Surgical navigation tracking method, system, and tracking element

Abstract

The embodiment of the application provides a surgical navigation tracking method, system and tracking element, the method is applied to a surgical navigation tracking system, comprising determining an initial image coordinate system based on scanning data, and constructing an initial optical coordinate system based on initial optical coordinates of a plurality of tracking elements fixed on a skin surface of a patient; 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 the plurality of tracking elements in the initial optical coordinate system respectively; determining first real-time coordinates of the plurality of tracking elements at a navigation stage respectively, 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 coordinates, the second registration transformation matrix and the first registration transformation matrix; the position of the spine of the patient can be tracked in real time through the tracking elements on the skin surface of the patient, and the surgical incision of the patient is not increased.

Description

Technical Field

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

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

[0003] Traditionally, spinal surgery navigation robots track patients through a skin incision. A bone-clamping device is inserted into the incision to fix an optical tracking device to the patient's spine, enabling real-time tracking of the spine's coordinates. While this method achieves real-time tracking, it requires an additional surgical incision near the spine, thus increasing the risk of injury to the patient. Summary of the Invention

[0004] This application provides a surgical navigation and tracking method, system, and tracer element that can determine the patient's spinal position and complete spinal surgery without increasing the surgical incision, thus reducing harm to the patient.

[0005] A first aspect of this application provides a surgical navigation and tracking method applied to a surgical navigation and tracking system, the method comprising:

[0006] The scan data from the registration stage and the initial optical coordinates of multiple tracer elements are acquired; wherein the tracer elements are fixed on the patient's skin surface.

[0007] The initial image coordinate system is determined based on the scan data, and the initial optical coordinate system is constructed based on the initial optical coordinates of multiple tracer elements;

[0008] The initial image coordinate system and the initial optical coordinate system at the same time are registered to obtain the first registration transformation matrix, and the local coordinates of each of the multiple tracer elements in the initial optical coordinate system are determined.

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

[0010] Based on the second real-time coordinates, the second registration transformation matrix, and the first registration transformation matrix of each tracer element during the navigation phase, 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, an initial optical coordinate system is constructed based on the initial optical coordinates of multiple tracer elements, including:

[0012] The initial optical coordinates of multiple tracer elements are fitted to obtain a fitting plane;

[0013] An initial optical coordinate system is constructed based on the fitted plane.

[0014] In some embodiments, an initial optical coordinate system is constructed based on the fitted plane, including:

[0015] The normal vector that passes through the first tracer element among the multiple normal vectors corresponding to the fitted plane is determined as the direction of the first coordinate axis; wherein, the first tracer element is any one of the multiple tracer elements;

[0016] The direction from the first tracer element to the second tracer element is defined as the direction of the second coordinate axis; wherein, the second tracer element is the tracer element that is furthest from the first tracer element among multiple tracer elements;

[0017] The cross product of the vectors corresponding to the first coordinate axis direction and the vectors corresponding to the second coordinate axis direction is used to obtain the direction of the third coordinate axis.

[0018] An initial optical coordinate system is constructed based on the directions of the first, second, and third coordinate axes.

[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 the first registration transformation matrix:

[0020]

[0021] Where T0 is the first registration transformation matrix, C img Let C be the initial image coordinate system. tra This is the initial optical coordinate system.

[0022] In some embodiments, the local coordinates of each of the plurality of tracer elements in an initial optical coordinate system are determined, including

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

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

[0025]

[0026] Among them, P i tra Let T be the local coordinates of the i-th tracer element. tra Let P be the homogeneous coordinate matrix of the initial optical coordinate system. i Let be the initial optical coordinates of the i-th tracer 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 multiple local coordinates, the registration distance between every two tracer elements is determined;

[0029] Based on multiple first real-time coordinates, the real-time distance between every two tracer elements is determined;

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

[0031] In some embodiments, the second registration transformation matrix is ​​determined based on the registration distance and real-time distance between every two tracer elements, including:

[0032] Based on the registration distance and real-time distance between each pair of tracer elements, multiple relative position deviation values ​​are determined;

[0033] From multiple relative position deviation values, the relative position deviation values ​​that meet the preset conditions are removed to obtain multiple target relative position deviation values;

[0034] The second registration transformation matrix is ​​determined based on the relative positional deviations of multiple targets.

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

[0036] Based on multiple local coordinates, the first geometric center corresponding to multiple tracer elements is determined, and based on multiple first real-time coordinates, the second geometric center corresponding to multiple tracer elements is determined.

