An intramedullary nail locking method, device and program product based on an optical tracking system

Abstract

The present application relates to the field of intelligent medical treatment, and specifically to an intramedullary nail locking method, device and program product based on an optical tracking system. Obtain the parameters of the intramedullary nail; obtain a real-time image of the intramedullary nail that has been placed in the surgical site of the patient through an optical tracking system, wherein the real-time image of the intramedullary nail includes the position and direction of the first locking hole of the intramedullary nail and the position and direction of the second locking hole of the intramedullary nail; calibrate the first screw to obtain a real-time first screw image, and display the relative position and direction of the first screw image and the first locking hole of the intramedullary nail in real time; calibrate the second screw to obtain a real-time first screw image, and display the relative position and direction of the second screw image and the second locking hole of the intramedullary nail in real time. The present application fixes the intramedullary nail through locking holes in different directions to avoid movement of the intramedullary nail, and has great clinical value.

Description

Technical Field

[0001] The present application relates to the field of intelligent medical treatment, and in particular to an intramedullary nail locking method, device, program product and computer-readable storage medium based on an optical tracking system. Background Art

[0002] The development of intraoperative navigation technology for fractures stems from the demand for higher precision and less invasive surgery. Traditional fracture surgery relies on the surgeon's experience and two-dimensional image guidance (such as X-rays), which has limitations in locating the fracture site, determining the implant position, and avoiding damage to surrounding important structures. With the advancement of computer technology, imaging technology, and robotics technology, intraoperative navigation systems have emerged, providing more accurate three-dimensional visualization and positioning methods for orthopedic surgery. In fracture surgery, intraoperative navigation can help doctors monitor the position of surgical instruments in real time, accurately reduce the fracture end, optimize internal fixation implantation, reduce surgical complications, and shorten the recovery period. Preoperative planning to determine the path of intramedullary nail installation at the fracture site is a complex technical challenge. First, it is necessary to select the appropriate intramedullary nail diameter, length, and locking mechanism according to the fracture type, location, and specific anatomical characteristics of the patient. This requires that the matching degree between the intramedullary nail and the patient's bone morphology and whether the design of the intramedullary nail can meet the needs of fracture stability should be fully considered in preoperative planning; second, for comminuted fractures, open fractures, or cases with bone defects, planning the intramedullary nail path is more complicated. It is necessary to consider how to achieve good fracture reduction and maintain stability through intramedullary nail fixation, which may require auxiliary techniques such as bone transplantation or special locking mechanisms. Third, although preoperative planning is as detailed as possible, unforeseen situations may be encountered during the actual operation, such as changes in fracture morphology, differences in soft tissue conditions, etc., requiring the surgical team to be able to flexibly adjust the implantation path of the intramedullary nail. Summary of the invention

[0003] In view of the above problems, the present invention proposes an intramedullary nail locking method based on an optical tracking system, which specifically includes:

[0004] S1 obtains parameters of an intramedullary nail, wherein the intramedullary nail comprises two or more locking nail holes, the locking nail holes have different directions and are located on the same straight line; the parameters include nail hole diameters, positions between the nail holes, and directions of the nail holes;

[0005] S2 obtains a real-time image of the intramedullary nail inserted into the surgical site of the patient through an optical tracking system, wherein the real-time image of the intramedullary nail includes the position and direction of the first locking hole of the intramedullary nail and the position and direction of the second locking hole of the intramedullary nail;

[0006] S3 calibrates the first screw to obtain a real-time first screw image, and displays the relative position and direction of the first screw image and the first locking screw hole of the intramedullary nail in real time;

[0007] S4 calibrates the second screw to obtain a real-time image of the first screw, and displays the relative position and direction of the second screw image and the second locking screw hole of the intramedullary nail in real time.

[0008] Furthermore, the method further includes intramedullary nail calibration. After S3 is completed, intramedullary nail calibration is performed to obtain a calibrated real-time image of the intramedullary nail, and the second screw is calibrated based on the calibrated real-time image of the intramedullary nail.

