Magnetic navigation positioning method, system and equipment for orthopedics department and medium

Abstract

The invention discloses a magnetic navigation positioning method, system and device for orthopedics and a medium, and relates to the technical field of magnetic navigation positioning, and the method comprises the steps: calibrating a magnetic navigation positioning system, obtaining the position of a to-be-moved sensor, carrying out the function fitting of the position of the to-be-moved sensor, and obtaining an actual direction function based on a fitting result; performing analysis and calculation based on the target skeleton position and the actual direction function, and outputting movement information based on a calculation result; the method is used for solving the problems that an existing magnetic navigation method cannot be widely applied to the minimally invasive surgery, the obtained position information is lacked of further analysis, the moving direction and the moving distance of a surgical instrument need to be manually judged, and then the precision of the surgery cannot be assisted.

Description

Technical Field

[0001] The present invention relates to the field of magnetic navigation positioning technology, and in particular to a magnetic navigation positioning method for orthopedics. Background Art

[0002] Magnetic navigation positioning is an advanced technology that uses magnetic fields and magnetic sensors to achieve precise positioning and navigation; it is mainly used in the medical field, especially in minimally invasive surgery, to help doctors accurately position and operate surgical instruments or navigate to specific anatomical structures; by implanting miniature magnetic sensors in the patient's body or installing magnetic sensors on surgical instruments, changes in the surrounding magnetic field can be sensed; these magnetic sensors interact with external magnetic sources, and by measuring the strength and direction of the magnetic field, the position and direction of the magnetic sensor can be determined; by connecting the magnetic sensor to the positioning system, the positioning system can receive and process the data transmitted by the magnetic sensor, and calculate the precise position and direction of the surgical instrument or bone.

[0003] Existing magnetic navigation and positioning systems usually improve the versatility of the positioning system so that magnetic navigation and positioning can be used in more fields. For example, in the Chinese patent with invention publication number CN113116522A, a magnetic navigation tracheal positioning robot is disclosed. This solution is to determine the position by using a magnetic sensor and to photograph the lesion position by moving a camera. Other magnetic navigation and positioning methods are usually used to improve the accuracy of magnetic navigation and positioning to ensure that the acquired position information is accurate. However, when it comes to minimally invasive bone surgery, since there is not enough space for the surgical instrument to install the camera, accurate image information cannot be obtained, and the existing magnetic navigation and positioning methods lack detailed analysis of the lesion position and the surgical instrument position, resulting in the need for manual participation in judging the direction and distance of movement of the surgical instrument, affecting the efficiency of the operation. In view of this, it is necessary to improve the existing magnetic navigation and positioning methods. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to a certain extent, by calibrating the magnetic navigation positioning system, obtaining the position of the sensor to be moved, performing function fitting on the position of the sensor to be moved, and obtaining the actual direction function based on the fitting result; performing analysis and calculation based on the target bone position and the actual direction function, and outputting movement information based on the calculation result; so as to solve the problem that the existing magnetic navigation method cannot be widely used in minimally invasive surgery, and lacks further analysis of the acquired position information, resulting in the need for manual judgment of the movement direction and movement distance of the surgical instrument, and thus being unable to assist the accuracy of the surgery.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a magnetic navigation positioning method for orthopedics, comprising:

[0006] Step S1, deploying a magnetic source, starting a magnetic navigation and positioning system, communicating and connecting the magnetic source and a surgical instrument with the magnetic navigation and positioning system, and outputting connection details information; the surgical instrument includes an idle magnetic sensor and a scalpel, and the scalpel is equipped with a front-end magnetic sensor located at the front end of the scalpel and a middle-end magnetic sensor located at the middle end of the scalpel;

[0007] Step S2, receiving connection details information, using the magnetic navigation positioning system to obtain the magnetic source position, marking it as the zero point position; controlling the surgical instrument to move based on the zero point position, obtaining the position of the surgical instrument after movement, marking it as the position to be calibrated; calibrating the magnetic navigation positioning system based on the position to be calibrated, and outputting calibration completion information;

[0008] Step S3, receiving calibration completion information, implanting an idle magnetic sensor into a bone, obtaining the position of the idle magnetic sensor, and marking it as the target bone position; obtaining the positions of the front-end magnetic sensor and the middle-end magnetic sensor, performing function fitting on the positions of the front-end magnetic sensor and the middle-end magnetic sensor, and obtaining an actual direction function based on the fitting result;

[0009] Step S4, analyzing and calculating the target bone position and the actual direction function, and outputting movement information based on the calculation results.

