark sheet and a positioning mark pattern arranged on the positioning mark sheet, and the positioning mark assembly is provided with at least 4; The cutting surface calibration groove is formed on the upper surface of the calibration plate body, and the cutting surface calibration groove is a square concave groove, and a first calibration right angle, a second calibration right angle, a third calibration right angle and a fourth calibration right angle are formed in the cutting surface calibration groove; The step S5 specifically comprises the following steps: S501. Acquire the structural parameters of the ultrasonic bone knife and the structural parameters of the ultrasonic bone knife calibration body; the structural parameters of the ultrasonic bone knife include the relative position relationship between the handle, the tracker and the blade; the structural parameters of the ultrasonic bone knife calibration plate include the relative position relationship between the calibration plate body, the positioning mark component and the cutting surface calibration groove, and the structural parameters of the ultrasonic bone knife calibration plate also include the relative position relationship between the positioning mark patterns on the positioning mark component; S502. When the blade of the ultrasonic bone knife abuts against the first calibrated right angle, the second calibrated right angle, the third calibrated right angle and the fourth calibrated right angle in the calibrated groove of the cutting surface in sequence, a real-time image of the tracker on the ultrasonic bone knife is collected, and at the same time, a real-time image of the positioning mark pattern in the positioning mark component on the ultrasonic bone knife calibration plate is collected; S503. Based on the structural parameters of the ultrasonic bone knife calibration plate and the real-time image of the positioning identification pattern on the ultrasonic bone knife calibration plate, obtain the real-time coordinate parameters of the calibration groove of the cutting surface on the ultrasonic bone knife calibration plate in the three-dimensional coordinate system of the optical locator; S504. Based on the real-time images of the tracker on the ultrasonic bone knife when the blade tip abuts against the first calibration right angle, the second calibration right angle, the third calibration right angle and the fourth calibration right angle in the cutting surface calibration groove in sequence, the real-time coordinate parameters of the cutting surface calibration groove on the ultrasonic bone knife calibration plate in the optical locator three-dimensional coordinate system are analyzed and obtained; S505. Perform data matching on the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator and the real-time image of the tracker on the ultrasonic bone knife, establish a coordinate conversion relationship between the three-dimensional coordinate system of the tracker and the cutting surface of the blade head, complete the calibration operation of the ultrasonic bone knife, and obtain the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator.

2. The ultrasonic osteotome navigation method according to claim 1, characterized in that: In step S2, performing MPR three-dimensional reconstruction based on CBCT basic data to generate the axial plane, sagittal plane and coronal plane of oral CBCT data and establishing a cross operation interface according to the axial plane, sagittal plane and coronal plane specifically includes the following steps: S201. Perform image slicing according to the CBCT basic data, and extract axial two-dimensional images, sagittal two-dimensional images, and coronal two-dimensional images; S202. Record the direction vector and physical coordinates of each axial two-dimensional image, record the direction vector and physical coordinates of each sagittal two-dimensional image, and record the direction vector and physical coordinates of each coronal two-dimensional image; S203. Based on the direction vector and physical coordinates of each axial two-dimensional image, the direction vector and physical coordinates of each sagittal two-dimensional image, and the direction vector and physical coordinates of each coronal two-dimensional image, perform MPR three-dimensional reconstruction according to preset image processing plane parameters to obtain an MPR three-dimensional model; S204. cutting the MPR three-dimensional model to obtain an axial plane, a sagittal plane, and a coronal plane; S205. Establish a cross operation interface according to the axial plane, sagittal plane and coronal plane.