[0009] Furthermore, the calibration is performed by touching the intramedullary nail with a probe along the contour of the intramedullary nail to obtain point cloud data, and the point cloud data is fused and calibrated with the real-time image of the intramedullary nail to obtain a calibrated intramedullary nail image.

[0010] The method further comprises intramedullary nail calibration, and after the intramedullary nail is calibrated, parameters of the calibrated intramedullary nail are obtained.

[0011] Furthermore, the calibration is performed by an intramedullary nail calibrator, which contains M optical spheres, where M is a natural number greater than 3. The spatial position of the intramedullary nail calibrator is obtained after the intramedullary nail calibrator is calibrated by the optical spheres. The intramedullary nail is calibrated based on the spatial position of the intramedullary nail calibrator to obtain the spatial position relationship of the intramedullary nail. The spatial position relationship includes the vertex and axial direction of the intramedullary nail, and the position of each locking nail hole is obtained based on the vertex and axial direction.

[0012] Furthermore, the intramedullary nail calibrator also includes K groups of calibration columns, K is a natural number greater than 1, the intramedullary nail parameters are measured by the calibration columns to obtain the parameters of the intramedullary nail, and the intramedullary nail hole diameter and the intramedullary nail hole direction are obtained by the calibration columns.

[0013] The calibration of the intramedullary nail includes nail head calibration and locking nail hole calibration. The nail head calibration is performed by calibrating in the calibration hole in the intramedullary nail calibrator to obtain the spatial position relationship of the nail head. The locking nail holes are calibrated by the calibration column in the intramedullary nail calibrator to obtain the spatial position relationship of the locking nail holes, and the locking nail holes are numbered to obtain the relative distance between the nail holes.

[0014] The screw is calibrated by using an optical tracking system to identify a reference frame on the screw, where an optical ball is provided on the reference frame.

[0015] An object of the present invention is to provide a computer program product, which includes a computer program or instructions, and the computer program or instructions are executed by a processor to implement the above-mentioned intramedullary nail locking method based on an optical tracking system.

[0016] An object of the present invention is to provide a computer device, which includes a memory, a processor, and a computer program or instruction stored in the memory, wherein the computer program or instruction is executed by the processor to implement the above-mentioned intramedullary nail locking method based on the optical tracking system.

[0017] An object of the present invention is to provide a computer-readable storage medium having a computer program or instruction stored thereon, wherein the computer program or instruction is executed by a processor to implement the above-mentioned intramedullary nail locking method based on an optical tracking system.

[0018] Advantages of the present invention:

[0019] 1. The intramedullary nail of the present invention includes a plurality of locking nail holes, which are located on the same central axis but have different opening directions. The positions where the locking nail holes exist are opened through the intraoperative navigation path. This method can effectively fix the intramedullary nail and cause the intramedullary nail to rotate;

[0020] 2. The present invention uses an intramedullary nail calibrator to calibrate the intramedullary nail. The intramedullary nail calibrator includes multiple groups of calibration holes and calibration columns. The nail head of the intramedullary nail is calibrated through the calibration holes, and the locking hole of the intramedullary nail is calibrated through the calibration columns. At the same time, the locking hole diameter parameters, the direction of the locking hole, and the position of the locking hole are obtained through the calibration holes and the calibration columns. The parameters of the intramedullary nail are obtained during the calibration, thereby improving the surgical efficiency and reducing the surgical time.

