Surgical navigation tracking method, system and tracing element

Abstract

The embodiment of the invention provides a surgical navigation tracking method and system and tracing elements, and the method is applied to the surgical navigation tracking system, and comprises the steps: determining an initial image coordinate system based on scanning data, and constructing an initial optical coordinate system based on the initial optical coordinates of a plurality of tracing elements fixed on the skin surface of a patient; registering the initial image coordinate system and the initial optical coordinate system at the same moment to obtain a first registration transformation matrix, and determining local coordinates of the plurality of tracing elements in the initial optical coordinate system; determining first real-time coordinates of the plurality of tracing elements in the navigation stage, and registering the first real-time coordinates and the local coordinates to obtain a second registration transformation matrix; obtaining an image spine position based on the second real-time coordinate, the second registration transformation matrix and the first registration transformation matrix; the spine position of a patient can be tracked in real time through the tracing element on the skin surface of the patient, and surgical wounds of the patient cannot be increased.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a surgical navigation tracking method, system and tracing element. Background Art

[0002] With the development of medical imaging and computer technology, navigation robots based on optical tracking systems have been increasingly used in clinical surgery. For example, spinal surgery navigation robots in the field of orthopedic surgery can track and navigate the surgical site based on intraoperative images, which not only provides auxiliary guidance for doctors to place surgical screws, but also greatly shortens the planning and operation time of doctors. It has extremely high clinical application value and broad clinical application prospects. Optical tracking of the patient's surgical site is an important technology in the spinal surgery navigation system.

[0003] The traditional tracking method of spinal surgery navigation robot is to make a skin incision on the patient, insert a bone clamp into the incision, and fix the optical tracking device on the patient's spine to achieve real-time tracking of the patient's spine coordinates. Although this can achieve real-time tracking of the patient's spine coordinates, it requires additional surgical incisions near the patient's spine, which increases the harm to the patient. Summary of the invention

[0004] The present application provides a surgical navigation tracking method, system and tracing element, which can determine the patient's spinal position and complete spinal surgery without increasing surgical incisions, thereby reducing damage to the patient.

[0005] In a first aspect of the present application, a surgical navigation tracking method is provided, which is applied to a surgical navigation tracking system. The method comprises:

[0006] Acquire scan data of the registration phase and initial optical coordinates of a plurality of tracer elements, wherein the tracer elements are fixed on the skin surface of the patient;

[0007] determining an initial image coordinate system based on the scan data, and constructing an initial optical coordinate system based on initial optical coordinates of the plurality of tracer elements;

[0008] Registering the initial image coordinate system and the initial optical coordinate system at the same time to obtain a first registration transformation matrix, and determining the local coordinates of each of the multiple tracer elements in the initial optical coordinate system;

[0009] Determine the first real-time coordinates of each of the plurality of tracer elements in the navigation phase, and register the first real-time coordinates with the local coordinates to obtain a second registration transformation matrix;

[0010] Based on the second real-time coordinates of each tracer element in the navigation phase, the second registration transformation matrix and the first registration transformation matrix, the image spine position is obtained; the first real-time coordinates and the second real-time coordinates respectively represent the positions of the tracer elements at different times.

[0011] In some embodiments, constructing an initial optical coordinate system based on initial optical coordinates of a plurality of tracking elements comprises:

[0012] Fitting the initial optical coordinates of multiple tracer elements to obtain a fitting plane;

[0013] Based on the fitting plane, the initial optical coordinate system is constructed.

[0014] In some embodiments, constructing an initial optical coordinate system based on the fitting plane includes:

[0015] Determine the normal vector passing through the first tracing element among the multiple normal vectors corresponding to the fitting plane as the first coordinate axis direction; wherein the first tracing element is any tracing element among the multiple tracing elements;

[0016] Determine the direction from the first tracing element to the second tracing element as the direction of the second coordinate axis; wherein the second tracing element is the tracing element farthest from the first tracing element among the plurality of tracing elements;

[0017] Perform a cross product of the vector corresponding to the direction of the first coordinate axis and the vector corresponding to the direction of the second coordinate axis to obtain the direction of the third coordinate axis;

[0018] An initial optical coordinate system is constructed based on the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction.

[0019] In some embodiments, the initial image coordinate system and the initial optical coordinate system at the same time are registered using the following formula to obtain a first registration transformation matrix:

[0020]

[0021] Among them, T0 is the first registration transformation matrix, C img is the initial image coordinate system, C tra is the initial optical coordinate system.

[0022] In some embodiments, determining the local coordinates of each of the plurality of tracking elements in the initial optical coordinate system comprises:

[0023] Based on the homogeneous coordinate matrix of the initial optical coordinate system and each initial optical coordinate, the local coordinate of each tracking element is determined.

[0024] In some embodiments, the local coordinates of each tracking element are determined by the following formula:

[0025]

[0026] Among them, P i tra is the local coordinate of the ith tracer element, T tra is the homogeneous coordinate matrix of the initial optical coordinate system, P i is the initial optical coordinate of the ith tracking element.

[0027] In some embodiments, registering the first real-time coordinates and the local coordinates to obtain a second registration transformation matrix includes:

[0028] Based on the multiple local coordinates, determining a registration distance between every two tracking elements;

[0029] Based on the plurality of first real-time coordinates, determining a real-time distance between every two tracking elements;

[0030] A second registration transformation matrix is ​​determined based on the registration distance and the real-time distance between every two tracking elements.

[0031] In some embodiments, determining a second registration transformation matrix based on the registration distance and the real-time distance between every two tracking elements comprises:

[0032] Determine a plurality of relative position deviation values ​​based on the registration distance and the real-time distance between each two tracking elements;

[0033] Eliminate relative position deviation values ​​that meet preset conditions from multiple relative position deviation values ​​to obtain multiple target relative position deviation values;

[0034] Based on the multiple target relative position deviation values, a second registration transformation matrix is ​​determined.

[0035] In some embodiments, determining a second registration transformation matrix based on a plurality of target relative position deviation values ​​includes:

[0036] Determine a first geometric center corresponding to the plurality of tracer elements based on the plurality of local coordinates, and determine a second geometric center corresponding to the plurality of tracer elements based on the plurality of first real-time coordinates;

[0037] Generate a feature matrix based on a first distance between each local coordinate and the first geometric center, and a second distance between each first real-time coordinate and the second geometric center;

[0038] Perform singular value decomposition on the characteristic matrix, and obtain the rotation matrix according to the singular value decomposition result;

[0039] Based on the rotation matrix and the relative position deviation values ​​of each target, a second registration transformation matrix is ​​determined.