[0010] Furthermore, the step S1 includes the following sub-steps:

[0011] Step S101, deploying a magnetic source, wherein the magnetic source can generate a stable magnetic field;

[0012] Step S102, starting the magnetic navigation positioning system to obtain the positions of the magnetic source, the idle magnetic sensor, the front magnetic sensor and the middle magnetic sensor; the positions include a horizontal coordinate, a vertical coordinate and a vertical coordinate;

[0013] Step S103, obtaining the number of connections of the magnetic navigation positioning system, and when the number of connections is equal to the number of first devices, outputting connection completion information; when the number of connections is less than the number of first devices, outputting connection incomplete information.

[0014] Further, the position to be calibrated includes an idle position to be calibrated and a front end position to be calibrated, and the step S2 includes the following sub-steps:

[0015] Step S2011, receiving connection details information;

[0016] Step S2012, when receiving the connection incomplete information, repeating step S2011; when receiving the connection complete information, obtaining the zero point position;

[0017] Step S2013, establishing a spatial rectangular coordinate system with the zero point as the zero point;

[0018] Step S2014, controlling the idle magnetic sensor to move a first moving distance from the zero position; obtaining the idle magnetic sensor position, and marking it as an idle position to be calibrated;

[0019] Step S2015, control the surgical knife to move a first moving distance from the zero point; obtain the front end magnetic sensor position and mark it as the front end position to be calibrated.

[0020] Furthermore, the step S2 further includes the following sub-steps:

[0021] Step S2021, calculating the position to be calibrated using a position calibration formula based on the first moving distance to obtain a calibration value;

[0022] The position calibration formula is configured as: Wherein X1, Y1 and Z1 are calibration values ​​on the horizontal coordinate, vertical coordinate and vertical coordinate respectively, X is the horizontal coordinate of the position to be calibrated, Y is the vertical coordinate of the position to be calibrated, Z is the vertical coordinate of the position to be calibrated, and YD1, YD2 and YD3 are constants;

[0023] Step S2022, calibrate the magnetic navigation positioning system based on the calibration value; output calibration completion information.

[0024] Furthermore, the step S3 includes the following sub-steps:

[0025] Step S301, receiving calibration completion information, when the calibration completion information is received, implanting the idle magnetic sensor into the bone to obtain the target bone position;

[0026] Step S302, obtaining the position of the front magnetic sensor and marking it as the front position to be moved; obtaining the position of the middle magnetic sensor and marking it as the middle position to be moved;

[0027] Step S303, performing function fitting on the front end position to be moved and the middle end position to be moved, and obtaining an actual direction function based on the fitting result;

[0028] The actual direction function is configured as: Among them, Xfront, Yfront, and Zfront are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the front end position to be moved, and Xcenter, Ycenter, and Zcenter are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the middle end position to be moved.

[0029] Furthermore, the step S4 includes the following sub-steps:

[0030] Step S4011, substituting the target bone position into the actual direction function for calculation, when the calculation result is that the equation is established, outputting correct direction information; when the calculation result is not that the equation is established, outputting wrong direction information;

[0031] Step S4012, when the correct direction information is received, the position of the front end to be moved is obtained, and the front end moving distance is calculated using the distance calculation formula;

[0032] The distance calculation formula is configured as: Where JL is the moving distance, X bone, Y bone, and Z bone are the horizontal coordinate, vertical coordinate, and vertical coordinate of the target bone position respectively;

[0033] Step S4013, outputting the front end moving distance, wherein the moving information includes the front end moving distance.

[0034] Furthermore, the step S4 further includes the following sub-steps:

[0035] Step S4021, when receiving direction error information, obtaining the front end position to be moved and the middle end position to be moved;

[0036] Step S4022, performing function fitting on the position of the front end to be moved and the target bone, and obtaining a target direction function based on the fitting result;

[0037] The target direction function is configured as: Wherein, bone X, bone Y, and bone Z are the horizontal coordinate, vertical coordinate, and vertical coordinate of the target bone position respectively; bone X minus X is marked as l, bone Y minus Y is marked as m, and bone Z minus Z is marked as n;

[0038] Step S4023, using the point-line distance formula to calculate the middle end moving distance;

[0039] The point-line distance formula is configured as: Among them, XL is the mid-end moving distance;

[0040] Step S4024, outputting the middle end moving distance, wherein the moving information also includes the middle end moving distance;

[0041] Step S4025, obtaining the position of the front end to be moved, calculating the front end moving distance using the distance calculation formula, and outputting the front end moving distance.