[0021] 3. The present invention can achieve minimally invasive surgery and personalized guidance for patients through preoperative planning of the path and the design of the locking screw hole of the intramedullary nail, thereby reducing the time and pain of postoperative recovery for patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic flow chart of an intramedullary nail locking method based on an optical tracking system provided in an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of an intramedullary nail locking system based on an optical tracking system provided by an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of an intramedullary nail locking device based on an optical tracking system provided by an embodiment of the present invention;

[0026] Figure 4A schematic diagram of the structure of an intramedullary nail marker provided by an embodiment of the present invention;

[0027] Figure 5 A sleeve calibration interface provided by an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of the numbering of intramedullary nails after calibration provided by an embodiment of the present invention;

[0029] Figure 7 A path guidance interface provided by an embodiment of the present invention;

[0030] Figure 8 An intramedullary nail implantation interface provided by an embodiment of the present invention;

[0031] Fig. 9 An intramedullary nail locking interface based on an optical tracking system provided in an embodiment of the present invention;

[0032] Fig.10 This is an intramedullary nail calibration interface provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0034] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel. The sequence numbers of the operations, such as S101, S102, etc., are only used to distinguish between different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0035] Figure 1 A schematic diagram of an intramedullary nail locking method based on an optical tracking system provided by an embodiment of the present invention specifically includes:

[0036] S101: Acquire parameters of an intramedullary nail, wherein the intramedullary nail comprises two or more locking nail holes, the locking nail holes are in different directions and are located on the same straight line; the parameters include nail hole diameters, positions between the nail holes, and nail hole directions;

[0037] In one embodiment, the intramedullary nail is an orthopedic internal fixation device among medical devices. The structure comprises an intramedullary nail rod, a proximal locking screw hole is provided at the proximal end of the intramedullary nail rod, and a decompression plane is provided on the surface of the intramedullary nail rod. One or more long strip-shaped decompression planes are provided on the surface of the intramedullary nail rod, and the decompression planes can extend from the proximal end of the intramedullary nail rod to the distal end of the intramedullary nail rod. A locking screw positioning screw hole and a connecting sleeve positioning groove are provided at the proximal end of the intramedullary nail rod.

[0038] In one embodiment, the method further includes intramedullary nail calibration, and after calibrating the intramedullary nail, obtaining parameters of the calibrated intramedullary nail.

[0039] In one embodiment, the calibration is performed by an intramedullary nail calibrator, which contains M optical spheres, where M is a natural number greater than 3. The spatial position of the intramedullary nail calibrator is obtained after the intramedullary nail calibrator is calibrated by the optical spheres. The intramedullary nail is calibrated based on the spatial position of the intramedullary nail calibrator to obtain the spatial position relationship of the intramedullary nail. The spatial position relationship includes the vertex and axial direction of the intramedullary nail, and the position of each locking nail hole is obtained based on the vertex and axial direction.

[0040] In one embodiment, the intramedullary nail calibrator further includes K groups of calibration columns, K is a natural number greater than 1, the intramedullary nail parameters are measured by the calibration columns to obtain the parameters of the intramedullary nail, and the intramedullary nail hole diameter and the intramedullary nail hole direction are obtained by the calibration columns.

[0041] In one embodiment, the calibration of the intramedullary nail includes nail head calibration and locking nail hole calibration. The nail head calibration is performed by calibrating in the calibration hole in the intramedullary nail calibrator to obtain the spatial position relationship of the nail head. The locking nail hole is calibrated by the calibration column in the intramedullary nail calibrator to obtain the spatial position relationship of the locking nail hole, and the locking nail holes are numbered to obtain the relative distance between the nail holes.

[0042] In one embodiment, the intramedullary nail marker comprises:

[0043] The calibration bracket comprises a first reference surface, a second reference surface and a third reference surface; there is an angle less than 90° between the first reference surface and the second reference surface; there is an angle less than 90° between the second reference surface and the third reference surface;

[0044] The reference part comprises at least three calibration units; the calibration units are all arranged on the first reference plane; the projection of the calibration unit on the second reference plane is at least three calibration points; the projection of the calibration unit on the third reference plane is at least three calibration points;

[0045] The first calibration portion includes a calibration hole and a calibration plane; the calibration hole extends into the interior of the calibration bracket at the second reference surface until it reaches the calibration plane;

[0046] The second calibration part includes a calibration column; the calibration column is arranged on the third reference plane, and the axis of the calibration column is perpendicular to the third reference plane.