[0037] Based on the first distance between each local coordinate and the first geometric center, and the second distance between each first real-time coordinate and the second geometric center, a feature matrix is ​​generated;

[0038] Perform singular value decomposition on the characteristic matrix, and obtain the rotation matrix based on the singular value decomposition results;

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

[0040] In some embodiments, the preset conditions include: the relative position deviation value is the largest relative position deviation value among a plurality of relative position deviation values.

[0041] In some embodiments, the relative positional deviation between every two tracer elements is determined by the following formula:

[0042]

[0043] Among them, E i Let be the relative position deviation value of the i-th tracer element. The registration distance between the i-th tracer and the j-th tracer is... Let N be the real-time distance between the i-th tracer and the j-th tracer, and N be the number of tracers.

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

[0045]

[0046] Where K is the characteristic matrix; M i =P i tra -E tra P i tra E represents the first distance corresponding to the i-th tracer element. tra Q is the first geometric center; i =P i real -E real P i real E represents the second distance corresponding to the i-th tracer element. real The second geometric center is N, and the number of tracer elements is N.

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

[0048]

[0049] Where 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 The second registration transformation matrix is ​​T = E. real -R·Etra E tra E is the first geometric center. real Let R be the second geometric center and R be the rotation matrix.

[0053] In some embodiments, the image spine position is obtained based on the second real-time coordinates of each tracer element during the navigation phase, the second registration transformation matrix, and the first registration transformation matrix, including:

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

[0055] A second aspect of this application provides a surgical navigation and tracking system, comprising:

[0056] The acquisition module is used to acquire scan data during the registration stage and the initial optical coordinates of multiple tracer elements; wherein the tracer elements are fixed on the patient's skin surface;

[0057] The processing module is used to determine an initial image coordinate system based on scan data and to construct an initial optical coordinate system based on the initial optical coordinates of multiple tracer elements; it is also used to determine the local coordinates of each of the multiple tracer elements in the initial optical coordinate system; it is also used to determine the first real-time coordinates of each of the multiple tracer elements during the navigation phase, and to register the first real-time coordinates and 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 tracer element during 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 positions of the tracer elements 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 the first registration transformation matrix.

[0059] In a third aspect, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method as described in any of the above embodiments.

[0060] In a fourth aspect, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the method of any of the above embodiments.

[0061] This application provides a surgical navigation tracking method applied to a surgical navigation tracking system. The method includes: acquiring scan data during the registration phase and the initial optical coordinates of multiple tracer elements; wherein the tracer elements are fixed on the patient's skin surface; determining an initial image coordinate system based on the scan 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 the local coordinates of each of the multiple tracer elements in the initial optical coordinate system; determining the first real-time coordinates of each of the multiple tracer elements during the navigation phase, and performing a process that combines the first real-time coordinates with the local coordinates. The image is registered to obtain the second registration transformation matrix. Based on the second real-time coordinates of each tracer element during the navigation phase, the second registration transformation matrix, and the first registration transformation matrix, the image spinal position is obtained. The first and second real-time coordinates represent the positions of the tracer elements at different times. In this way, by fixing multiple tracer elements to the patient's skin surface and establishing a mapping between the tracer elements and the spinal position, the patient's spinal position can be tracked in real time through the tracer elements on the patient's skin surface to provide navigation for the surgical robot. This makes it easier for the surgical robot's robotic arm and the surgeon to determine the surgical position and perform the surgery. This does not increase the patient's surgical wound and can reduce harm to the patient. Attached Figure Description

[0062] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in 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 effort.

[0063] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical navigation and tracking method provided in the embodiments of this application;

[0064] Figure 2 This is a schematic diagram illustrating another application scenario of the surgical navigation and tracking method provided in the embodiments of this application;

[0065] Figure 3 This is a schematic diagram illustrating another application scenario of the surgical navigation and tracking method provided in the embodiments of this application;

[0066] Figure 4 This is a schematic diagram illustrating another application scenario of the surgical navigation and tracking method provided in the embodiments of this application;

[0067] Figure 5 This is a schematic diagram of the structure of the tracer element provided in the embodiments of this application;

[0068] Figure 6A flowchart illustrating a surgical navigation and tracking method provided in an embodiment of this application;

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

[0070] Figure 8A A flowchart illustrating another surgical navigation and tracking method provided in an embodiment of this application;

[0071] Figure 8B A schematic flowchart illustrating another surgical navigation and tracking method provided in this application embodiment;

[0072] Figure 9 This application provides a schematic diagram of a fitting plane as an embodiment;

[0073] Figure 10 A flowchart illustrating another surgical navigation and tracking method provided in an embodiment of this application;

[0074] Figure 11 A flowchart illustrating another surgical navigation and tracking method provided in an embodiment of this application;

[0075] Figure 12 A flowchart illustrating another surgical navigation and tracking method provided in an embodiment of this application;

[0076] Figure 13 This is a schematic diagram of the surgical navigation and tracking system provided in the embodiments of this application;

[0077] Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings.