[0042] In a second aspect, the present invention also provides a magnetic navigation and positioning system for orthopedics, comprising a position acquisition module, a calibration judgment module and a position calculation module; the position acquisition module is used to acquire the zero point position, the position to be calibrated, the target bone position and the position of the sensor to be moved; the calibration judgment module is used to control the connection between the magnetic source and the surgical instrument and the magnetic navigation and positioning system, and output connection details; it is also used to control the movement of the surgical instrument, calculate the zero point position and the position to be calibrated, calibrate the magnetic navigation and positioning system based on the calculation results, and output calibration completion information; the position calculation module comprises a function fitting unit and a distance calculation unit; the function fitting unit is used to perform function fitting on the position of the sensor to be moved to obtain the actual direction function; the distance calculation unit is used to calculate the target bone position and the actual direction function, and output movement information.

[0043] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method described above are executed.

[0044] In a fourth aspect, the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the method described above are executed.

[0045] The beneficial effects of the present invention are as follows: the present invention connects the magnetic source and the surgical instrument to the magnetic navigation and positioning system for communication, outputs connection detail information based on the number of connections, continues to obtain connection detail information when the connection detail information is connection incomplete information, starts to control the surgical instrument to move when the connection completion information is obtained, and calibrates the magnetic navigation and positioning system by obtaining the position to be calibrated after the movement; the advantage of this is that it can ensure that all instruments that need to be used are connected to the magnetic navigation and positioning system; at the same time, the surgical instrument is controlled to move instead of being moved to the specified position in advance, so that the quality of the communication connection can be judged. If the communication connection is interrupted during the movement, the position to be calibrated will not be obtained, thereby improving the intelligence and accuracy of the calibration step;

[0046] The present invention arranges two magnetic sensors in a scalpel, obtains the positions of the two magnetic sensors and performs function fitting, thereby obtaining an actual direction function representing the direction of the scalpel in a spatial rectangular coordinate system; then the obtained target bone position is substituted into the actual direction function, thereby determining the positional relationship between the target bone position and the scalpel direction; when the target bone position is located on the extension line of the scalpel direction, only the front end moving distance needs to be calculated; when it is not located on the extension line, the front end moving distance and the middle end moving distance are calculated; this has the advantage that the front end or middle end moving distance can be calculated for the doctor's reference, thereby improving the practicality and efficiency of magnetic navigation positioning-assisted minimally invasive bone surgery.

[0047] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a functional block diagram of the system of the present invention;

[0049] Figure 2 is a flow chart of the steps of the method of the present invention;

[0050] Figure 3 It is a schematic diagram of the moving position of the scalpel of the present invention;

[0051] Figure 4 It is a schematic diagram of the target bone position of the present invention on the actual direction function;

[0052] Figure 5 It is a schematic diagram of the target bone position of the present invention not being on the actual direction function. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Example 1, please refer to Figure 1 As shown, in the first aspect, the present invention provides a magnetic navigation positioning system for orthopedics, comprising a position acquisition module, a calibration judgment module and a position calculation module;

[0055] The calibration judgment module is used to control the connection between the magnetic source and the surgical instrument and the magnetic navigation positioning system, and output connection details information;

[0056] The calibration judgment module is configured with a connection judgment strategy, which includes:

[0057] Deploy a magnetic source capable of generating a stable magnetic field, start the magnetic navigation and positioning system, and control the magnetic source and the surgical instrument to communicate and connect with the magnetic navigation and positioning system; obtain the number of connections of the magnetic navigation and positioning system, and when the number of connections is equal to the number of the first instrument, output connection completion information; when the number of connections is less than the number of the first instrument, output connection incomplete information;

[0058] It should be noted that the magnetic source is an external device used to generate a stable magnetic field; the magnetic source can be a magnetic field generator or an electromagnetic coil; the magnetic navigation positioning system is a computer system used to receive and process data transmitted by the magnetic sensor and calculate the precise position of the magnetic sensor;

[0059] In a specific implementation, the first device quantity is set to 3, which represents the sum of the number of idle magnetic sensors, front-end magnetic sensors, and mid-end magnetic sensors;

[0060] The position acquisition module is used to acquire the zero point position, the position to be calibrated, the target bone position and the position of the sensor to be moved;

[0061] The location acquisition module is configured with a location acquisition strategy, which includes:

[0062] Receive connection details information, and when receiving connection incomplete information, continue to receive connection details information; when receiving connection complete information, obtain the zero point position;

[0063] It should be noted that when receiving the connection incomplete information, the location acquisition module should also output a prompt message to remind relevant personnel to inspect the surgical instrument that needs to be connected, and reconnect when the inspection is completed. At this time, the connection is restored to normal and the connection completion information can be received to proceed to the subsequent steps;