[0047] In one embodiment, the calibration bracket further includes a fourth reference surface; an angle less than 90° exists between the fourth reference surface and the second reference surface; a third calibration portion is provided on the fourth reference surface; the third calibration portion includes a limiting structure and a calibration structure.

[0048] In one embodiment, the calibration bracket also includes a fifth reference plane; the fifth reference plane is perpendicular to the second reference plane; the first calibration portion also includes a second calibration hole and a second calibration plane; the second calibration hole extends into the interior of the calibration bracket at the fifth reference plane until reaching the second calibration plane.

[0049] In one embodiment, there is an angle less than 90° between the fourth reference plane and the second reference plane; and the projection of the calibration unit on the fourth reference plane is at least three calibration points.

[0050] The fifth reference plane is perpendicular to the second reference plane; the projection of the calibration unit on the fifth reference plane is at least three calibration points.

[0051] The first calibration portion includes at least two calibration holes; the diameters of the calibration holes are different.

[0052] The second calibration part includes at least two calibration columns; the diameters of the calibration columns are different, and the second reference plane is perpendicular to the third reference plane.

[0053] The second calibration portion further includes a limiting groove; the limiting groove is recessed in the third reference surface; and the limiting groove corresponds to the calibration column one by one.

[0054] In one embodiment, the structure of the intramedullary nail marker is as follows: Figure 4 As shown, 1 is the first reference plane, 2 is the calibration point (optical sphere), 3 is the calibration hole, and 4 is the calibration column.

[0055] In one embodiment, the position and direction of the locking nail hole are obtained through the point position and direction on the intramedullary nail marker.

[0056] S102: obtaining a real-time image of the intramedullary nail inserted into the surgical site of the patient through an optical tracking system, wherein the real-time image of the intramedullary nail includes the position and direction of a first locking hole of the intramedullary nail and the position and direction of a second locking hole of the intramedullary nail.

[0057] In one embodiment, after the intramedullary nail is calibrated and the parameters of the intramedullary nail are obtained, the intramedullary nail is tracked by an optical tracking system, and the intramedullary nail image is displayed in real time. The image of the intramedullary nail is inserted into the surgical site of the patient through the displayed intramedullary nail image and the preoperatively planned intramedullary nail installation path, and the real-time image of the intramedullary nail inserted into the surgical site of the patient is obtained, and the real-time image of the intramedullary nail includes the position and direction of the first locking nail hole of the intramedullary nail and the position and direction of the second locking nail hole of the intramedullary nail.

[0058] S103: calibrate the first screw to obtain a real-time first screw image, and display the relative position and direction of the first screw image and the first locking hole of the intramedullary nail in real time;

[0059] In one embodiment, the screw is calibrated by identifying a reference frame on the screw through an optical tracking system, wherein the reference frame has an optical ball.

[0060] In one embodiment, an optical tracking system is used to identify a first screw with an optical ball reference frame to obtain the spatial position of the first screw and display the first screw image in real time, and the distance and direction are adjusted according to the relative position and direction of the first screw image and the first locking screw hole, until the image of the first locking screw hole of the intramedullary nail in the patient's surgical site image is inserted into the first screw image to obtain an image of the patient's surgical site with the first screw inserted.

[0061] In one embodiment, the second screw is calibrated and placed after the first screw is placed.

[0062] In one embodiment, after the first screw is placed, the intramedullary nail is calibrated to obtain a corrected intramedullary nail image, and then the second screw is calibrated and placed based on the corrected intramedullary nail image.

[0063] In one embodiment, the method further includes intramedullary nail calibration. After the intramedullary nail completes locking of the N-1th locking nail hole, the real-time image of the intramedullary nail is calibrated to obtain a calibrated image, and the Nth locking nail hole is locked based on the calibrated intramedullary nail image, where N is a natural number greater than or equal to 2.

[0064] In one embodiment, the method further includes intramedullary nail calibration. After S103 is completed, intramedullary nail calibration is performed to obtain a calibrated real-time image of the intramedullary nail, and the second screw is calibrated based on the calibrated real-time image of the intramedullary nail.