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

[0080] Traditionally, spinal surgery navigation robots track patients through a skin incision. A bone-clamping device is inserted into the incision, and a tracer element is fixed to the patient's spine. Because the tracer element and the spine are rigidly connected, the optical tracking system can further achieve real-time tracking of the patient's spinal coordinates by tracking the tracer element. While this method achieves real-time tracking of the patient's spinal coordinates, it requires an additional surgical incision near the patient's spine, thus increasing the risk of injury.

[0081] To address the aforementioned technical problems, this application provides a surgical navigation and tracking method. By fixing multiple tracer elements to the patient's skin surface and establishing a real-time mapping between the tracer elements and the spinal position, the method enables real-time tracking of the patient's spinal position through the tracer elements on the patient's skin surface. This provides navigation for the surgical robot, facilitating the robotic arm of the surgical robot and the surgeon to determine the surgical location and perform the operation. This approach does not increase the patient's surgical incision and reduces harm to the patient.

[0082] Before describing the technical solutions of the embodiments of this application, the application scenarios of the surgical navigation and tracking method of the embodiments of this application, as well as the structure of the tracer element in the surgical navigation and tracking method, will be described first with reference to the accompanying drawings. Figure 1 This is a schematic diagram illustrating an application scenario of the surgical navigation and tracking method provided in the embodiments of this application. For example... Figure 1 As shown, before surgery, multiple tracer elements can be fixed to the skin surface in the vicinity of the surgery area. These tracer elements can be fixed to the patient's skin surface by adhesive or by adsorption; this embodiment does not limit the specific method used. The following embodiments will exemplify fixing the tracer elements to the patient's skin surface by adhesive as an example.

[0083] In some embodiments, Figure 2 This is a schematic diagram illustrating another application scenario of the surgical navigation and tracking method provided in the embodiments of this application. For example... Figure 1 and Figure 2 As shown, the size of the incision varies depending on the surgical procedure, and the number of tracer elements attached around the incision also varies. For example, the number of tracer elements attached around the incision can be at least four, or it can be determined according to the surgical scenario. This application does not limit this.

[0084] For example, in cases of large incisions, the tracking elements need to be more dispersed. In such cases, to reduce the impact on the surgery caused by the tracking elements being obstructed, the number of tracking elements can be increased to improve navigation and tracking accuracy and ensure the normal progress of the surgery. That is, the larger the surgical incision, the more tracking elements are attached around the incision; for example, the incision of percutaneous kyphoplasty (PKP) (… Figure 1 The elliptical area highlighted by the dashed line in the image is smaller than the incision for percutaneous spinal fixation surgery. Figure 2 The square area selected by the dashed line in the middle) then Figure 1 Tracer elements around the wound ( Figure 1 The number of P0-P4 in the data will be less than Figure 2 Tracer elements around the wound ( Figure 2 The number of P0-P5 in the data.

[0085] In some embodiments, Figure 3 This is a schematic diagram illustrating another application scenario of the surgical navigation and tracking method provided in the embodiments of this application. For example... Figure 3 As shown, to reduce the impact of the tracer elements being obstructed during the surgery, the positions of the tracer elements attached to the surgical area around the patient's back can be adjusted to increase the size of any one of the multiple intervals formed by the tracer elements. It should be noted that after adjusting the positions of the tracer elements around the surgical area on the patient's back, the number of tracer elements on the patient's skin surface should be at least four.

[0086] For example, it can be Figure 1 The positions of the five tracer elements P0-P4 shown are according to Figure 3 The tracer element is attached around the surgical area on the patient's back as shown in the diagram. The surgeon can perform the procedure at the interval between the tracer element P0 and the tracer element P4, which makes it less likely to obstruct the tracer element.

[0087] In other embodiments, Figure 4 This is a schematic diagram illustrating another application scenario of the surgical navigation and tracking method provided in the embodiments of this application. For example... Figure 4 As shown, in order to prevent the optical tracking system from failing to locate the tracer element due to the tracer element being blocked, any tracer element attached to the surgical area around the patient's back can be removed, thereby increasing any gap between multiple tracer elements.

[0088] For example, it is possible to remove Figure 2 Any one of the six tracer elements shown, such as tracer element P5; after removing tracer element P5, the remaining five tracer elements P0-P4 will follow the order shown below. Figure 4The tracer element is attached to the surgical area around the patient's back as shown, with the spacing between tracer elements P0 and P4 increased. This allows the surgeon to perform surgical procedures at the interval between tracer elements P0 and P4, minimizing obstruction of the tracer elements.