[0040] In some embodiments, the preset condition includes: the relative position deviation value is a relative position deviation value with the largest deviation value among multiple relative position deviation values.

[0041] In some embodiments, the relative position deviation value of every two tracking elements is determined by the following formula:

[0042]

[0043] Among them, E i is the relative position deviation value of the ith tracing element, is the registration distance between the ith tracer element and the jth tracer element, is the real-time distance between the i-th tracing element and the j-th tracing element, and N is the number of tracing elements.

[0044] In some embodiments, the feature matrix is ​​as follows:

[0045]

[0046] Among them, K is the feature matrix; M i =P i tra -E tra , P i tra is the first distance corresponding to the ith tracer element, E tra is the first geometric center; Q i =P i real -E real , P i real is the second distance corresponding to the ith tracer element, E real is the second geometric center, and N is the number of tracer elements.

[0047] In some embodiments, the rotation matrix is ​​as follows:

[0048]

[0049] Among them, R is the rotation matrix, U is the orthogonal matrix in the singular value decomposition result, S is the identity matrix with the last element being -1, and V is the transpose of another orthogonal matrix in the singular value decomposition result.

[0050] In some embodiments, the second registration transformation matrix is ​​as follows:

[0051]

[0052] Among them, T real is the second registration transformation matrix, T = E real -R.Etra , E tra is the first geometric center, E real is the second geometric center, and R is the rotation matrix.

[0053] In some embodiments, obtaining the image spine position based on the second real-time coordinates of each tracing element in the navigation phase, the second registration transformation matrix, and the first registration transformation matrix includes:

[0054] The second real-time coordinates are transformed by the second registration transformation matrix and the first registration transformation matrix to obtain a corresponding real-time image coordinate system, and the image spine position is determined based on the real-time image coordinates.

[0055] In a second aspect of the present application, a surgical navigation tracking system is provided, comprising:

[0056] An acquisition module, used for acquiring the scan data of the registration stage and the initial optical coordinates of a plurality of tracer elements; wherein the tracer elements are fixed on the skin surface of the patient;

[0057] A processing module, used to determine an initial image coordinate system based on the scan data, and to construct an initial optical coordinate system based on the initial optical coordinates of a plurality of tracer elements; further used to determine the local coordinates of each of the plurality of tracer elements in the initial optical coordinate system; further used to determine the first real-time coordinates of each of the plurality of tracer elements in the navigation phase, and to register the first real-time coordinates with the local coordinates to obtain a second registration transformation matrix; further used to obtain the image spine position based on the second real-time coordinates of each tracer element in the navigation phase, the second registration transformation matrix, and the first registration transformation matrix; the first real-time coordinates and the second real-time coordinates respectively represent the position of the tracer element at different times;

[0058] The registration module is used to register the initial image coordinate system and the initial optical coordinate system at the same time to obtain a first registration transformation matrix.

[0059] In a third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned embodiments are implemented.

[0060] In a fourth aspect of the present application, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of any of the above-mentioned embodiment methods are implemented.

[0061] The present application provides a surgical navigation tracking method, which is applied to a surgical navigation tracking system. The method includes: acquiring scanning data and initial optical coordinates of multiple tracer elements in a registration phase; wherein the tracer elements are fixed on the skin surface of the patient; determining an initial image coordinate system based on the scanning data, and constructing an initial optical coordinate system based on the initial optical coordinates of the multiple tracer elements; registering the initial image coordinate system and the initial optical coordinate system at the same time to obtain a first registration transformation matrix, and determining local coordinates of each of the multiple tracer elements in the initial optical coordinate system; determining first real-time coordinates of each of the multiple tracer elements in the navigation phase, and transforming the first real-time coordinates into the local coordinates; The first real-time coordinates and the second real-time coordinates of the tracing elements in the navigation stage respectively represent the positions of the tracing elements at different times. Thus, by fixing a plurality of tracing elements on the skin surface of the patient and establishing a mapping between the tracing elements and the spinal positions, the spinal positions of the patient can be tracked in real time through the tracing elements on the skin surface of the patient, so as to provide navigation for the surgical robot, thereby facilitating the robotic arm of the surgical robot and the doctor to determine the surgical position for performing the surgery. This will not increase the surgical incision of the patient and can reduce the harm to the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 A schematic diagram of an application scenario of the surgical navigation tracking method provided in an embodiment of the present application;

[0064] Figure 2 A schematic diagram of another application scenario of the surgical navigation tracking method provided in an embodiment of the present application;

[0065] Figure 3 A schematic diagram of another application scenario of the surgical navigation tracking method provided in an embodiment of the present application;

[0066] Figure 4 A schematic diagram of another application scenario of the surgical navigation tracking method provided in an embodiment of the present application;

[0067] Figure 5 A schematic diagram of the structure of a tracer element provided in an embodiment of the present application;

[0068] Figure 6A schematic diagram of a surgical navigation tracking method provided in an embodiment of the present application;

[0069] Figure 7 A schematic diagram of an image coordinate system provided in an embodiment of the present application;

[0070] Fig. 8A A flowchart of another surgical navigation tracking method provided in an embodiment of the present application;

[0071] Figure 8B A flowchart of another surgical navigation tracking method provided in an embodiment of the present application;

[0072] Fig. 9 A schematic diagram of a fitting plane is provided for an embodiment of the present application;

[0073] Fig.10 A flowchart of another surgical navigation tracking method provided in an embodiment of the present application;

[0074] Fig.11 A flowchart of another surgical navigation tracking method provided in an embodiment of the present application;

[0075] Fig.12 A flowchart of another surgical navigation tracking method provided in an embodiment of the present application;

[0076] Fig.13 A schematic diagram of the structure of a surgical navigation and tracking system provided in an embodiment of the present application;

[0077] Fig.14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0078] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application.