[0064] See also Figure 3 As shown, Figure 3 In the figure, T1 is the middle magnetic sensor, T2 is the front magnetic sensor, T3 is the magnetic source, T4 is the idle magnetic sensor, and U1 is the scalpel; T1 and T2 are two diamond-shaped areas located inside the scalpel, T3 is the cylindrical area in the figure, and T4 is the rectangular area in the figure; U1 is the knife-shaped area in the figure;

[0065] The calibration judgment module is also configured with an instrument movement strategy, which includes:

[0066] Controlling the surgical instrument and the idle magnetic sensor to move a first moving distance from a zero position;

[0067] In specific implementation, the first moving distance is set to 100 mm;

[0068] It should be noted that the first moving distance is only the size of the moving distance, and does not represent the size of the displacement; in a specific application, the specific moving trajectory of the idle magnetic sensor is to move 50 mm in the direction of the increasing horizontal coordinate, and then move 50 mm in the direction of the increasing vertical coordinate; the specific moving trajectory of the scalpel is to move 50 mm in the direction of the increasing vertical coordinate, and then move 50 mm in the direction of the increasing vertical coordinate; the advantage of this is that there is movement in both the horizontal and vertical directions, which can improve the accuracy of calibration;

[0069] The position acquisition strategy also includes: acquiring the position to be calibrated;

[0070] The calibration judgment module is also configured with a calibration implementation strategy, which includes:

[0071] Receive the position to be calibrated, and use the position calibration formula to calculate the position to be calibrated to obtain the calibration value; the position calibration formula is configured as

[0072] Calibrate the magnetic navigation positioning system and output calibration completion information;

[0073] It should be noted that YD represents the displacement on a certain axis. For example, if the horizontal axis moves 50 mm in the direction of increasing horizontal coordinates, YD1 is 50; if the horizontal axis moves 50 mm in the direction of increasing horizontal coordinates and 20 mm in the direction of decreasing horizontal coordinates, YD1 is 30.

[0074] In specific implementation, if the final position is obtained and the position should be as shown in Table 1-1:

[0075] Table 1-1

[0076] Horizontal axis Vertical axis Vertical coordinate Unused positions in substitute schools 53 -2 51 Should be in idle position 50 0 50 Front end position to be checked 3 48 51 Should be at the front position 0 50 50

[0077] Calculation based on the data in the table shows that X1 is -3, Y1 is +2, and Z1 is -1; this means that the horizontal coordinate of the position obtained by the magnetic navigation positioning system needs to be subtracted by 3, the vertical coordinate needs to be increased by 2, and the vertical coordinate needs to be subtracted by 1;

[0078] The location calculation module is configured with a sensor implantation strategy, which includes:

[0079] Receiving calibration completion information, implanting the idle magnetic sensor into the bone;

[0080] It should be noted that the idle magnetic sensors are miniature magnetic sensors. The location and number of implantation depend on the needs of the surgery. The magnetic sensors can be implanted through surgery or puncture technology.

[0081] The position acquisition strategy also includes: acquiring the target bone position and the position of the sensor to be moved;

[0082] The position calculation module includes a function fitting unit and a distance calculation unit; the function fitting unit is used to perform function fitting on the position of the sensor to be moved to obtain the actual direction function; the distance calculation unit is used to calculate the target bone position and the actual direction function and output the movement information;

[0083] See also Figure 4 as well as Figure 5 As shown, Figure 4T1 is the middle magnetic sensor, T2 is the front magnetic sensor, T3 is the magnetic source, T4 is the idle magnetic sensor, and T5 is the actual direction function; T1 and T2 are the prismatic areas in the figure, T3 is the cylindrical area in the figure, T4 is the rectangular area in the figure, and T5 is the dotted line in the figure; Figure 5 T1 is the middle magnetic sensor, T2 is the front magnetic sensor, T3 is the magnetic source, T4 is the idle magnetic sensor, T5 is the actual direction function, and T6 is the target direction function; T1 and T2 are the prism-shaped areas in the figure, T3 is the cylindrical area in the figure, T4 is the rectangular area in the figure, T5 is the dotted line in the figure, and T6 is the solid line passing through T4 and T2 in the figure;

[0084] The function fitting unit is configured with a function fitting strategy, which includes:

[0085] Function fitting is performed on the front end position to be moved and the middle end position to be moved, and the actual direction function is obtained based on the fitting results; the actual direction function is configured as follows: Wherein X front, Y front, and Z front are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the front end position to be moved, and X middle, Y middle, and Z middle are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the middle end position to be moved;

[0086] In specific implementation, if the position of the front end to be moved is (351, 246, 34) and the position of the middle end to be moved is (355, 244, 39), the actual direction function obtained by fitting is Among them, 4 is the result of 355-351, -2 is the result of 244-246, and 5 is the result of 39-34. By establishing a spatial rectangular coordinate system with the zero point position, and then performing a three-dimensional function fitting with the coordinates of the front magnetic sensor and the middle magnetic sensor in the scalpel, the following can be obtained: Figure 4 The actual direction function of the line where the scalpel is located, as shown by T5, is convenient for subsequent analysis of the relationship between the scalpel and the target bone position.