[0089] It should be noted that the embodiments of this application do not limit the arrangement of multiple tracer elements in the surgical area. The above embodiments are illustrated by taking the arrangement of multiple tracer elements pasted around the wound in the surgical area and not collinear as an example.

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

[0091] In some embodiments, the main body 51 includes a first surface for adhering to the patient's skin surface so that the tracer element is fixed to the patient's skin surface; that is, in the application scenario, the first surface of the main body 51 can be pasted onto the patient's skin surface so that the tracer element is fixed to the patient's skin surface.

[0092] For example, the main body 51 can be a triangle, a circle, or a polygon. This application embodiment does not limit the shape of the main body 51; however, this application embodiment uses a triangle as an example for illustrative purposes.

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

[0094] For example, the number of optical markers 52 can be three, arranged in a triangle. It should be noted that the number of optical markers 52 can also be four; this embodiment does not limit the number of optical markers 52. Each optical marker 52 is disposed at any position on the main body 51 that can be located by the surgical navigation and tracking system. For example, each optical marker 52 can be disposed on a second surface of the main body 51 opposite to the first surface. This embodiment does not limit the relative position of the optical markers to the main body.

[0095] In some embodiments, such as Figure 5 As shown, the edges of the main body 51 can be chamfered to prevent the tracer element from causing harm to the patient.

[0096] The following is in conjunction with the appendix Figure 6This application describes the surgical navigation and tracking method provided in its embodiments. It should be noted that the surgical navigation and tracking method provided in this application is applied to a surgical navigation and tracking system, which can be installed in a control device. The control device can be a server or a terminal device. The terminal device can include at least one of a trolley (also known as a surgical robot), a personal computer, a laptop computer, a smartphone, a tablet computer, and a portable wearable device. The server can include an independent server or a server cluster composed of multiple servers; this application does not limit the specific server in this regard.

[0097] like Figure 6 As shown, this application provides a surgical navigation and tracking method applied to a surgical navigation and tracking system, the method including steps S601-S605.

[0098] S601. Acquire the scan data from the registration stage and the initial optical coordinates of multiple tracer elements.

[0099] The tracer element is fixed to the patient's skin surface. The initial optical coordinates of the tracer element characterize the position of the tracer element detected by the optical tracking system.

[0100] In some embodiments, the surgical navigation and 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 scans the patient's surgical site to obtain the user's scan data (also referred to as spinal imaging). The optical tracking system optically positions the tracer elements on the patient's skin surface to determine the positions of the tracer elements, thereby obtaining the initial optical coordinates corresponding to each tracer element.

[0101] For example, a three-dimensional C-arm scanning device can be used to scan the surgical site of a patient.

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

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

[0104] like Figure 8A As shown, in some embodiments, constructing an initial optical coordinate system based on the initial optical coordinates of multiple tracer 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, the initial optical coordinates corresponding to multiple tracer elements are fitted to obtain a plane, which is called the fitting plane.

[0107] It should be noted that fitting multiple initial optical coordinates is based on existing methods. For example, multiple initial optical coordinates can be fitted using the Random Sample Consensus (RANSAC) algorithm or the least squares method, which will not be elaborated here.

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

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

[0110] S801. Determine the direction of the first coordinate axis from the normal vectors that pass through the first tracer element among the multiple normal vectors corresponding to the fitting plane.

[0111] The first tracer element is any one of a plurality of tracer elements.

[0112] S802. The direction from the first tracer element to the second tracer element is determined as the direction of the second coordinate axis.

[0113] Among them, the second tracer element is the tracer element that is furthest away from the first tracer element among multiple tracer elements.

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

[0115] In some embodiments, the vector corresponding to the first coordinate axis direction is cross-multiplied with the vector corresponding to the second coordinate axis direction to obtain the target vector, and the target vector is determined as the direction of the third coordinate axis.

[0116] It should be noted that performing a cross product of two vectors (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 another vector (the vector corresponding to the third coordinate axis) is an existing technique, which will not be elaborated here.

[0117] S804. Construct an initial optical coordinate system based on the directions of the first coordinate axis, the second coordinate axis, and the third coordinate axis.

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

[0119] For example, such as Figure 9 As shown, there are five tracer elements, P0, P1, P2, P3, and P4. If we fit P0, P1, P2, P3, and P4 based on their respective initial optical coordinates, the resulting fitted plane is... Figure 9 The plane formed by the dashed lines; then, with P0 as the first tracer element, P3, which is farthest from P0, can be determined as the second tracer element. At this point, the normal vector passing through P0 can be defined as the z-axis direction (first coordinate axis direction), the direction from P0 to P3 as the y-axis direction (second coordinate axis direction), and the x-axis direction (third coordinate axis direction) can be obtained by cross product of the z-axis and y-axis vectors; after determining the z-axis, y-axis, and x-axis directions, the initial optical coordinate system C can be constructed. tra .