[0079] With the development of medical imaging and computer technology, navigation robots based on optical tracking systems have been increasingly used in clinical surgery. For example, spinal surgery navigation robots in the field of orthopedic surgery can track and navigate the surgical site based on intraoperative images, which not only provides auxiliary guidance for doctors to place surgical screws, but also greatly shortens the planning and operation time of doctors. It has extremely high clinical application value and broad clinical application prospects. Optical tracking of the patient's surgical site is an important technology in the spinal surgery navigation tracking system.

[0080] The traditional tracking method of the spinal surgery navigation robot is to make an incision on the patient's skin, insert a bone clamp into the incision, and fix the tracer element on the patient's spine. Since the tracer element and the spine are rigidly connected, the optical tracking system can further achieve real-time tracking of the patient's spine coordinates by tracking the tracer element. Although this can achieve real-time tracking of the patient's spine coordinates, it requires additional surgical incisions near the patient's spine, which increases the harm to the patient.

[0081] In order to solve the above technical problems. The present application provides a surgical navigation tracking method, which fixes multiple tracing elements on the patient's skin surface and establishes a real-time mapping between the tracing elements and the spinal position, so that the patient's spinal position can be tracked in real time through the tracing elements on the patient's skin surface to provide navigation for the surgical robot, thereby facilitating the robotic arm of the surgical robot and the doctor to determine the surgical position to perform the operation; this will not increase the patient's surgical wound and can reduce damage to the patient.

[0082] Before describing the technical solution of the embodiment of the present application, the application scenario of the surgical navigation tracking method of the embodiment of the present application and the structure of the tracing element in the surgical navigation tracking method are first described with reference to the accompanying drawings. Figure 1 Schematic diagram of application scenarios of the surgical navigation tracking method provided in the embodiment of the present application. Figure 1 As shown, before the operation, multiple tracer elements can be fixed on the skin surface of the area near the operation. The tracer elements can be fixed on the skin surface of the patient by pasting, or by adsorption, which is not limited in the embodiments of the present application. In the following embodiments, the tracer elements are fixed on the skin surface of the patient by pasting as an example for exemplary description.

[0083] In some embodiments, Figure 2 This is another application scenario diagram of the surgical navigation tracking method provided in the embodiment of the present application. Figure 1 and Figure 2 As shown, the size of the wound in different surgical procedures is different, and the number of tracer elements pasted around the wound is also different. For example, the number of tracer elements pasted around the wound can be at least four, and can also be determined according to the surgical scene. This embodiment of the application is not limited to this.

[0084] For example, when the wound is large, the tracer elements need to be arranged more dispersedly. At this time, in order to reduce the impact of the tracer elements being blocked on the operation, the number of tracer elements can be increased to improve the navigation tracking accuracy and ensure the normal operation. That is, the larger the wound, the more tracer elements are pasted around the wound; for example, the wound of percutaneous kyphoplasty (PKP) ( Figure 1 The ellipse area selected by the dashed line in the figure is smaller than the incision of percutaneous spinal fixation surgery ( Figure 2 The square area selected by the dashed line in the figure is Figure 1 Tracer elements around the wound ( Figure 1 The number of P0-P4) in will be less than Figure 2 Tracer elements around the wound ( Figure 2 The number of P0-P5) in .

[0085] In some embodiments, Figure 3 This is another application scenario diagram of the surgical navigation tracking method provided in the embodiment of the present application. Figure 3 As shown, in order to reduce the impact of the tracer element being blocked on the surgery, the positions of the tracer elements attached around the surgery area on the patient's back can be adjusted so that any of the multiple intervals formed by the multiple tracer elements is enlarged. It should be noted that after the positions of the tracer elements around the surgery area on the patient's back are adjusted, the number of tracer elements on the patient's skin surface should be at least four.

[0086] For example, Figure 1 The positions of the five tracer elements P0-P4 are shown in Figure 3 The method shown is to stick it around the surgical area on the patient's back; the doctor can perform the surgical operation in the interval between the tracing element P0 and the tracing element P4, so that the tracing elements are not easily blocked.

[0087] In other embodiments, Figure 4 This is another application scenario diagram of the surgical navigation tracking method provided in the embodiment of the present application. Figure 4 As shown, in order to prevent the optical tracking system from being unable to complete the positioning of the tracking element due to the tracking element being blocked, any tracking element attached to the surgical area around the patient's back can be removed, so that any interval between multiple tracking elements is increased.

[0088] For example, one can remove Figure 2 Any of the six tracer elements shown, such as tracer element P5; after removing tracer element P5, the remaining five tracer elements P0-P4 will be as follows Figure 4The method shown is pasted around the surgical area on the patient's back, and the interval between the tracing element P0 and the tracing element P4 is increased. The doctor can perform surgery at the interval between the tracing element P0 and the tracing element P4, which is not easy to cover the tracing element.

[0089] It should be noted that the embodiments of the present application do not limit the arrangement of multiple tracer elements in the surgical area. The above embodiments are exemplified by the example of multiple tracer elements being pasted around the wound in the surgical area and arranged in a non-collinear manner.

[0090] Figure 5 A schematic diagram of the structure of the tracer element provided in the embodiment of the present application, such as Figure 5 As shown, the tracing element in the embodiment of the present application includes a main body 51 and a plurality of optical markers 52 .

[0091] In some embodiments, the main body 51 includes a first surface, which is used to fit with the skin surface of the patient so that the tracing element is fixed on the skin surface of the patient; that is, in an application scenario, the first surface of the main body 51 can be adhered to the skin surface of the patient so that the tracing element is fixed on the skin surface of the patient.

[0092] Exemplarily, the main body 51 may be a triangle, a circle, or a polygon. The embodiment of the present application does not limit the shape of the main body 51, and the embodiment of the present application takes the main body 51 as a triangle as an example for illustrative description.

[0093] In some embodiments, multiple optical markers 52 are disposed on the body 51 and at least three of the multiple optical markers 52 are not collinear. When scanning a patient, each optical marker 52 can be positioned and tracked by a surgical navigation tracking system (also referred to as an optical tracking system).

[0094] Exemplarily, the number of optical markers 52 may be three, and the three optical markers 52 are arranged in a triangle. It should be noted that the number of optical markers 52 may also be four, and the embodiment of the present application does not limit the number of optical markers 52. Among them, each optical marker 52 is set at any position on the main body 51 that can be located by the surgical navigation tracking system, such as, each optical marker 52 can be set on the second surface of the main body 51 opposite to the first surface. The embodiment of the present application does not limit the relative position of the optical marker and the main body.