3. The ultrasonic osteotome navigation method according to claim 1, characterized in that: The step S4 specifically comprises the following steps: S401. Acquire CBCT basic data, and identify ceramic ball CBCT data from the CBCT basic data according to preset ceramic ball size parameters; S402. Acquire a three-dimensional data model of an oral reference plate, wherein the three-dimensional data model of the oral reference plate includes a three-dimensional data model of a plurality of ceramic balls, a three-dimensional data model of a plurality of hemispherical pits, and a three-dimensional data model of a plurality of reference plate positioning identification points; S403. Based on the CBCT data of the ceramic ball and the three-dimensional data model of multiple ceramic balls in the oral reference plate, the coordinate transformation relationship between the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system is obtained. Step S403 specifically includes: S4031. Obtain the coordinates P1 of the three ceramic balls in the CT three-dimensional coordinate system according to the ceramic ball CBCT data CT , and P3 CT , according to the three-dimensional data model of multiple ceramic balls in the oral reference plate, obtain the coordinates P1 of the three ceramic balls in the three-dimensional coordinate system of the reference plate Ref , and in, S4032.Based on P1 CT , and P3 CT Calculate the center point C of the three ceramic balls in the CT three-dimensional coordinate system CT , based on P1 Ref , and Calculate the center points of the three ceramic balls in the three-dimensional coordinate system of the reference plate in, S4033. Construct the decentralized point set of three ceramic balls in the CT three-dimensional coordinate system and the decentralized point set in the reference board 3D coordinate system in, i takes the values ​​1, 2, 3, P i CT Including P1 CT , and P3 CT , P i Ref Including P1 Ref , and include and include and S4034. Calculate the rotation matrix R of the reference plate 3D coordinate system and the CT 3D coordinate system according to the SVD algorithm CT-Ref ,in, S4035. Calculate the translation vector T of the reference plate 3D coordinate system and the CT 3D coordinate system CT-Ref , where T CT-Ref =C Cam -R CT-Ref C2 Ref , where C Cam is the center point of the spherical probe's ball head in the three-dimensional coordinate system of the optical locator, are the center points of the three hemispherical pits in the three-dimensional coordinate system of the reference plate; S4036. Rotation matrix R based on the reference plate 3D coordinate system and the CT 3D coordinate system CT-Ref and the translation vector T CT-Ref , calculate the coordinate transformation relationship between the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system; S404. When the ball head of the spherical probe abuts against the hemispherical pit on the oral reference plate, the optical locator is controlled to collect a real-time image of the probe positioning mark point, and based on the relative position relationship between the multiple ceramic balls, the multiple hemispherical pits and the multiple reference plate positioning mark points in the oral reference plate, the coordinate conversion relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate is obtained. Step S404 specifically includes: S4041. When the ball head of the spherical probe sequentially abuts against the three hemispherical pits on the oral reference plate, the coordinates of the ball head in the three-dimensional coordinate system of the optical locator are obtained according to the real-time image of the probe positioning mark point. and The coordinates of the three hemispherical pits in the three-dimensional coordinate system of the reference plate are obtained according to the relative position relationship between the multiple ceramic balls, the multiple hemispherical pits and the multiple reference plate positioning identification points. and in, S4042.Based on and Calculate the center point C of the ball head in the three-dimensional coordinate system of the optical locator Cam ,based on and Calculate the center points of the three hemispherical pits in the three-dimensional coordinate system of the reference plate S4043. Construct the decentered point set of the ball head in the three-dimensional coordinate system of the optical locator and the decentered point set of the three hemispherical pits in the three-dimensional coordinate system of the reference plate in, i takes values ​​of 4, 5, and 6. include and include and include and include and S4044. Calculate the rotation matrix R of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate according to the SVD algorithm Ref -Cam ,in, S4045. Calculate the translation vector R of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate Ref-Cam , where T Ref -Cam =C2 Ref -R Ref-Cam ·C Cam ; S4046. Rotation matrix R based on the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate Ref-Cam and the translation vector T Ref-Cam , calculate the coordinate transformation relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate; S405. Based on the coordinate conversion relationship between each of the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system, and the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the reference plate three-dimensional coordinate system, the coordinate conversion relationship between each of the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system is analyzed and obtained.