[0120] It should be noted that the initial optical coordinate system can be constructed according to actual needs in the embodiments of this application. In the above embodiments, the methods S801-S804 are used as examples for illustrative purposes. In other embodiments, the center point of the fitting plane can be taken as the origin, the direction from the center point of the fitting plane to any one of the multiple tracer elements can be taken as the first coordinate axis direction, and the direction perpendicular to the first coordinate axis direction can be taken as the second coordinate axis direction. Then, the vectors corresponding to the first coordinate axis direction and the vectors corresponding to the second coordinate axis direction are cross-producted to obtain the third coordinate axis direction. Finally, 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. The embodiments of this application do not limit this approach.

[0121] S603. Register the initial image coordinate system and the initial optical coordinate system at the same time to obtain the first registration transformation matrix, and determine 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 positional relationship between the spine and the local coordinates of each tracer element at the time of the scan image.

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

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

[0125]

[0126] Where T0 is the first registration transformation matrix, C img Let C be the initial image coordinate system. tra This is the initial optical coordinate system.

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

[0128] Understandably, surgical navigation and tracking systems can establish a mapping relationship between the tracer element and the spine position by registering the initial image coordinate system and the initial optical coordinate system. In this way, during subsequent surgery, it is not necessary to scan the patient constantly to obtain spinal images (also known as scan data). The optical tracking system can locate the spine position by determining the real-time position of the tracer element.

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

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

[0131]

[0132] Among them, P i tra Let T be the local coordinates of the i-th tracer element. tra Let P be the homogeneous coordinate matrix of the initial optical coordinate system. i Let be the initial optical coordinates of the i-th tracer element.

[0133] In some embodiments, the local coordinates of each tracer element can be determined simultaneously with registering the initial image coordinate system and the initial optical coordinate system to obtain the registration transformation matrix; alternatively, the initial image coordinate system and the initial optical coordinate system can be registered first to obtain the registration transformation matrix, and then the local coordinates of each tracer element can be determined; or the local coordinates of each tracer element can be determined first, and then the initial image coordinate system and the initial optical coordinate system can be registered to obtain the registration transformation matrix. This application does not limit these embodiments.

[0134] S604. Determine the first real-time coordinates of each of the multiple tracer elements during the navigation phase, and register the first real-time coordinates with the local coordinates to obtain the second registration transformation matrix.

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

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

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

[0138] S1001. Based on multiple local coordinates, determine the registration distance between every two tracer elements.

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

[0140] For example, the registration distance between every two tracer elements can be determined and recorded as 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. Based on multiple first real-time coordinates, determine the real-time distance between every two tracer elements.

[0144] In some embodiments, the real-time distance is the Euclidean distance between the two tracers determined based on their respective first real-time coordinates.

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

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

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

[0148] S1101. Based on the registration distance and real-time distance between every two tracer elements, determine multiple relative position deviation values.

[0149] For example, the surgical navigation and tracking system determines the relative position deviation value between each pair of tracer elements based on the registration distance between each pair of tracer elements and the real-time distance between each pair of tracer elements, thereby obtaining multiple relative position deviation values.

[0150] In some embodiments, the relative positional deviation between every two tracer elements is determined by the following formula:

[0151]

[0152] Among them, E i Let be the relative position deviation value of the i-th tracer element. The registration distance between the i-th tracer and the j-th tracer is... Let N be the real-time distance between the i-th tracer and the j-th tracer, and N be the number of tracers.

[0153] S1102. Eliminate the relative position deviation values ​​that meet the preset conditions from the 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 largest relative position deviation value among a plurality of relative position deviation values.

[0155] For example, if the first relative position deviation value is the largest among multiple relative position deviation values, then this first relative position deviation value is removed from the multiple relative position deviation values, and the remaining relative position deviation values ​​are determined as the target relative position deviation value. Specifically, the surgical navigation and tracking system can sort the multiple relative position deviation values ​​based on their magnitude, 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, if the multiple relative position deviation values ​​are sorted in descending order, the relative position deviation value ranked first is determined 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 multiple relative position deviation values ​​is greater than a preset threshold. This application embodiment does not limit this.

[0157] S1103. Determine the second registration transformation matrix based on the relative position deviation values ​​of multiple targets.

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

[0159] S1201. Based on multiple local coordinates, determine the first geometric center corresponding to multiple tracer elements, and based on multiple first real-time coordinates, determine the second geometric center corresponding to multiple tracer elements.