[0065] In one embodiment, the calibration is performed by touching the intramedullary nail with a probe along the contour of the intramedullary nail to obtain point cloud data, and the point cloud data is fused and calibrated with the real-time image of the intramedullary nail to obtain a calibrated intramedullary nail image.

[0066] In one embodiment, the probe is provided with a reference frame on which there is an optical ball, and the spatial coordinate position of the probe is obtained by tracking the optical ball through an optical tracking system.

[0067] S104: Calibrate the second screw to obtain a real-time first screw image, and display the relative position and direction of the second screw image and the second locking screw hole of the intramedullary nail in real time.

[0068] In one embodiment, the second screw with the optical ball reference frame is tracked by an optical tracking system to obtain a second screw image, and the distance and direction are adjusted based on the relative position and direction of the second screw image and the second locking screw hole of the intramedullary nail, until the image of the second locking screw hole of the intramedullary nail in the patient's surgical site image is inserted into the second screw image to obtain an image of the patient's surgical site with the second screw inserted.

[0069] In one embodiment, the intramedullary nail is calibrated to avoid the problem of displacement of the position of the intramedullary nail locking hole due to deformation of the intramedullary nail when inserted into the surgical site of the patient, so that the intramedullary nail image presented in real time by the intraoperative navigation system is consistent with the intramedullary nail of the patient in the real world; after the first screw is inserted into the first locking hole, the intramedullary nail is calibrated to obtain the corrected intramedullary nail and the second locking hole image, the second screw is calibrated to obtain the image of the second screw, and the distance and direction are adjusted based on the relative position and direction of the second screw image and the second locking hole of the intramedullary nail, until the image of the second locking hole of the intramedullary nail in the image of the surgical site of the patient is inserted into the image of the second screw to obtain the image of the surgical site of the patient with the second screw inserted.

[0070] In one embodiment, the third locking nail hole of the intramedullary nail is locked. The intramedullary nail is first calibrated to obtain a calibrated image. Based on the calibrated intramedullary nail image and the third locking nail hole image, the third screw is calibrated to obtain an image of the third screw. Based on the relative position and direction of the third screw image and the third locking nail hole of the intramedullary nail, distance adjustment and direction adjustment are performed until the image of the third locking nail hole of the intramedullary nail in the image of the patient's surgical site is inserted into the third screw image to obtain an image of the patient's surgical site with the third screw inserted.

[0071] In one embodiment, the N+1th locking nail hole of the intramedullary nail is locked, and the intramedullary nail is first calibrated to obtain a calibrated image, and based on the calibrated image and the N+1th locking nail hole image, the N+1th screw is calibrated to obtain an image of the N+1th screw, and the distance and direction are adjusted based on the relative position and direction of the N+1th screw image and the N+1th locking nail hole of the intramedullary nail, until the image of the N+1th locking nail hole of the intramedullary nail in the image of the patient's surgical site is inserted into the N+1th screw image to obtain an image of the patient's surgical site with the N+1th screw inserted, where N is a natural number greater than or equal to 1.

[0072] The disclosed embodiments of the present invention further provide a computer program product or system, including a computer program, which, when executed by a processor, implements the above-mentioned steps of the intramedullary nail locking method based on an optical tracking system.

[0073] Figure 2 A schematic diagram of an intramedullary nail locking system based on an optical tracking system provided by an embodiment of the present invention specifically includes:

[0074] Acquisition module: Acquisition of parameters of the intramedullary nail, wherein the intramedullary nail comprises two or more locking nail holes, the locking nail holes are in different directions and are located on the same straight line; the parameters include nail hole diameter, intramedullary nail diameter, and relative distance between nail holes;

[0075] Nail hole module: obtains a real-time image of the intramedullary nail inserted into the surgical site of the patient through an optical tracking system, wherein the real-time image of the intramedullary nail includes the position and direction of the first locking nail hole of the intramedullary nail and the position and direction of the second locking nail hole of the intramedullary nail;

[0076] First screw module: calibrates the first screw to obtain a real-time first screw image, and displays the relative position and direction of the first screw image and the first locking screw hole of the intramedullary nail in real time;

[0077] Second screw module: calibrates the second screw to obtain a real-time first screw image, and displays the relative position and direction of the second screw image and the second locking screw hole of the intramedullary nail in real time.