[0095] In some embodiments, Figure 5 As shown, the edge of the main body 51 may be provided with a chamfer, so as to prevent the tracing element from causing harm to the patient.

[0096] The following is combined with Figure 6, the surgical navigation tracking method provided in the embodiment of the present application is explained. It should be noted that the surgical navigation tracking method provided in the embodiment of the present application is applied to a surgical navigation tracking system, and the surgical navigation tracking system can be assembled in a control device, and the control device can be a server or a terminal device. Among them, the terminal device may include at least one of a trolley (also known as a surgical robot), a personal computer, a laptop computer, a smart phone, a tablet computer, and a portable wearable device; the server may include an independent server or a server cluster composed of multiple servers, which is not limited in the embodiment of the present application.

[0097] like Figure 6 As shown, an embodiment of the present application provides a surgical navigation tracking method, which is applied to a surgical navigation tracking system. The method includes S601-S605.

[0098] S601, acquiring scanning data in the registration phase and initial optical coordinates of multiple tracking elements.

[0099] The tracking element is fixed on the skin surface of the patient, and the initial optical coordinates of the tracking element represent the position of the tracking element detected by the optical tracking system.

[0100] In some embodiments, the surgical navigation tracking system includes at least an optical tracking module (also referred to as an optical tracking system) and a medical imaging module (also referred to as a medical imaging system). The medical imaging system is used to scan the surgical site of the patient to obtain the user's scan data (also referred to as a spinal image). The optical tracking system is used to optically locate the tracer elements on the patient's skin surface to determine the position of the tracer elements, thereby obtaining the initial optical coordinates corresponding to each tracer element.

[0101] For example, a scanning operation may be performed on the surgical site of the patient by a three-dimensional C-arm scanning device.

[0102] S602 : Determine an initial image coordinate system based on the scan data, and construct an initial optical coordinate system based on the initial optical coordinates of the plurality of tracer elements.

[0103] For example, Figure 7 As shown, based on the scan data ( Figure 7 The initial image coordinate system C can be constructed img .

[0104] like Fig. 8A As shown, in some embodiments, constructing an initial optical coordinate system based on initial optical coordinates of a plurality of tracking elements may include S6021 - S6022 .

[0105] S6021. Fit the initial optical coordinates of multiple tracer elements to obtain a fitting plane.

[0106] In some embodiments, a plane may be obtained by fitting a plurality of initial optical coordinates corresponding to a plurality of tracing elements, and the plane is the fitting plane.

[0107] It should be noted that fitting multiple initial optical coordinates is an existing basis. For example, multiple initial optical coordinates can be fitted by a random sample consensus algorithm (RANSAC), and multiple initial optical coordinates can also be fitted by a least squares method, which will not be repeated here.

[0108] S6022. Construct an initial optical coordinate system based on the fitting plane.

[0109] like Figure 8B As shown, in some embodiments, S6022 may include S801-S804.

[0110] S801. Determine a normal vector passing through a first tracing element among a plurality of normal vectors corresponding to a fitting plane as a first coordinate axis direction.

[0111] The first tracing element is any tracing element among the plurality of tracing elements.

[0112] S802: Determine the direction from the first tracing element to the second tracing element as the direction of the second coordinate axis.

[0113] The second tracing element is the tracing element that is farthest from the first tracing element among the multiple tracing elements.

[0114] S803 . Perform a cross product of the vector corresponding to the direction of the first coordinate axis and the vector corresponding to the direction of the second coordinate axis to obtain the direction of the third coordinate axis.

[0115] In some embodiments, a cross product is performed on the vector corresponding to the direction of the first coordinate axis and the vector corresponding to the direction of the second coordinate axis to obtain a target vector, and the target vector is determined as the direction of the third coordinate axis.

[0116] It should be noted that cross multiplication of two vectors (the vector corresponding to the first coordinate axis direction and the vector corresponding to the second coordinate axis direction) to obtain another vector (the vector corresponding to the third coordinate axis) is a prior art and will not be described in detail here.

[0117] S804: construct an initial optical coordinate system based on the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction.

[0118] In some embodiments, since the direction of the first coordinate axis is the normal vector passing through the first tracing element among multiple normal vectors corresponding to the fitting plane, and the direction of the second coordinate axis is the direction from the first tracing element to the second tracing element, the first tracing element can be determined as the origin of the tracing element coordinate axis.

[0119] For example, Fig. 9 As shown in FIG. 1 , there are five tracer elements, namely P0, P1, P2, P3 and P4. If P0, P1, P2, P3 and P4 are fitted based on their respective initial optical coordinates, the fitting plane is Fig. 9 The plane formed by the dotted line in the middle; if P0 is the first tracer element, P3, which is the farthest from P0, can be determined as the second tracer element. At this time, the normal vector passing through P0 can be determined as the z-axis direction (the first coordinate axis direction), the direction from P0 to P3 can be determined as the y-axis direction (the second coordinate axis direction), and the x-axis direction (the third coordinate axis direction) can be obtained by cross-producting the z-axis direction and the y-axis direction vector; after determining the z-axis direction, the y-axis direction and the x-axis direction, the initial optical coordinate system C can be constructed. tra .

[0120] It should be noted that, in the embodiments of the present application, an initial optical coordinate system can be constructed according to actual needs. In the above embodiments, the methods of S801-S804 are used as examples for illustrative explanation. In other embodiments, the center point of the fitting plane can be used as the origin, and the direction from the center point of the fitting plane to any of the multiple tracing elements is the first coordinate axis direction, and the direction perpendicular to the first coordinate axis direction is the second coordinate axis direction; then, the vector corresponding to the first coordinate axis direction and the vector corresponding to the second coordinate axis direction are cross-multiplied to obtain the third coordinate axis direction; finally, the initial optical coordinate system is constructed based on the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction. The embodiments of the present application are not limited to this.

[0121] S603 , registering the initial image coordinate system and the initial optical coordinate system at the same time to obtain a first registration transformation matrix, and determining the local coordinates of each of the multiple tracer elements in the initial optical coordinate system.

[0122] The first registration transformation matrix represents the relative position relationship between the spine and the local coordinates corresponding to each tracing element at the time of scanning the image.