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

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

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

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

[0164]

[0165] Where K is the characteristic matrix; M i =P i tra -E tra P i tra E represents the first distance corresponding to the i-th tracer element. tra It is the first geometric center; E represents the second distance corresponding to the i-th tracer element. real The second geometric center is N, and the number of tracer elements is N.

[0166] S1203. Perform singular value decomposition on the characteristic matrix, and obtain the rotation matrix based on the singular value decomposition results.

[0167] In some embodiments, performing singular value decomposition on the feature matrix K yields the singular value decomposition result, i.e., K = UAV. T The eigenvalue decomposition of the eigenvalue matrix K yields two orthogonal matrices and a diagonal matrix, where U is one of the two orthogonal matrices, A is the diagonal matrix, and V is the transpose of the other orthogonal matrix.

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

[0169]

[0170] Where 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. Based on the rotation matrix and the relative position deviation values ​​of each target, determine the second registration transformation matrix.

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

[0173]

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

[0175] Understandably, this is because the optical tracking system tracks the real-time coordinates of each optical component. Local coordinates during the registration stage They are not the same, therefore real-time calculation is required. arrive The mapping matrix, that is, the mapping relationship between the local coordinates of each tracer element and 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 This is to meet the tracking and positioning requirements of the surgical navigation system.

[0176] S605. Based on the second real-time coordinates, the second registration transformation matrix, and the first registration transformation matrix of each tracer element during the navigation phase, the image spine position is obtained.

[0177] In some embodiments, the first real-time coordinates and the second real-time coordinates represent the positions of the tracer elements at different times. Specifically, the first real-time coordinates of each tracer element represent the real-time position of each tracer element under the optical tracking system at a first time during the navigation phase, and the second real-time coordinates of each tracer element represent the real-time position of each tracer element under the optical tracking system at a second time during the navigation phase. The first time may be earlier than the second time.

[0178] In some embodiments, obtaining the image spine position based on the second real-time coordinates of each tracer element during the navigation phase, the second registration transformation matrix, and the first registration transformation matrix includes: transforming the second real-time coordinates using 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] Among them, the real-time image coordinate system is the real-time image coordinate system during the navigation phase.

[0180] For example, when the optical tracking system determines the position of the tracer element, the real-time and local coordinates of the tracer element determined by the optical tracking system at each moment may differ due to factors such as changes in the position of the tracer element, changes in the position of the tracer element caused by surgical operations, back movements caused by the patient's breathing, and partial obstruction of the tracer element. Thus, the optical coordinate system will also be different at each moment. However, the mapping relationship between the real-time and local coordinates of the tracer element, and the relative positional relationship between the spine and the local coordinates of 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 inversely calculating based on the real-time coordinates of each tracer element using the first and second registration transformation matrices. For example, after the optical tracking system identifies the second real-time coordinates of the tracer element at the second moment, it can transform the second real-time coordinates of the tracer element using the second and first registration transformation matrices to obtain the image coordinates of the tracer element at the second moment, thereby obtaining the image coordinate system at the second moment, and thus the image spine position at the second moment. Here, the second moment can refer to the current moment.

[0181] It should be noted that the above process of determining the real-time image spine position by inversely calculating based on the real-time coordinates of each tracer element using the first and second registration transformation matrices is not described in detail in the embodiments of this application.

[0182] It is understood that, in this embodiment, tracers with significant differences in real-time distance relative to their distance in the optical coordinate system are removed from the multiple tracers, i.e., the tracers corresponding to the largest relative position deviation are removed. Therefore, the relative positional relationship between each actual coordinate and the spine is more accurate. This reduces the impact of breathing on tracking accuracy, improves the navigation accuracy of the surgical navigation tracking system, and solves the problem of poor navigation accuracy caused by changes in tracer position, changes in tracer position due to surgical operations, back movements caused by patient breathing, and obstruction of some tracers.

[0183] Corresponding to the aforementioned embodiments of the surgical navigation and tracking method, this application also provides embodiments of a surgical navigation and tracking system.

[0184] Reference Figure 13 This application provides a surgical navigation and tracking system, including:

[0185] The acquisition module 1301 is used to acquire scan data during the registration stage and the initial optical coordinates of multiple tracer elements; wherein the tracer elements are fixed on the patient's skin surface;

[0186] Processing module 1302 is configured to 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; further configured to determine the local coordinates of each of the plurality of tracer elements in the initial optical coordinate system; further configured to determine the first real-time coordinates of each of the plurality of tracer elements during the navigation phase, and register the first real-time coordinates and the local coordinates to obtain a second registration transformation matrix; further configured to obtain the image spine position based on the second real-time coordinates of each of the tracer elements during 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 characterize the positions of the tracer elements 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 configured to fit the initial optical coordinates of the plurality of tracer elements to obtain a fitting plane; and to construct the optical coordinate system based on the fitting plane.