[0078] In a specific embodiment, intramedullary nail implantation is performed based on the path of intraoperative navigation, and the process is as follows: Tool calibration: The tool calibration page is used to register surgical navigation tools. The navigation tool list is displayed on the left side of the page, the navigation tool three-dimensional model is displayed in the middle of the page, and the tool logo on the right side of the page prompts whether the navigation tool is within the irradiation range of the optical positioner. Tool calibration is divided into sleeve calibration, intramedullary nail calibrator calibration, and intramedullary nail calibration.

[0079] Sleeve calibration:

[0080] 1) In the tool list on the left side of the software page, click and select the surgical navigation tool to be calibrated, such as Figure 5 As shown;

[0081] 2) Insert the tip of the navigation tool to be calibrated into the bottom of the tool calibrator and fit it tightly;

[0082] 3) Place the navigation tool to be calibrated and the tool calibrator within the detection range of the optical position finder, and ensure that the tool logos on the right side of the page are all displayed in green;

[0083] 4) Keep the navigation tool to be calibrated and the tool calibrator still, and click the "Start Calibration" button on the tool calibration page of the software, as shown above. The software will automatically calibrate the navigation tool.

[0084] 5) After the calibration is completed, if the calibration is successful, the navigation tool in the tool list will display a calibration success mark.

[0085] Intramedullary nail calibration: In the navigation tool list, click "Intramedullary nail" to display the intramedullary nail calibration module. During the calibration process, you need to ensure that the intramedullary nail and intramedullary nail calibrator icons on the right side of the page are displayed in green.

[0086] Intramedullary nail calibrator: There are dimensions on the intramedullary nail calibrator. The holes on the calibrator are used to measure the diameter of the nail and calibrate the nail head, and the columns on the calibrator are used to measure the diameter of the nail hole and calibrate the nail hole.

[0087] Measuring the nail diameter: There are multiple holes on the calibrator, each with a size marked. Insert the intramedullary nail into the appropriate hole and fill in the size marked on the hole in the "nail diameter" input box.

[0088] Measuring the nail hole diameter: There are multiple calibration posts on the calibrator, and each calibration post is also marked with a size. Put the intramedullary nail hole on a suitable calibration post and fill in the size marked on the calibration post in the "Nail Hole Diameter" input box.

[0089] Calibrate the nail head: insert the intramedullary nail into the appropriate calibration hole of the intramedullary nail calibrator and insert it to the bottom, select the "Nail Head" button, and then click the "Start Calibration" button to start calibrating the intramedullary nail head. After the calibration is completed, the nail head button will display the calibration completed.

[0090] Calibrate the locking pin hole: Put the locking hole on the appropriate locking hole calibration column, click the "1" button to calibrate the first locking pin hole at the far end.

[0091] Note: The first locking pin hole at the far end is "1", and so on. Figure 6 shown.

[0092] Path guidance: On the reset and opening guidance page, click the "Path Guidance" button at the bottom of the page to enter the path guidance page.

[0093] If the tool calibration is not completed, you need to calibrate the tool before entering the path guidance page.

[0094] The path guidance page displays the 3D model in three parts of the screen, such as Figure 7 Double-click any split screen to enlarge it to full screen.

[0095] Path list: Displays the planned path information.

[0096] Automatically select path switch: Set whether to automatically switch the guidance path during path guidance.

[0097] Navigation tool: Displays navigation tool information. You can set the transparency of the navigation tool and whether to display the extension line of the navigation tool. The default is the sleeve tool.

[0098] Extension line: Set whether to display the extension line of the navigation tool. The extension line of the navigation tool is turned off by default.