[0087] Substitute the target bone position into the actual direction function for calculation. When the calculation result is that the equation is established, the correct direction information is output; when the calculation result is not that the equation is established, the wrong direction information is output;

[0088] It should be noted that if each coordinate of the target bone position differs from the coordinate of a point on the actual direction function by ±0.5 mm, the target bone position is judged to be located on the actual direction function;

[0089] In specific implementation, if the target bone position is (300, 272, -30), substitute X=300 into the actual direction function to obtain the point on the actual direction function as (300, 271.5, -29.75). At this time, the difference between each coordinate value is within 0.5 mm, and the correct direction information is output;

[0090] If the target bone position is (300, 272, 10), substitute X=300 into the actual direction function to obtain the point on the actual direction function as (300, 271.5, -29.75), and output direction error information; by substituting the target bone position into the actual direction function, it is determined whether the calculated equation holds, that is, it can be proved whether the target bone position is located on the extension line of the spatial straight line where the scalpel is currently located, thereby simplifying the system's calculation process; if it is, it is only necessary to calculate the distance that the scalpel needs to move along the current straight line; if it is not, it is necessary to further calculate the direction that the scalpel needs to adjust, as well as the distance that needs to be moved after adjusting the direction.

[0091] The distance calculation unit is configured with a distance calculation strategy, which includes:

[0092] When the correct direction information is received, the distance calculation formula is used to calculate the front end moving distance;

[0093] The distance calculation formula is configured as: Where JL is the moving distance, X bone, Y bone, and Z bone are the horizontal coordinate, vertical coordinate, and vertical coordinate of the target bone position respectively;

[0094] Output front end moving distance;

[0095] In specific implementation, if the target bone position is (300, 272, -30) and the front end position to be moved is (351, 246, 34), the calculated JL is approximately 85.85 mm; when the target bone position is located on the extension line of the straight line in space where the scalpel is located, the distance formula between two points in space is directly used to calculate the target bone position and the coordinates of the front end magnetic sensor, and the calculation result is the distance that the scalpel needs to move along the current straight line; the amount of data to be calculated is small, which increases the calculation speed, thereby improving the timeliness of providing reference information to doctors in practical applications.

[0096] Function fitting strategies also include:

[0097] When direction error information is received, function fitting is performed on the position of the front end to be moved and the target bone, and the target direction function is obtained based on the fitting result;

[0098] The target direction function is configured as: Wherein, bone X, bone Y, and bone Z are the horizontal coordinate, vertical coordinate, and vertical coordinate of the target bone position respectively; bone X minus X is marked as l, bone Y minus Y is marked as m, and bone Z minus Z is marked as n;

[0099] Distance calculation strategies also include:

[0100] The mid-end moving distance is calculated using the point-line distance formula;

[0101] The point-line distance formula is configured as: Among them, XL is the mid-end moving distance; by calculating the mid-end moving distance to move the mid-end magnetic sensor, the front end of the scalpel can continue to move in a straight line during the operation, reducing the probability of deviation during the movement.

[0102] Output mid-end moving distance;

[0103] The front end moving distance is calculated using the distance calculation formula, and the front end moving distance is output;

[0104] In specific implementation, if the target bone position is (300, 272, 10), the target direction function obtained by fitting is Among them, -51 is 300-351, 26 is 272-246, and -24 is 10-34; -51 is marked as l, 26 is marked as m, and -24 is marked as n;

[0105] The calculated XL is about 6.7 mm and the front end travel distance is about 62.1 mm;

[0106] It should be noted that the data provided by the position calculation module is for reference only, and in specific applications, calculations should be performed based on the actual data obtained.