[0189] In some embodiments, the processing module 1302 is further configured to determine the normal vector passing through the first tracer element among the plurality of normal vectors corresponding to the fitting plane as the direction of the first coordinate axis; wherein the first tracer element is any one of the plurality of tracer elements; determine the direction from the first tracer element to the second tracer element as the direction of the second coordinate axis; wherein the second tracer element is the tracer element that is farthest from the first tracer element among the plurality of tracer elements; perform a cross product on 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 direction of the first coordinate axis, the direction of the second coordinate axis, and the direction of the third coordinate axis.

[0190] In some embodiments, the processing module 1302 is further used for

[0191] The first registration transformation matrix is ​​obtained by registering the image coordinate system and the optical coordinate system at the same moment using the following formula:

[0192]

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

[0194] In some embodiments, the processing module 1302 is further configured to determine the local coordinates of each of the tracer 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 tracer elements using the following formula:

[0196]

[0197] Among them, P i tra T represents the local coordinates of the i-th tracer element. tra Let P be the homogeneous coordinate matrix of the optical coordinate system. i The initial optical coordinates of the i-th tracer element.

[0198] In some embodiments, the processing module 1302 is further configured to determine a plurality of relative position deviation values ​​based on the registration distance and the real-time distance between every two tracer elements; remove 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 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 configured to determine a plurality of relative position deviation values ​​based on the registration distance and the real-time distance between every two tracer elements; remove 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 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 further configured to: determine a first geometric center corresponding to a plurality of tracer elements based on a plurality of local coordinates; determine a second geometric center corresponding to a plurality of tracer elements based on a plurality of first real-time coordinates; 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; perform singular value decomposition on the feature matrix, and obtain a rotation matrix based on the singular value decomposition result; and determine a second registration transformation matrix based on the rotation matrix and the relative position deviation values ​​of each target.

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

[0202]

[0203] Among them, E i Let be the relative position deviation value of the i-th tracer element. The registration distance between the i-th tracer element and the j-th tracer element is... The real-time distance between the i-th and j-th tracer elements is denoted as N, where N is the number of tracer elements.

[0204] In some embodiments, the processing module 1302 is further configured to transform the second real-time coordinates using 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 Figure 14 As shown in the illustration, an electronic device provided in this application embodiment may include: a processor 1410, a communications interface 1420, a memory 1430, and a communication bus 1440, wherein the processor 1410, the communications interface 1420, and the memory 1430 communicate with each other through the communication bus 1440. The processor 1410 can call logical instructions in the memory 1430 to execute the methods described above.

[0206] Furthermore, the logical instructions in the aforementioned memory 1430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the switching equipment mechanical condition monitoring method described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

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

[0208] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0209] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A surgical navigation and tracking method, characterized in that, The method, applied to a surgical navigation and tracking system, includes: The scan data from the registration stage and the initial optical coordinates of multiple tracer elements are acquired; wherein the tracer elements are fixed to the patient's skin surface; An initial image coordinate system is determined based on the scan data, and an initial optical coordinate system is constructed based on the initial optical coordinates of the multiple tracer elements; The initial image coordinate system and the initial optical coordinate system at the same time are registered to obtain a first registration transformation matrix, and the local coordinates of each of the multiple tracer elements in the initial optical coordinate system are determined. Determine the first real-time coordinates of each of the multiple tracer elements during 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 of the tracer elements during 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; The construction of the initial optical coordinate system based on the initial optical coordinates of the plurality of tracer elements includes: The initial optical coordinates of the plurality of tracer elements are fitted to obtain a fitting plane; The normal vector that passes through the first tracer element among the multiple normal vectors corresponding to the fitting plane is determined as the direction of the first coordinate axis; wherein, the first tracer element is any one of the multiple tracer elements; The direction from the first tracer element to the second tracer element is defined as the direction of the second coordinate axis; wherein, the second tracer element is the tracer element that is furthest from the first tracer element among the plurality of tracer elements; The cross product of the vector corresponding to the first coordinate axis direction and the vector corresponding to the second coordinate axis direction is used to obtain the direction of the third coordinate axis. 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 tracer element includes: The main body includes a first surface for adhering to the skin surface of a patient, such that the tracer element is fixed to the skin surface of the patient; Multiple optical markers are disposed on the main body and are not collinear; during patient scanning, each optical marker can be located and tracked by the surgical navigation tracking system.