[0123] Exemplarily, the initial image coordinate system and the initial optical coordinate system obtained at the same time in executing S602 are registered to obtain a first registration transformation matrix.

[0124] In some embodiments, the initial image coordinate system and the initial optical coordinate system at the same time may be registered using the following formula to obtain a first registration transformation matrix:

[0125]

[0126] Among them, T0 is the first registration transformation matrix, C img is the initial image coordinate system, C tra is the initial optical coordinate system.

[0127] In some embodiments, the first registration transformation matrix also represents the transformation relationship between the initial image coordinate system and the initial optical coordinate system.

[0128] It can be understood that the surgical navigation and tracking system can establish a mapping relationship between the tracking element and the spinal position by aligning the initial image coordinate system and the initial optical coordinate system. In this way, during subsequent operations, there is no need to scan the patient all the time to obtain spinal images (also called scanning data). The optical tracking system can locate the spinal position by determining the real-time position of the tracking element.

[0129] In some embodiments, determining the local coordinates of each of the plurality of tracing elements in the initial optical coordinate system includes: determining the local coordinates of each tracing element based on a homogeneous coordinate matrix of the initial optical coordinate system and each initial optical coordinate.

[0130] In some embodiments, the local coordinates of each tracking element are determined by the following formula:

[0131]

[0132] Among them, P i tra is the local coordinate of the ith tracer element, T tra is the homogeneous coordinate matrix of the initial optical coordinate system, P i is the initial optical coordinate of the ith tracking element.

[0133] In some embodiments, the local coordinates of each tracer element can be determined while the initial image coordinate system and the initial optical coordinate system are registered to obtain the registration transformation matrix; the initial image coordinate system and the initial optical coordinate system can be registered to obtain the registration transformation matrix, and then the local coordinates of each tracer element can be determined; the local coordinates of each tracer element can also be determined first, and then the initial image coordinate system and the initial optical coordinate system are registered to obtain the registration transformation matrix. The embodiments of the present application are not limited to this.

[0134] S604: Determine the first real-time coordinates of each of the multiple tracer elements in the navigation phase, and align the first real-time coordinates with the local coordinates to obtain a second alignment transformation matrix.

[0135] In some embodiments, the first real-time coordinates of each tracking element represent the real-time position of each tracking element under the optical tracking system at the first moment of the navigation phase. The second registration transformation matrix represents the mapping relationship between the real-time coordinates corresponding to the tracking element and the local coordinates.

[0136] Exemplarily, the optical tracking system in the surgical navigation tracking system determines the first real-time coordinates of each tracking element, and registers the local coordinates of each tracking element with the first real-time coordinates of each tracking element to obtain a second registration transformation matrix.

[0137] like Fig.10 As shown, in some embodiments, the first real-time coordinates and the local coordinates are registered to obtain a second registration transformation matrix, including S1001-S1004.

[0138] S1001. Determine a registration distance between every two tracking elements based on a plurality of local coordinates.

[0139] In some embodiments, the registration distance refers to the Euclidean distance between two tracking elements determined based on their respective local coordinates.

[0140] For example, the registration distance between every two tracer elements can be determined and recorded in the manner shown in Table 1.

[0141] Table 1

[0142] Euclidean distance P0 P1 P2 P3 P4 … P0 0 L01 L02 L03 L04 … P1 L01 0 L12 L13 L14 … P2 L02 L12 0 L23 L24 … P3 L03 L13 L23 0 L34 … P4 L04 L14 L24 L34 0 … … … … … … … 0

[0143] S1002. Determine the real-time distance between every two tracing elements based on a plurality of first real-time coordinates.

[0144] In some embodiments, the real-time distance is a Euclidean distance between the two tracking elements determined according to the first real-time coordinates of the two tracking elements.

[0145] For example, the real-time distance between each two tracer elements can be determined and recorded in the manner shown in Table 1.

[0146] S1003: Determine a second registration transformation matrix based on the registration distance and the real-time distance between every two tracer elements.

[0147] like Fig.11 As shown, in some embodiments, S1003 may include S1101 - S1103 .

[0148] S1101. Determine a plurality of relative position deviation values ​​based on the registration distance and the real-time distance between every two tracking elements.

[0149] Exemplarily, the surgical navigation tracking system determines the relative position deviation value corresponding to every two tracing elements based on the registration distance between every two tracing elements and the real-time distance between every two tracing elements, thereby obtaining a plurality of relative position deviation values.

[0150] In some embodiments, the relative position deviation value of every two tracking elements is determined by the following formula:

[0151]

[0152] Among them, E i is the relative position deviation value of the ith tracing element, is the registration distance between the ith tracer element and the jth tracer element, is the real-time distance between the i-th tracing element and the j-th tracing element, and N is the number of tracing elements.

[0153] S1102: Eliminate relative position deviation values ​​that meet preset conditions from multiple relative position deviation values ​​to obtain multiple target relative position deviation values.

[0154] In some embodiments, the preset condition includes the relative position deviation value being the relative position deviation value with the largest deviation value among a plurality of relative position deviation values.

[0155] Exemplarily, if the first relative position deviation value is the largest relative position deviation value among multiple relative position deviation values, the first relative position deviation value is eliminated from the multiple relative position deviation values, and the remaining relative position deviation values ​​are determined as the target relative position deviation values. Among them, the surgical navigation tracking system can sort the multiple relative position deviation values ​​based on the size of each relative position deviation value, and determine the largest relative position deviation value from the multiple relative position deviation values ​​as the first relative position deviation value according to the sorting result. For example, sort the multiple relative position deviation values ​​in order from large to small, and determine the first relative position deviation value as the first relative position deviation value.

[0156] In some embodiments, the preset condition can be set according to actual needs, for example, the preset condition can also be that the difference between the relative position deviation value and the average of the plurality of relative position deviation values ​​is greater than a preset threshold. This embodiment of the application does not limit this.

[0157] S1103: Determine a second registration transformation matrix based on multiple target relative position deviation values.

[0158] like Fig.12 As shown, in some embodiments, S1103 may include S1201 - S1204 .

[0159] S1201. Determine first geometric centers corresponding to a plurality of tracing elements based on a plurality of local coordinates, and determine second geometric centers corresponding to a plurality of tracing elements based on a plurality of first real-time coordinates.