[0107] Example 2, please refer to Figure 2 As shown, in a second aspect, the present invention provides a magnetic navigation positioning method for orthopedics, comprising:

[0108] Step S1, deploying a magnetic source, starting a magnetic navigation and positioning system, communicating and connecting the magnetic source and a surgical instrument with the magnetic navigation and positioning system, and outputting connection details information; the surgical instrument includes an idle magnetic sensor and a scalpel, and the scalpel is equipped with a front-end magnetic sensor located at the front end of the scalpel and a middle-end magnetic sensor located at the middle end of the scalpel;

[0109] Step S2, receiving connection details information, using the magnetic navigation positioning system to obtain the magnetic source position, marking it as the zero point position; controlling the surgical instrument to move based on the zero point position, obtaining the position of the surgical instrument after movement, marking it as the position to be calibrated; calibrating the magnetic navigation positioning system based on the position to be calibrated, and outputting calibration completion information;

[0110] Step S3, receiving calibration completion information, implanting an idle magnetic sensor into a bone, obtaining the position of the idle magnetic sensor, and marking it as the target bone position; obtaining the positions of the front-end magnetic sensor and the middle-end magnetic sensor, performing function fitting on the positions of the front-end magnetic sensor and the middle-end magnetic sensor, and obtaining an actual direction function based on the fitting result;

[0111] Step S4, analyzing and calculating the target bone position and the actual direction function, and outputting movement information based on the calculation results;

[0112] The connection details information includes connection completion information and connection incomplete information. Step S1 includes the following sub-steps:

[0113] Step S101, deploying a magnetic source, wherein the magnetic source can generate a stable magnetic field;

[0114] Step S102, starting the magnetic navigation positioning system to obtain the positions of the magnetic source, the idle magnetic sensor, the front magnetic sensor and the middle magnetic sensor; the position includes a horizontal coordinate, a vertical coordinate and a vertical coordinate;

[0115] Step S103, obtaining the number of connections of the magnetic navigation positioning system, and when the number of connections is equal to the number of first devices, outputting connection completion information; when the number of connections is less than the number of first devices, outputting connection incomplete information.

[0116] The position to be calibrated includes an idle position to be calibrated and a front end position to be calibrated. Step S2 includes the following sub-steps:

[0117] Step S2011, receiving connection details information;

[0118] Step S2012, when receiving the connection incomplete information, repeating step S2011; when receiving the connection complete information, obtaining the zero point position;

[0119] Step S2013, establishing a spatial rectangular coordinate system with the zero point as the zero point;

[0120] Step S2014, controlling the idle magnetic sensor to move a first moving distance from the zero position; obtaining the idle magnetic sensor position, and marking it as an idle position to be calibrated;

[0121] Step S2015, controlling the scalpel to move a first moving distance from the zero point; obtaining the position of the front magnetic sensor, and marking it as the front position to be calibrated;

[0122] Step S2021, calculating the position to be calibrated using a position calibration formula based on the first moving distance to obtain a calibration value;

[0123] The position calibration formula is configured as: Wherein X1, Y1 and Z1 are calibration values ​​on the horizontal coordinate, vertical coordinate and vertical coordinate respectively, X is the horizontal coordinate of the position to be calibrated, Y is the vertical coordinate of the position to be calibrated, Z is the vertical coordinate of the position to be calibrated, and YD1, YD2 and YD3 are constants;

[0124] Step S2022, calibrate the magnetic navigation positioning system based on the calibration value; output calibration completion information.

[0125] Step S3 includes the following sub-steps:

[0126] Step S301, receiving calibration completion information, when the calibration completion information is received, implanting the idle magnetic sensor into the bone to obtain the target bone position;

[0127] Step S302, obtaining the position of the front magnetic sensor and marking it as the front position to be moved; obtaining the position of the middle magnetic sensor and marking it as the middle position to be moved;

[0128] Step S303, performing function fitting on the front end position to be moved and the middle end position to be moved, and obtaining an actual direction function based on the fitting result;

[0129] The actual direction function is configured as: Among them, Xfront, Yfront, and Zfront are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the front end position to be moved, and Xcenter, Ycenter, and Zcenter are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the middle end position to be moved.

[0130] Step S4 includes the following sub-steps:

[0131] Step S4011, substituting the target bone position into the actual direction function for calculation, when the calculation result is that the equation is established, outputting correct direction information; when the calculation result is not that the equation is established, outputting wrong direction information;

[0132] Step S4012, when the correct direction information is received, the position of the front end to be moved is obtained, and the front end moving distance is calculated using the distance calculation formula;

[0133] The distance calculation formula is configured as: Where JL is the moving distance, X bone, Y bone, and Z bone are the horizontal coordinate, vertical coordinate, and vertical coordinate of the target bone position respectively;

[0134] Step S4013, output the front end moving distance, and the movement information includes the front end moving distance.