[0099] Transparency: Set the transparency of the 3D model. The default transparency is 50%. You can adjust the transparency using the slider.

[0100] Path guidance prompt information:

[0101] Path distance: the vertical distance between the tip of the navigation tool and the extension line of the path, in MM;

[0102] Target distance: the straight-line distance between the tip of the navigation tool and the target point on the path, in MM;

[0103] Angle: The acute angle between the navigation tool axis and the path extension line, in degrees.

[0104] Note: During the path guidance process, please make sure that the icons of the fixed bone, mobile bone and sleeve on the right side of the page are displayed in green.

[0105] Click the "Next" button. If the tool has not been calibrated, you will be prompted to calibrate the tool first.

[0106] In a specific embodiment, intramedullary nail implantation: On the intramedullary nail implantation page, click the "Intramedullary Nail Implantation" button at the bottom of the page to display the intramedullary nail implantation page.

[0107] The intramedullary nail implantation page displays a three-dimensional model in three parts of the screen, such as Figure 8 Double-click any split screen to enlarge it to full screen.

[0108] Navigation tool: Display navigation tool information. You can set the transparency of the navigation tool and whether to display the extension line of the navigation tool. The sleeve tool is selected by default.

[0109] Extension line: Set whether to display the extension line of the navigation tool. The extension line of the navigation tool is turned off by default.

[0110] Tool transparency: Set the transparency of the navigation tool 3D model. The default transparency is 100%, and the transparency can be adjusted using the slider.

[0111] 2) Model transparency: Set the transparency of the 3D model. The default setting is 50%. The model transparency can be adjusted using the slider.

[0112] Note: During the intramedullary nail implantation process, please ensure that the fixed bone, mobile bone and intramedullary nail icons on the right side of the page are displayed in green.

[0113] In a specific embodiment, locking nail: on the intramedullary nail implantation page, click the "lock nail" button at the bottom of the page to display the locking nail page.

[0114] The pin page displays the 3D model in three parts, such as Fig. 9 Double-click any split screen to enlarge it to full screen.

[0115] Nail hole list: displays the marked intramedullary nail locking holes.

[0116] Navigation tool: Display navigation tool information. You can set the transparency of the navigation tool and whether to display the extension line of the navigation tool. The sleeve tool is selected by default.

[0117] Tool transparency: Set the transparency of the navigation tool 3D model. The default transparency is 100%, and the transparency can be adjusted using the slider.

[0118] Extension line: Set whether to display the extension line of the navigation tool. The extension line of the navigation tool is turned off by default.

[0119] Path guidance prompt information:

[0120] Path distance: the vertical distance between the tip of the navigation tool and the extension line of the path, in MM;

[0121] Target distance: the straight-line distance between the tip of the navigation tool and the target point on the path, in MM;

[0122] Angle: The acute angle between the navigation tool axis and the path extension line, in degrees.

[0123] In one specific embodiment, the intramedullary nail calibration: Intramedullary nail calibration page workspace displays an intramedullary nail model, such as Fig.10 The toolbar on the left side of the page displays the up, down, left, and right arrow keys. Click the arrow keys to adjust the intramedullary nail model to move up, down, left, and right.

[0124] Intramedullary nail calibration method:

[0125] 1) Insert the probe into the opened bone window, touch the intramedullary nail, click the "Collect" button, and use the probe to trace the contour of the intramedullary nail. During the collection process, the collection progress is displayed at the bottom of the screen until the collection is completed. The collected data generates a point cloud and is displayed in the intramedullary nail calibration page workspace.

[0126] 2) Click the direction button to make the point cloud tangent to the surface of the intramedullary nail model, and click the "OK" button to complete the calibration.

[0127] During the calibration process, please ensure that the marks of the intramedullary nail and probe on the right side of the page are displayed in green.

[0128] Figure 3A schematic diagram of an intramedullary nail locking device based on an optical tracking system provided by an embodiment of the present invention specifically includes:

[0129] A memory and a processor; the memory is used to store program instructions; the processor is used to call the program instructions, and when the program instructions are executed, any one of the above-mentioned intramedullary nail locking methods based on the optical tracking system is executed.