4. The ultrasonic osteotome navigation method according to claim 1, characterized in that: The step S6 specifically comprises the following steps: S601. Perform real-time coordinate analysis based on the real-time coordinate parameters of the tool head in the CT three-dimensional coordinate system to obtain real-time X-axis coordinate values, real-time Y-axis coordinate values, and real-time Z-axis coordinate values, wherein the real-time coordinate parameters of the tool head in the CT three-dimensional coordinate system are P r (x r ,y r ,z r ), the real-time X-axis coordinate value, real-time Y-axis coordinate value, and real-time Z-axis coordinate value are x r ,y r and z r ; S602. Extract the ideal coordinates of the ideal coordinate parameters of the tool head in the CT three-dimensional coordinate system to obtain the ideal X-axis coordinate value, the ideal Y-axis coordinate value and the ideal Z-axis coordinate value, wherein the ideal coordinate parameters of the tool head in the CT three-dimensional coordinate system are P i (x i ,y i ,z i ), the ideal X-axis coordinate value, the ideal Y-axis coordinate value and the ideal Z-axis coordinate value are x i ,y i and z i ; S603. Perform real-time coordinate deviation analysis based on the real-time X-axis coordinate value, the real-time Y-axis coordinate value, the real-time Z-axis coordinate value and the ideal X-axis coordinate value, the ideal Y-axis coordinate value, and the ideal Z-axis coordinate value, and compare the real-time X-axis coordinate value with the ideal X-axis coordinate value to obtain the X-axis deviation value, compare the real-time Y-axis coordinate value with the ideal Y-axis coordinate value to obtain the Y-axis deviation value, and compare the real-time Z-axis coordinate value with the ideal Z-axis coordinate value to obtain the Z-axis deviation value; wherein the X-axis deviation value, the Y-axis deviation value, and the Z-axis deviation value are Δx=x respectively. r -x i , Δy=y r -y i and Δz=z r -z i ; S604. Perform path planning based on the X-axis deviation value, the Y-axis deviation value, and the Z-axis deviation value, and calculate the direction adjustment vector parameter; wherein the direction adjustment vector parameter S605. Generate navigation instructions according to the direction adjustment vector parameters, and execute the navigation instructions to perform real-time navigation of the ultrasonic osteotome.

5. An ultrasonic osteotome navigation system, characterized in that: The ultrasonic bone scalpel navigation system is based on an ultrasonic bone scalpel navigation device, and the ultrasonic bone scalpel navigation device includes: An ultrasonic bone knife, wherein the ultrasonic bone knife is provided with a handle, a knife head and a plurality of trackers; An oral reference plate, wherein the oral reference plate is provided with a plurality of ceramic balls, a plurality of hemispherical pits and a plurality of reference plate positioning marking points; A spherical probe, wherein the spherical probe is provided with a ball head and a plurality of probe positioning marking points; An optical locator, the optical locator is oriented toward the ultrasonic osteotome, the oral reference plate, and the spherical probe, and the optical locator collects real-time images of multiple trackers, multiple reference plate positioning identification points, and multiple probe positioning identification points; CT scanning equipment, the CT scanning equipment is used to collect CBCT basic data; The ultrasonic bone scalpel navigation system comprises: A CT scanning module is used to collect CBCT basic data by scanning the patient's oral cavity and the oral reference plate after the oral reference plate is fixedly installed in the patient's oral cavity, wherein the CBCT basic data includes oral CBCT data and ceramic ball CBCT data; A three-dimensional reconstruction module is used to perform MPR three-dimensional reconstruction based on CBCT basic data, generate the axial plane, sagittal plane and coronal plane of the oral CBCT data, and establish a cross operation interface based on the axial plane, sagittal plane and coronal plane, wherein the cross operation interface is composed of axial planes, sagittal planes and coronal planes that are orthogonal to each other in pairs; The blade model building module is used to create a three-dimensional blade model according to the osteotomy requirements, import the three-dimensional blade model into the cross operation interface, and perform surgical planning by adjusting the relative position relationship between the three-dimensional blade model and the axial plane, sagittal plane and coronal plane to obtain the ideal coordinate parameters of the blade head in the CT three-dimensional coordinate system; A coordinate transformation analysis module is used to analyze the coordinate transformation relationship based on the oral reference plate, the optical locator, and the CT scanning device, and obtain the coordinate transformation relationship between any two of the three-dimensional coordinate system of the reference plate, the three-dimensional coordinate system of the optical locator, and the three-dimensional coordinate system of the CT; The bone knife calibration module is used to obtain the relative position relationship between the knife head and the tracker, calibrate the ultrasonic bone knife according to the real-time image of the tracker and the relative position relationship between the knife head and the tracker, and obtain the real-time coordinate parameters of the knife head in the three-dimensional coordinate system of the optical locator; A real-time navigation module is used to collect real-time images of the tracking device and the reference plate positioning mark points, obtain the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system based on the coordinate conversion relationship between