[0135] Step S4021, when receiving direction error information, obtaining the front end position to be moved and the middle end position to be moved;

[0136] Step S4022, performing function fitting on the position of the front end to be moved and the target bone, and obtaining a target direction function based on the fitting result;

[0137] The target direction function is configured as: Wherein, bone X, bone Y, and bone Z are the horizontal coordinate, vertical coordinate, and vertical coordinate of the target bone position respectively; bone X minus X is marked as l, bone Y minus Y is marked as m, and bone Z minus Z is marked as n;

[0138] Step S4023, using the point-line distance formula to calculate the middle end moving distance;

[0139] The point-line distance formula is configured as: Among them, XL is the mid-end moving distance;

[0140] Step S4024, outputting the middle end moving distance, where the moving information also includes the middle end moving distance;

[0141] Step S4025, obtaining the position of the front end to be moved, calculating the front end moving distance using the distance calculation formula, and outputting the front end moving distance.

[0142] Embodiment 3, in the third aspect, the present application provides an electronic device, including a processor and a memory, the memory storing computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the above method are executed. Through the above technical solution, the processor and the memory are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanisms, and the memory stores a computer program executable by the processor. When the electronic device is running, the processor executes the computer program to execute the method in any optional implementation of the above embodiment to achieve the following functions: first, the magnetic source and the surgical instrument are connected to the magnetic navigation positioning system for communication, the surgical instrument is controlled to move, the position to be calibrated is obtained, and the magnetic navigation positioning system is calibrated; then, the idle magnetic sensor is implanted into the bone, the target bone position and the position of the sensor to be moved are obtained, the position of the sensor to be moved is fitted with a function, and the actual direction function is obtained based on the fitting result; finally, the target bone position and the actual direction function are analyzed and calculated, and the movement information is output based on the calculation result.

[0143] Embodiment 4, the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above method are executed. Through the above technical solution, when the computer program is executed by the processor, the method in any optional implementation of the above embodiment is executed to achieve the following functions: first, the magnetic source and the surgical instrument are connected to the magnetic navigation and positioning system for communication, the surgical instrument is controlled to move, the position to be calibrated is obtained, and the magnetic navigation and positioning system is calibrated; then, the idle magnetic sensor is implanted into the bone, the target bone position and the position of the sensor to be moved are obtained, and the function fitting is performed on the position of the sensor to be moved, and the actual direction function is obtained based on the fitting result; finally, the target bone position and the actual direction function are analyzed and calculated, and the movement information is output based on the calculation result.

[0144] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0145] It should be understood by those skilled in the art that the embodiments of the present invention can be provided as methods, systems or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes. Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, referred to as EPROM), programmable read-only memory (Programmable Red-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, disk or optical disk. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0146] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

Claims

1. A magnetic navigation positioning method for orthopedics, characterized in that: The following sub-steps are included: Step S1, deploying a magnetic source, starting a magnetic navigation and positioning system, communicating and connecting the magnetic source and a surgical instrument with the magnetic navigation and positioning system, and outputting connection details information; the surgical instrument includes an idle magnetic sensor and a scalpel, and the scalpel is equipped with a front-end magnetic sensor located at the front end of the scalpel and a middle-end magnetic sensor located at the middle end of the scalpel; Step S2, receiving connection details information, using the magnetic navigation positioning system to obtain the magnetic source position, marking it as the zero point position; controlling the surgical instrument to move based on the zero point position, obtaining the position of the surgical instrument after movement, marking it as the position to be calibrated; calibrating the magnetic navigation positioning system based on the position to be calibrated, and outputting calibration completion information; Step S3, receiving calibration completion information, implanting an idle magnetic sensor into a bone, obtaining the position of the idle magnetic sensor, and marking it as the target bone position; obtaining the positions of the front-end magnetic sensor and the middle-end magnetic sensor, performing function fitting on the positions of the front-end magnetic sensor and the middle-end magnetic sensor, and obtaining an actual direction function based on the fitting result; Step S4, analyzing and calculating the target bone position and the actual direction function, and outputting movement information based on the calculation results.

2. A magnetic navigation positioning method for orthopedics according to claim 1, characterized in that: The connection details information includes connection completion information and connection incomplete information. The step S1 includes the following sub-steps: Step S101, deploying a magnetic source, wherein the magnetic source can generate a stable magnetic field; Step S102, starting the magnetic navigation positioning system to obtain the positions of the magnetic source, the idle magnetic sensor, the front magnetic sensor and the middle magnetic sensor; the positions include a horizontal coordinate, a vertical coordinate and a vertical coordinate; Step S103, obtaining the number of connections of the magnetic navigation positioning system, and when the number of connections is equal to the number of first devices, outputting connection completion information; when the number of connections is less than the number of first devices, outputting connection incomplete information.