2. The method according to claim 1, characterized in that, The first registration transformation matrix is ​​obtained by registering the initial image coordinate system and the initial optical coordinate system at the same moment using the following formula: Where T0 is the first registration transformation matrix, C img Let C be the initial image coordinate system. tra Let be the initial optical coordinate system.

3. The method according to claim 1, characterized in that, The determination of the local coordinates of each of the plurality of tracer elements in the initial optical coordinate system includes Based on the homogeneous coordinate matrix of the initial optical coordinate system and each of the initial optical coordinates, the local coordinates of each of the tracer elements are determined.

4. The method according to claim 3, characterized in that, The local coordinates of each of the tracer elements are determined by the following formula: in, T represents the local coordinates of the i-th tracer element. tra Let P be the homogeneous coordinate matrix of the initial optical coordinate system. i The initial optical coordinates of the i-th tracer element.

5. The method according to claim 1, characterized in that, The first real-time coordinates and the local coordinates are registered to obtain a second registration transformation matrix, including: Based on multiple local coordinates, the registration distance between every two tracer elements is determined; Based on multiple first real-time coordinates, the real-time distance between every two of the tracer elements is determined; The second registration transformation matrix is ​​determined based on the registration distance and the real-time distance between every two tracer elements.

6. The method according to claim 5, 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 tracer elements includes: Based on the registration distance and the real-time distance between every two tracer elements, multiple relative position deviation values ​​are determined; From the multiple relative position deviation values, the relative position deviation values ​​that meet the preset conditions are removed to obtain multiple target relative position deviation values; The second registration transformation matrix is ​​determined based on the relative position deviation values ​​of the multiple targets.

7. The method according to claim 6, characterized in that, Determining the second registration transformation matrix based on multiple relative position deviation values ​​of the targets includes: Based on multiple local coordinates, a first geometric center corresponding to multiple tracer elements is determined, and based on multiple first real-time coordinates, a second geometric center corresponding to multiple tracer elements is determined; A feature matrix is ​​generated 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; Perform singular value decomposition on the feature matrix, and obtain the rotation matrix based on the singular value decomposition results; Based on the rotation matrix and the relative position deviation values ​​of each target, the second registration transformation matrix is ​​determined.

8. The method according to claim 6, characterized in that, The preset conditions include: the relative position deviation value is the largest relative position deviation value among a plurality of relative position deviation values.

9. The method according to any one of claims 6-8, characterized in that, The relative positional deviation between each pair of tracer elements is determined using the following formula: Among them, E i Let be the relative position deviation value of the i-th tracer element. The registration distance between the i-th tracer element and the j-th tracer element is... The real-time distance between the i-th and j-th tracer elements is denoted as N, where N is the number of tracer elements.

10. The method according to claim 7, characterized in that, The feature matrix is ​​shown below: Wherein, K is the feature matrix; E is the first distance corresponding to the i-th tracer element. tra The first geometric center; E is the second distance corresponding to the i-th tracer element. real The second geometric center is N, and the number of the tracer elements is N.

11. The method according to claim 7, characterized in that, The rotation matrix is ​​shown below: Where 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.

12. The method according to claim 7, characterized in that, The second registration transformation matrix is ​​shown below: Among them, T real Let T = E be the second registration transformation matrix. real -R·E tra E tra E is the first geometric center. real Let R be the second geometric center, and let R be the rotation matrix.

13. The method according to claim 1, characterized in that, The step of obtaining the image spine position based on the second real-time coordinates of each of the tracer elements during the navigation phase, the second registration transformation matrix, and the first registration transformation matrix includes: The second real-time coordinates are transformed using the second registration transformation matrix and the first registration transformation matrix to obtain the corresponding real-time image coordinate system, and the image spine position is determined based on the real-time image coordinates.

14. The method according to claim 1, characterized in that, The number of optical markers is three, and the three optical markers are arranged in a triangle.

15. A surgical navigation and tracking system for implementing the surgical navigation and tracking method of claim 1, characterized in that, include: An acquisition module is used to acquire scan data during the registration stage and the initial optical coordinates of multiple tracer elements; wherein the tracer elements are fixed on the patient's skin surface; The processing module is configured to 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; it is also configured to determine the local coordinates of each of the plurality of tracer elements in the initial optical coordinate system; it is further configured to determine the first real-time coordinates of each of the plurality of tracer elements during the navigation phase, and register the first real-time coordinates and the local coordinates to obtain a second registration transformation matrix; it is also configured to obtain the image spine position based on the second real-time coordinates of each of the tracer elements during 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 positions of the tracer elements at different times; The 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.

16. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method as described in any one of claims 1-14.

17. 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, it implements the steps of the method as described in any one of claims 1-14.

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