[0160] The first geometric center is the geometric center of the point set corresponding to the multiple tracer elements in the registration stage. The second geometric center is the geometric center of the point set corresponding to the multiple tracer elements in the navigation stage. The registration stage includes S601-S603; the navigation stage includes S604-S605.

[0161] S1202: Generate a feature matrix based on a first distance between each local coordinate and the first geometric center, and a second distance between each first real-time coordinate and the second geometric center.

[0162] The first distance is the distance between the tracking element and the first geometric center during the registration phase, and the second distance is the distance between the tracking element and the second geometric center during the navigation phase.

[0163] In some embodiments, the feature matrix is ​​as follows:

[0164]

[0165] Among them, K is the feature matrix; M i =P i tra -E tra , P i tra is the first distance corresponding to the ith tracer element, E tra is the first geometric center; is the second distance corresponding to the ith tracer element, E real is the second geometric center, and N is the number of tracer elements.

[0166] S1203, performing singular value decomposition on the characteristic matrix, and obtaining a rotation matrix according to the singular value decomposition result.

[0167] In some embodiments, the singular value decomposition of the feature matrix K can be performed to obtain a singular value decomposition result, that is, K = UAV T Among them, after the singular value decomposition of the characteristic matrix K, two orthogonal matrices and a diagonal matrix can be obtained, U is an orthogonal matrix of the two orthogonal matrices, A is a diagonal matrix, and V is the transpose of the other orthogonal matrix of the two orthogonal matrices.

[0168] In some embodiments, the rotation matrix is ​​as follows:

[0169]

[0170] Among them, R is the rotation matrix, U is the orthogonal matrix in the singular value decomposition result, S is the identity matrix with the last element being -1, and V is the transpose of another orthogonal matrix in the singular value decomposition result.

[0171] S1204: Determine a second registration transformation matrix based on the rotation matrix and the relative position deviation values ​​of each target.

[0172] In some embodiments, the second registration transformation matrix is ​​as follows:

[0173]

[0174] Among them, T real is the second registration transformation matrix, T = E real -R.E tra , E tra is the first geometric center, E real is the second geometric center, and R is the rotation matrix.

[0175] It can be understood that since the real-time coordinates of each optical device tracked by the optical tracking system and the local coordinates of the registration stage are not the same, so real-time calculation is required arrive The mapping matrix of the local coordinates of each tracer element to the first real-time coordinates of each tracer element needs to be determined in real time, so as to obtain the second registration transformation matrix T real , to meet the tracking and positioning requirements of the surgical navigation system.

[0176] S605 , obtaining the image spine position based on the second real-time coordinates of each tracer element in the navigation phase, the second registration transformation matrix, and the first registration transformation matrix.

[0177] In some embodiments, the first real-time coordinate and the second real-time coordinate represent the position of the tracer element at different times, respectively. The first real-time coordinate of each tracer element represents the real-time position of each tracer element under the optical tracking system at the first time in the navigation phase, and the second real-time coordinate of each tracer element represents the real-time position of each tracer element under the optical tracking system at the second time in the navigation phase, and the first time may be earlier than the second time.

[0178] In some embodiments, based on the second real-time coordinates of each tracking element in the navigation stage, the second registration transformation matrix and the first registration transformation matrix, obtaining the image spine position includes: transforming the second real-time coordinates through the second registration transformation matrix and the first registration transformation matrix to obtain the corresponding real-time image coordinate system, and determining the image spine position based on the real-time image coordinates.

[0179] The real-time image coordinate system is the real-time image coordinate system in the navigation stage.

[0180] Exemplarily, when the optical tracking system determines the position of the tracer element, the real-time coordinates and local coordinates of the tracer element determined by the optical tracking system at each moment may be different due to the change in the position of the tracer element, the change in the position of the tracer element caused by the surgical operation, the ups and downs of the back caused by the patient's breathing, and the occlusion of part of the tracer element. In this way, the optical coordinate system at each moment will also be different. However, the mapping relationship between the real-time coordinates and local coordinates corresponding to the tracer element, and the relative position relationship between the spine and the local coordinates corresponding to each tracer element will not change due to the above reasons. Therefore, when the optical tracking system determines the real-time coordinates of each tracer element, the real-time image spine position can be determined by back-calculating based on the real-time coordinates of each tracer element through the first registration transformation matrix and the second registration transformation matrix. For example, after the optical tracking system identifies the second real-time coordinates of the tracer element at the second moment, the second real-time coordinates of the tracer element can be converted by the second registration transformation matrix and the first registration transformation matrix to obtain the image coordinates of the tracer element at the second moment, thereby obtaining the image coordinate system at the second moment, and then obtaining the image spine position at the second moment. Among them, the second moment can refer to the current moment.

[0181] It should be noted that the process of determining the real-time image spine position by back-calculating the real-time coordinates of each tracing element through the first registration transformation matrix and the second registration transformation matrix is ​​not described in detail in the present application.

[0182] It is understandable that in the embodiment of the present application, since the tracer elements whose real-time distances are greatly different from the distances in the optical coordinate system are eliminated from the multiple tracer elements, that is, the tracer elements corresponding to the largest relative position deviation values ​​are eliminated, the relative position relationship between each actual coordinate and the spine obtained will be more accurate. In this way, the influence of breathing on the tracking accuracy can be reduced, the navigation accuracy of the surgical navigation tracking system can be improved, and the problem of poor navigation accuracy caused by the position change of the tracer element, the change of the position of the tracer element caused by the surgical operation, the ups and downs of the back caused by the patient's breathing, and the occlusion of some tracer elements can be solved.

[0183] Corresponding to the aforementioned embodiment of the surgical navigation tracking method, the present application also provides an embodiment of a surgical navigation tracking system.