the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system, and combine the real-time coordinate parameters of the cutter head in the optical locator three-dimensional coordinate system to perform real-time navigation of the ultrasonic bone knife according to the ideal coordinate parameters of the cutter head in the CT three-dimensional coordinate system and the real-time coordinate parameters of the cutter head in the CT three-dimensional coordinate system; The bone knife calibration module operates based on an ultrasonic bone knife calibration board, and the ultrasonic bone knife calibration board includes a calibration board body, a positioning mark component and a cutting surface calibration groove; The calibration plate body is a square plate-shaped structure, and the positioning mark assembly is formed on the upper surface of the calibration plate body; the positioning mark assembly includes a positioning mark sheet and a positioning mark pattern arranged on the positioning mark sheet, and the positioning mark assembly is provided with at least 4; The cutting surface calibration groove is formed on the upper surface of the calibration plate body, and the cutting surface calibration groove is a square concave groove, and a first calibration right angle, a second calibration right angle, a third calibration right angle and a fourth calibration right angle are formed in the cutting surface calibration groove; The bone knife calibration module specifically includes: A structural parameter acquisition unit, used to acquire structural parameters of the ultrasonic bone knife and structural parameters of the ultrasonic bone knife calibration body; the structural parameters of the ultrasonic bone knife include the relative position relationship between the handle, the tracker and the blade; the structural parameters of the ultrasonic bone knife calibration plate include the relative position relationship between the calibration plate body, the positioning mark component and the cutting surface calibration groove, and the structural parameters of the ultrasonic bone knife calibration plate also include the relative position relationship between each positioning mark pattern on the positioning mark component; A real-time image acquisition unit is used to acquire a real-time image of the tracker on the ultrasonic bone knife when the blade head of the ultrasonic bone knife abuts against the first calibration right angle, the second calibration right angle, the third calibration right angle and the fourth calibration right angle in the calibration groove of the cutting surface in sequence, and simultaneously acquire a real-time image of the positioning mark pattern in the positioning mark component on the calibration plate of the ultrasonic bone knife; A coordinate parameter acquisition unit, used to acquire the real-time coordinate parameters of the cutting surface calibration groove on the ultrasonic bone knife calibration plate in the three-dimensional coordinate system of the optical locator based on the structural parameters of the ultrasonic bone knife calibration plate and the real-time image of the positioning identification pattern on the ultrasonic bone knife calibration plate; A coordinate parameter analysis unit, for analyzing and acquiring the real-time coordinate parameters of the cutter head in the ultrasonic bone knife in the three-dimensional coordinate system of the optical locator through the real-time coordinate parameters of the cutter head in the three-dimensional coordinate system of the optical locator on the ultrasonic bone knife calibration plate, based on the real-time image of the tracker on the ultrasonic bone knife when the cutter head abuts against the first calibration right angle, the second calibration right angle, the third calibration right angle and the fourth calibration right angle in the cutter head calibration groove in sequence; The matching calibration unit is used to match the real-time coordinate parameters of the blade head in the ultrasonic bone knife in the three-dimensional coordinate system of the optical locator with the real-time image of the tracker on the ultrasonic bone knife, establish a coordinate conversion relationship between the three-dimensional coordinate system of the tracker and the cutting surface of the blade head, complete the calibration operation of the ultrasonic bone knife, and obtain the real-time coordinate parameters of the blade head in the three-dimensional coordinate system of the optical locator.

6. The ultrasonic osteotome navigation system according to claim 5, characterized in that: The three-dimensional reconstruction module comprises: An image slicing unit, used for performing image slicing according to the CBCT basic data, and extracting axial two-dimensional images, sagittal two-dimensional images, and coronal two-dimensional images; A parameter recording unit, used for recording the direction vector and physical coordinates of each axial two-dimensional image, recording the direction vector and physical coordinates of each sagittal two-dimensional image, and recording the direction vector and physical coordinates of each coronal two-dimensional image; A three-dimensional reconstruction unit, used to perform MPR three-dimensional reconstruction based on the direction vector and physical coordinates of each axial two-dimensional image, the direction vector and physical coordinates of each sagittal two-dimensional image, and the direction vector and physical coordinates of each coronal two-dimensional image according to preset image processing plane parameters to obtain an MPR three-dimensional model; A plane cutting unit is used to cut the MPR three-dimensional model to obtain the axial plane, sagittal plane and coronal plane; The operation interface establishment unit is used to establish a cross operation interface according to the axial plane, the sagittal plane and the coronal plane.