[0130] The disclosed embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any one of the above-mentioned intramedullary nail locking methods based on an optical tracking system is implemented.

[0131] The verification results of this verification embodiment show that assigning inherent weights to indications can improve the performance of the method relative to the default setting. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as 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 coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units. A person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above-mentioned embodiments may be completed by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0132] A person skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be implemented by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. The above-mentioned medium storage can be a read-only memory, a disk or an optical disk, etc.

[0133] The above is a detailed introduction to a computer device provided by the present invention. For a person skilled in the art, according to the concept of the embodiments of the present invention, there may be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for locking an intramedullary nail based on an optical tracking system, characterized in that: include: S1 obtains parameters of an intramedullary nail, wherein the intramedullary nail comprises two or more locking nail holes, the locking nail holes have different directions and are located on the same straight line; the parameters include nail hole diameters, positions between the nail holes, and directions of the nail holes; S2 obtains a real-time image of the intramedullary nail inserted into the surgical site of the patient through an optical tracking system, wherein the real-time image of the intramedullary nail includes the position and direction of the first locking hole of the intramedullary nail and the position and direction of the second locking hole of the intramedullary nail; S3 calibrates the first screw to obtain a real-time first screw image, and displays the relative position and direction of the first screw image and the first locking screw hole of the intramedullary nail in real time; S4 calibrates the second screw to obtain a real-time second screw image, and displays the relative position and direction of the second screw image and the second locking screw hole of the intramedullary nail in real time; The method further includes intramedullary nail calibration, after S3 is completed, intramedullary nail calibration is performed to obtain a calibrated real-time image of the intramedullary nail, and the second screw is calibrated based on the calibrated real-time image of the intramedullary nail; The calibration involves touching the intramedullary nail with a probe along its contour to obtain point cloud data, and fusing and calibrating the point cloud data with the real-time image of the intramedullary nail to obtain a calibrated intramedullary nail image.

2. The intramedullary nail locking method based on an optical tracking system according to claim 1, characterized in that: The method further comprises intramedullary nail calibration, and after the intramedullary nail is calibrated, parameters of the calibrated intramedullary nail are obtained.

3. The intramedullary nail locking method based on an optical tracking system according to claim 2, characterized in that: The calibration is performed by an intramedullary nail calibrator, which contains M optical spheres, where M is a natural number greater than 3. The spatial position of the intramedullary nail calibrator is obtained after the intramedullary nail calibrator is calibrated by the optical spheres. The intramedullary nail is calibrated based on the spatial position of the intramedullary nail calibrator to obtain the spatial position relationship of the intramedullary nail. The spatial position relationship includes the vertex and axial direction of the intramedullary nail, and the position of each locking nail hole is obtained based on the vertex and axial direction.

4. The intramedullary nail locking method based on an optical tracking system according to claim 3, characterized in that: The intramedullary nail calibrator also includes K groups of calibration columns, K is a natural number greater than 1, and the parameters of the intramedullary nail are measured by the calibration columns to obtain the parameters of the intramedullary nail, and the nail hole diameter and the nail hole direction of the intramedullary nail are obtained by the calibration columns.

5. The intramedullary nail locking method based on an optical tracking system according to claim 1, characterized in that: The calibration of the first screw and the second screw is performed by identifying a reference frame on the screws through an optical tracking system, wherein the reference frame has an optical ball.

6. A computer program product comprising a computer program or instructions, characterized in that: The computer program or instructions are executed by a processor to implement the intramedullary nail locking method based on an optical tracking system according to any one of claims 1 to 5.

7. A computer device comprising a memory, a processor and a computer program or instruction stored in the memory, characterized in that: The computer program or instructions are executed by a processor to implement the intramedullary nail locking method based on an optical tracking system according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: The computer program or instructions are executed by a processor to implement the intramedullary nail locking method based on an optical tracking system according to any one of claims 1 to 5.

Images