[0184] Reference Fig.13 The present application embodiment provides a surgical navigation tracking system, including:

[0185] An acquisition module 1301 is used to acquire the scan data of the registration stage and the initial optical coordinates of a plurality of tracer elements, wherein the tracer elements are fixed on the skin surface of the patient;

[0186] The processing module 1302 is used to determine an initial image coordinate system based on the scan data, and to construct an initial optical coordinate system based on the initial optical coordinates of the plurality of tracer elements; it is also used to determine the local coordinates of each of the plurality of tracer elements in the initial optical coordinate system; it is also used to determine the first real-time coordinates of each of the plurality of tracer elements in the navigation stage, and to register the first real-time coordinates with the local coordinates to obtain a second registration transformation matrix; it is also used to obtain the image spine position based on the second real-time coordinates of each of the tracer elements in the navigation stage, the second registration transformation matrix and the first registration transformation matrix; the first real-time coordinates and the second real-time coordinates respectively represent the position of the tracer element at different times;

[0187] The registration module 1303 is used to register the image coordinate system and the optical coordinate system at the same time to obtain the first registration transformation matrix.

[0188] In some embodiments, the processing module 1302 is further used to fit the initial optical coordinates of the plurality of tracer elements to obtain a fitting plane; and construct the optical coordinate system based on the fitting plane.

[0189] In some embodiments, the processing module 1302 is further used to determine the normal vector of the multiple normal vectors corresponding to the fitting plane that passes through the first tracing element as the direction of the first coordinate axis; wherein the first tracing element is any tracing element among the multiple tracing elements; determine the direction from the first tracing element to the second tracing element as the direction of the second coordinate axis; wherein the second tracing element is the tracing element farthest from the first tracing element among the multiple tracing elements; perform cross product of the vector corresponding to the first coordinate axis direction and the vector corresponding to the second coordinate axis direction to obtain the direction of the third coordinate axis; and construct the optical coordinate system based on the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction.

[0190] In some embodiments, the processing module 1302 is further configured to

[0191] The image coordinate system and the optical coordinate system at the same time are registered using the following formula to obtain the first registration transformation matrix:

[0192]

[0193] Where T0 is the first registration transformation matrix, C img is the image coordinate system, Ctra is the optical coordinate system.

[0194] In some embodiments, the processing module 1302 is further configured to determine the local coordinates of each of the tracing elements based on the homogeneous coordinate matrix of the optical coordinate system and each of the initial optical coordinates.

[0195] In some embodiments, the processing module 1302 is further configured to determine the local coordinates of each of the tracing elements using the following formula:

[0196]

[0197] Among them, P i tra is the local coordinate of the ith tracing element, T tra is the homogeneous coordinate matrix of the optical coordinate system, P i is the initial optical coordinate of the ith tracking element.

[0198] In some embodiments, the processing module 1302 is further used to determine a plurality of relative position deviation values ​​based on the registration distance and the real-time distance between each two of the tracking elements; to eliminate relative position deviation values ​​that meet preset conditions from the plurality of relative position deviation values ​​to obtain a plurality of target relative position deviation values; and to determine the second registration transformation matrix based on the plurality of target relative position deviation values.

[0199] In some embodiments, the processing module 1302 is further used to determine a plurality of relative position deviation values ​​based on the registration distance and the real-time distance between each two of the tracking elements; to eliminate relative position deviation values ​​that meet preset conditions from the plurality of relative position deviation values ​​to obtain a plurality of target relative position deviation values; and to determine the second registration transformation matrix based on the plurality of target relative position deviation values.

[0200] In some embodiments, the processing module 1302 is also used to determine the first geometric centers corresponding to the multiple tracking elements based on the multiple local coordinates, and to determine the second geometric centers corresponding to the multiple tracking elements based on the multiple first real-time coordinates; to generate a feature matrix based on the first distance between each of the local coordinates and the first geometric center, and the second distance between each of the first real-time coordinates and the second geometric center; to perform singular value decomposition on the feature matrix, and to obtain a rotation matrix based on the singular value decomposition result; and to determine the second registration transformation matrix based on the rotation matrix and the relative position deviation values ​​of each of the targets.

[0201] In some embodiments, the processing module 1302 is further configured to determine the relative position deviation value between every two of the tracing elements by using the following formula:

[0202]

[0203] Among them, E i is the relative position deviation value of the ith tracing element, is the registration distance between the ith tracing element and the jth tracing element, is the real-time distance between the ith tracing element and the jth tracing element, and N is the number of the tracing elements.

[0204] In some embodiments, the processing module 1302 is further used to transform the second real-time coordinates through the second registration transformation matrix and the first registration transformation matrix to obtain a corresponding real-time image coordinate system, and determine the image spine position based on the real-time image coordinates.

[0205] like Fig.14 As shown, an electronic device provided in an embodiment of the present application may include: a processor (processor) 1410, a communication interface (Communications Interface) 1420, a memory (memory) 1430 and a communication bus 1440, wherein the processor 1410, the communication interface 1420, and the memory 1430 communicate with each other through the communication bus 1440. The processor 1410 may call the logic instructions in the memory 1430 to execute the above methods.

[0206] In addition, the logic instructions in the above-mentioned memory 1430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the switch device mechanical state monitoring method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0207] In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented to perform the above methods when executed by a processor.

[0208] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0209] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0210] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A surgical navigation tracking method, characterized in that: Applied to a surgical navigation tracking system, the method comprises: Acquire scan data of the registration phase and initial optical coordinates of a plurality of tracer elements; wherein the tracer elements are fixed on the skin surface of the patient; Determine an initial image coordinate system based on the scan data, and construct an initial optical coordinate system based on the initial optical coordinates of the plurality of tracer elements; Registering the initial image coordinate system and the initial optical coordinate system at the same time to obtain a first registration transformation matrix, and determining the local coordinates of each of the plurality of tracer elements in the initial optical coordinate system; Determine the first real-time coordinates of each of the plurality of tracer elements in the navigation phase, and register the first real-time coordinates with the local coordinates to obtain a second registration transformation matrix; Based on the second real-time coordinates of each tracing element in the navigation stage, the second registration transformation matrix and the first registration transformation matrix, the image spine position is obtained; the first real-time coordinates and the second real-time coordinates respectively represent the positions of the tracing elements at different times.

2. The method according to claim 1, characterized in that The step of constructing an initial optical coordinate system based on the initial optical coordinates of the plurality of tracing elements comprises: Fitting the initial optical coordinates of the plurality of tracing elements to obtain a fitting plane; The initial optical coordinate system is constructed based on the fitting plane.