3. A magnetic navigation positioning method for orthopedics according to claim 2, characterized in that: The position to be calibrated includes an idle position to be calibrated and a front end position to be calibrated, and the step S2 includes the following sub-steps: Step S2011, receiving connection details information; Step S2012, when receiving the connection incomplete information, repeating step S2011; when receiving the connection complete information, obtaining the zero point position; Step S2013, establishing a spatial rectangular coordinate system with the zero point as the zero point; Step S2014, controlling the idle magnetic sensor to move a first moving distance from the zero position; obtaining the idle magnetic sensor position, and marking it as an idle position to be calibrated; Step S2015, control the surgical knife to move a first moving distance from the zero point; obtain the front end magnetic sensor position and mark it as the front end position to be calibrated.

4. A magnetic navigation positioning method for orthopedics according to claim 3, characterized in that: The step S2 further comprises the following sub-steps: Step S2021, calculating the position to be calibrated using a position calibration formula based on the first moving distance to obtain a calibration value; The position calibration formula is configured as: Wherein X1, Y1 and Z1 are calibration values ​​on the horizontal coordinate, vertical coordinate and vertical coordinate respectively, X is the horizontal coordinate of the position to be calibrated, Y is the vertical coordinate of the position to be calibrated, Z is the vertical coordinate of the position to be calibrated, and YD1, YD2 and YD3 are constants; Step S2022, calibrate the magnetic navigation positioning system based on the calibration value; output calibration completion information.

5. A magnetic navigation positioning method for orthopedics according to claim 4, characterized in that: The step S3 includes the following sub-steps: Step S301, receiving calibration completion information, when the calibration completion information is received, implanting the idle magnetic sensor into the bone to obtain the target bone position; Step S302, obtaining the position of the front magnetic sensor and marking it as the front position to be moved; Get the position of the middle magnetic sensor and mark it as the middle position to be moved; Step S303, performing function fitting on the front end position to be moved and the middle end position to be moved, and obtaining an actual direction function based on the fitting result; The actual direction function is configured as: Among them, Xfront, Yfront, and Zfront are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the front end position to be moved, and Xcenter, Ycenter, and Zcenter are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the middle end position to be moved.

6. A magnetic navigation positioning method for orthopedics according to claim 5, characterized in that: The step S4 includes the following sub-steps: Step S4011, substituting the target bone position into the actual direction function for calculation, when the calculation result is that the equation is established, outputting correct direction information; when the calculation result is not that the equation is established, outputting wrong direction information; Step S4012, when the correct direction information is received, the position of the front end to be moved is obtained, and the front end moving distance is calculated using the distance calculation formula; The distance calculation formula is configured as: Where JL is the moving distance, X bone, Y bone, and Z bone are the horizontal coordinate, vertical coordinate, and vertical coordinate of the target bone position respectively; Step S4013, outputting the front end moving distance, wherein the moving information includes the front end moving distance.

7. A magnetic navigation positioning method for orthopedics according to claim 6, characterized in that: The step S4 also includes the following sub-steps: Step S4021, when receiving direction error information, obtaining the front end position to be moved and the middle end position to be moved; Step S4022, performing function fitting on the position of the front end to be moved and the target bone, and obtaining a target direction function based on the fitting result; The target direction function is configured as: Wherein, bone X, bone Y, and bone Z are the horizontal coordinate, vertical coordinate, and vertical coordinate of the target bone position respectively; bone X minus X is marked as l, bone Y minus Y is marked as m, and bone Z minus Z is marked as n; Step S4023, using the point-line distance formula to calculate the middle end moving distance; The point-line distance formula is configured as: Among them, XL is the mid-end moving distance; Step S4024, outputting the middle end moving distance, wherein the moving information also includes the middle end moving distance; Step S4025, obtaining the position of the front end to be moved, calculating the front end moving distance using the distance calculation formula, and outputting the front end moving distance.

8. A magnetic navigation positioning system for orthopedics, applicable to a magnetic navigation positioning method for orthopedics as claimed in any one of claims 1 to 7, characterized in that: It includes a position acquisition module, a calibration judgment module and a position calculation module; the position acquisition module is used to obtain the zero point position, the position to be calibrated, the target bone position and the position of the sensor to be moved; the calibration judgment module is used to control the connection between the magnetic source and the surgical instrument and the magnetic navigation positioning system, and output connection details; it is also used to control the movement of the surgical instrument, calculate the zero point position and the position to be calibrated, calibrate the magnetic navigation positioning system based on the calculation results, and output calibration completion information; the position calculation module includes a function fitting unit and a distance calculation unit; the function fitting unit is used to perform function fitting on the position of the sensor to be moved to obtain the actual direction function; the distance calculation unit is used to calculate the target bone position and the actual direction function, and output movement information.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 1 to 7 are executed.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 7 are executed.

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