7. The ultrasonic osteotome navigation system according to claim 5, characterized in that: The coordinate transformation analysis module comprises: A CT data acquisition unit, used for acquiring CBCT basic data, and identifying ceramic ball CBCT data from the CBCT basic data according to preset ceramic ball size parameters; A model data acquisition unit, used to acquire a three-dimensional data model of an oral reference plate, wherein the three-dimensional data model of the oral reference plate includes a three-dimensional data model of a plurality of ceramic balls, a three-dimensional data model of a plurality of hemispherical pits, and a three-dimensional data model of a plurality of reference plate positioning identification points; The first coordinate conversion unit is used to perform registration based on the ceramic ball CBCT data and the three-dimensional data model of multiple ceramic balls in the oral reference plate, and obtain the coordinate conversion relationship between the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system. The first coordinate conversion unit specifically includes: The first coordinate acquisition component is used to obtain the coordinates P1 of the three ceramic balls in the CT three-dimensional coordinate system according to the ceramic ball CBCT data. CT 、P2 CT and P3 CT , according to the three-dimensional data model of multiple ceramic balls in the oral reference plate, the coordinates P1 of the three ceramic balls in the three-dimensional coordinate system of the reference plate are obtained. Ref , and P3 Ref ,in, The first center point calculation component is used to calculate the center point based on P1. CT 、P2 CT and P3 CT Calculate the center point C of the three ceramic balls in the CT three-dimensional coordinate system CT , based on P1 Ref , and P3 Ref Calculate the center points of the three ceramic balls in the three-dimensional coordinate system of the reference plate in, The first decentralized point set construction component is used to construct decentralized point sets of three ceramic balls in the CT three-dimensional coordinate system. and the decentralized point set in the reference board 3D coordinate system in, i takes the values ​​1, 2, 3, P i CT Including P1 CT , and P3 CT , P i Ref Including P1 Ref , and include and include and The first rotation matrix calculation component is used to calculate the rotation matrix R of the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system according to the SVD algorithm CT-Ref ,in, The first translation vector calculation component is used to calculate the translation vector T between the reference plate 3D coordinate system and the CT 3D coordinate system CT -Ref , where T CT-Ref =C Cam -R CT-Ref C2 Ref ; The first coordinate transformation relationship determination component is used to determine the rotation matrix R based on the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system. CT-Ref and the translation vector T CT-Ref , calculate the coordinate transformation relationship between the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system; The second coordinate conversion unit is used to control the optical locator to collect real-time images of the probe positioning mark points when the ball head of the spherical probe abuts against the hemispherical pit on the oral reference plate, and obtain the coordinate conversion relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate based on the relative position relationship between the multiple ceramic balls, the multiple hemispherical pits and the multiple reference plate positioning mark points in the oral reference plate. The second coordinate conversion unit specifically includes: The second coordinate acquisition component is used to obtain the coordinates of the ball head in the three-dimensional coordinate system of the optical locator according to the real-time image of the probe positioning mark point when the ball head of the spherical probe sequentially abuts against the three hemispherical pits on the oral reference plate. and The coordinates of the three hemispherical pits in the three-dimensional coordinate system of the reference plate are obtained according to the relative position relationship between the multiple ceramic balls, the multiple hemispherical pits and the multiple reference plate positioning identification points. and in, The second center point calculation component is used to calculate the and Calculate the center point C of the ball head in the three-dimensional coordinate system of the optical locator Cam ,based on and Calculate the center points of the three hemispherical pits in the three-dimensional coordinate system of the reference plate The second decentralized point set construction component is used to construct the decentralized point set of the ball head in the three-dimensional coordinate system of the optical locator. and the decentered point set of the three hemispherical pits in the three-dimensional coordinate system of the reference plate in, i takes values ​​of 4, 5, and 6. include and include and include and include and The second rotation matrix calculation component is used to calculate the rotation matrix R of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate according to the SVD algorithm Ref-Cam ,in, The second translation vector calculation component is used to calculate the translation vector R of the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate. Ref-Cam , where T Ref-Cam =C2 Ref -R Ref-Cam ·C Cam ; The second coordinate transformation relationship determination component is used to determine the rotation matrix R based on the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate Ref-Cam and the translation vector T Ref-Cam , calculate the coordinate transformation relationship between the three-dimensional coordinate system of the optical locator and the three-dimensional coordinate system of the reference plate; The coordinate transformation relationship analysis unit is used to analyze the coordinate transformation relationship between each two of the reference plate three-dimensional coordinate system, the optical locator three-dimensional coordinate system and the CT three-dimensional coordinate system based on the coordinate transformation relationship between each two of the reference plate three-dimensional coordinate system and the CT three-dimensional coordinate system, and the coordinate transformation relationship between the optical locator three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

8. A storage medium, characterized in that: The storage medium stores a computer program, and the computer program includes program instructions. When the program instructions are executed by the processor, the processor executes the ultrasonic bone knife navigation method according to any one of claims 1-4.

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