3. The method according to claim 2, characterized in that The constructing the initial optical coordinate system based on the fitting plane comprises: Determine the normal vector passing through the first tracing element among the multiple normal vectors corresponding to the fitting plane as the first coordinate axis direction; wherein the first tracing element is any tracing element among the multiple tracing elements; Determine the direction from the first tracing element to the second tracing element as the second coordinate axis direction; wherein the second tracing element is the tracing element farthest from the first tracing element among the plurality of tracing elements; Perform a cross product of the vector corresponding to the first coordinate axis direction and the vector corresponding to the second coordinate axis direction to obtain a third coordinate axis direction; The initial optical coordinate system is constructed based on the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction.

4. The method according to claim 1, characterized in that: The initial image coordinate system and the initial optical coordinate system at the same time are registered using the following formula to obtain the first registration transformation matrix: Where T0 is the first registration transformation matrix, C img is the initial image coordinate system, C tra is the initial optical coordinate system.

5. The method according to claim 1, characterized in that The determining of the local coordinates of each of the plurality of tracing elements in the initial optical coordinate system comprises: The local coordinates of each of the tracking elements are determined based on the homogeneous coordinate matrix of the initial optical coordinate system and each of the initial optical coordinates.

6. The method according to claim 5, characterized in that The local coordinates of each of the tracer elements are determined by the following formula: Among them, P i tra is the local coordinate of the ith tracing element, T tra is the homogeneous coordinate matrix of the initial optical coordinate system, P i is the initial optical coordinate of the ith tracking element.

7. The method according to claim 1, characterized in that The registering the first real-time coordinates and the local coordinates to obtain a second registration transformation matrix includes: Based on the plurality of local coordinates, determining a registration distance between every two of the tracking elements; Based on the first real-time coordinates, determining the real-time distance between every two of the tracing elements; The second registration transformation matrix is ​​determined based on the registration distance and the real-time distance between every two of the tracking elements.

8. The method according to claim 7, characterized in that The step of determining the second registration transformation matrix based on the registration distance and the real-time distance between every two of the tracking elements comprises: Determine a plurality of relative position deviation values ​​based on the registration distance and the real-time distance between every two of the tracking elements; Eliminate relative position deviation values ​​that meet preset conditions from the plurality of relative position deviation values ​​to obtain a plurality of target relative position deviation values; Based on the plurality of target relative position deviation values, the second registration transformation matrix is ​​determined.

9. The method according to claim 8, characterized in that The step of determining the second registration transformation matrix based on the plurality of target relative position deviation values ​​comprises: Determine a first geometric center corresponding to a plurality of the tracing elements based on a plurality of the local coordinates, and determine a second geometric center corresponding to a plurality of the tracing elements based on a plurality of the first real-time coordinates; generating a feature matrix based on a first distance between each of the local coordinates and the first geometric center, and a second distance between each of the first real-time coordinates and the second geometric center; Performing singular value decomposition on the characteristic matrix, and obtaining a rotation matrix according to the singular value decomposition result; Based on the rotation matrix and the relative position deviation values ​​of each target, the second registration transformation matrix is ​​determined.

10. The method according to claim 8, characterized in that The preset condition includes: the relative position deviation value is a relative position deviation value with the largest deviation value among the plurality of relative position deviation values.

11. The method according to any one of claims 7 to 10, characterized in that: The relative position deviation value of each two tracking elements is determined by the following formula: Among them, E i is the relative position deviation value of the ith tracing element, is the registration distance between the ith tracing element and the jth tracing element, is the real-time distance between the ith tracing element and the jth tracing element, and N is the number of the tracing elements.

12. The method according to claim 9, characterized in that The feature matrix is ​​as follows: Wherein, K is the feature matrix; M i =P i tra -E tra , P i tra is the first distance corresponding to the ith tracing element, E tra is the first geometric center; Q i =P i real -E real , P i real is the second distance corresponding to the ith tracing element, E real is the second geometric center, and N is the number of the tracing elements.

13. The method according to claim 9, characterized in that The rotation matrix is ​​as follows: Among them, R is the rotation matrix, U is the orthogonal matrix in the singular value decomposition result, S is the unit matrix whose last element is -1, and V is the transpose of another orthogonal matrix in the singular value decomposition result.

14. The method according to claim 9, characterized in that The second registration transformation matrix is ​​as follows: Among them, T real is the second registration transformation matrix, T = E real -R.E tra , E tra is the first geometric center, E real is the second geometric center, and R is the rotation matrix.

15. The method according to claim 1, characterized in that The obtaining of the image spine position based on the second real-time coordinates of each of the tracing elements in the navigation stage, the second registration transformation matrix and the first registration transformation matrix comprises: The second real-time coordinates are transformed by the second registration transformation matrix and the first registration transformation matrix to obtain a corresponding real-time image coordinate system, and the image spine position is determined based on the real-time image coordinates.

16. A surgical navigation tracking system, characterized in that: include: An acquisition module, used for acquiring the scan data of the registration phase and the initial optical coordinates of a plurality of tracer elements; wherein the tracer elements are fixed on the skin surface of the patient; A processing module, used to determine an initial image coordinate system based on the scan data, and to construct an initial optical coordinate system based on the initial optical coordinates of the plurality of tracer elements; further used to determine the local coordinates of each of the plurality of tracer elements in the initial optical coordinate system; further used to determine the first real-time coordinates of each of the plurality of tracer elements in the navigation stage, and to register the first real-time coordinates with the local coordinates to obtain a second registration transformation matrix; further used to obtain an image spine position based on the second real-time coordinates of each of the tracer elements in the navigation stage, the second registration transformation matrix, and the first registration transformation matrix; the first real-time coordinates and the second real-time coordinates respectively represent the positions of the tracer elements at different times; A registration module is used to register the initial image coordinate system and the initial optical coordinate system at the same time to obtain the first registration transformation matrix.

17. A tracer element, characterized in that: include: A main body, the main body comprising a first surface, the first surface being adapted to fit against a patient's skin surface so that the tracing element is fixed on the patient's skin surface; A plurality of optical markers, wherein the plurality of optical markers are disposed on the body and are not coplanar; When scanning the patient, each of the optical markers can be positioned and tracked by the surgical navigation and tracking system.

18. The tracer element according to claim 17, characterized in that The number of the optical marks is three, and the three optical marks are arranged in a triangle.

19. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 15 are implemented.

20. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 15 are implemented.

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