Mixed reality navigation method and system for humerus interlocking intramedullary nail

Abstract

The invention relates to the technical field of medical image navigation, in particular to a mixed reality navigation method and system for a humerus interlocking intramedullary nail. The mixed reality navigation method provided by the invention comprises the following steps: acquiring a two-dimensional humerus image set; a three-dimensional humerus model is generated and visualized through the two-dimensional humerus image set, and the three-dimensional humerus model comprises an epidermis sub-model and a humerus sub-model; setting an incision point, a nail inlet point and a nail inlet path on the three-dimensional humerus model; utilizing the three-dimensional humerus model provided with an incision point, a nail entering point and a nail entering path to generate a nail entering navigation image; projecting the nail feeding navigation image to the epidermis of the wounded, enabling the epidermis of the wounded to coincide with the epidermis projection, and indicating an incision point position, a nail feeding point position and a nail feeding path by utilizing the incision point projection image, the nail feeding point projection image and the nail feeding path projection image respectively. According to the invention, through the coincidence of the virtual model and the real anatomical position, the precise guidance of the incision positioning and the nail entering path is realized.

Description

Technical Field

[0001] The present invention relates to the field of medical image navigation technology, and in particular to a mixed reality navigation method and system for a humeral interlocking intramedullary nail. Background Art

[0002] Humeral fractures have a significant impact on patients' daily life and functional activities, and usually require internal fixation surgery. As a common method for treating humeral fractures, humeral interlocking intramedullary nails insert the intramedullary nail into the humeral medullary cavity and fix it with interlocking screws. It has the advantages of less trauma, stable fixation, and fast recovery.

[0003] However, the traditional fluoroscopic guidance method relies on two-dimensional images, while the three-dimensional structural characteristics of humeral fractures often lead to image overlap or distortion, and the fracture ends are often accompanied by displacement and deformation, which makes it difficult to accurately grasp the entry point and nail track direction of the intramedullary nail during surgery. Summary of the invention

[0004] The present invention provides a mixed reality navigation method and system for a humeral interlocking intramedullary nail, aiming to solve the problems of inaccurate nail insertion point positioning and nail insertion path in humeral fracture surgery.

[0005] In a first aspect, the present invention provides a mixed reality navigation method for a humeral interlocking intramedullary nail, comprising the following steps: obtaining a two-dimensional humeral image atlas, wherein the two-dimensional humeral image atlas comprises a plurality of two-dimensional humeral images; using the two-dimensional humeral image atlas, generating and visualizing a three-dimensional humeral model, wherein the three-dimensional humeral model comprises an epidermal sub-model and a humeral sub-model; setting a nail entry point and a nail entry path on the humeral sub-model, and setting an incision point on the epidermal sub-model based on the nail entry point and the nail entry path; using the three-dimensional humeral model provided with the incision point, the nail entry point and the nail entry path, generating a nail entry navigation image, wherein the nail entry navigation image comprises an epidermal projection image, an incision point projection image, a nail entry point projection image and a nail entry path projection image; projecting the nail entry navigation image onto the epidermis of an injured person so that the epidermis of the injured person overlaps with the epidermal projection, and indicating the incision point position, the nail entry point position and the nail entry path using the incision point projection image, the nail entry point projection image and the nail entry path projection image, respectively.

[0006] Furthermore, obtaining a two-dimensional humeral image atlas includes the following steps: using a CT device or an MRI device to continuously scan along the axial direction of the humerus to obtain a plurality of continuous two-dimensional humeral images along the axial direction of the humerus, wherein the axial distance between any two adjacent two-dimensional humeral images is less than 2 mm.

[0007] Furthermore, the method of generating a nail insertion navigation image by using a three-dimensional humeral model provided with incision points, nail entry points and nail entry paths comprises the following steps: setting a first projection direction, and based on the first projection direction, obtaining a first navigation map, the first navigation map being an image of the epidermal sub-model and the incision points on the epidermal sub-model projected in the first projection direction; based on the first projection direction, obtaining a second navigation map, the second navigation map being an image of the epidermal sub-model with the first navigation map as the background, the nail entry points and the nail entry path on the humeral sub-model projected in the first projection direction; setting a second projection direction, the second projection direction being non-parallel to the first projection direction, and based on the second projection direction, obtaining a third navigation map, the third navigation map being an image of the epidermal sub-model and the nail entry points and the nail entry path on the humeral sub-model projected in the second projection direction.

[0008] Furthermore, the first navigation image includes an incision point projection layer, a first epidermis projection layer and a first background layer, the grayscale value of the incision point projection image in the incision point projection layer is different from the grayscale value of the epidermis projection image in the first epidermis projection layer, and the grayscale value of the epidermis projection image in the first epidermis projection layer is different from the grayscale value of the first background layer.

[0009] Furthermore, the second navigation image includes a first nail insertion projection layer, the first epidermis projection layer and the first background layer, and the grayscale values ​​of the nail insertion point projection image and the nail insertion path projection image in the first nail insertion projection layer are different from the grayscale values ​​of the epidermis projection image in the first epidermis projection layer.

[0010] Furthermore, the third navigation image includes a second nail insertion projection layer, a second epidermis projection layer and a second background layer, the grayscale values ​​of the nail insertion point projection image and the nail insertion path projection image in the second nail insertion projection layer are different from the grayscale values ​​of the epidermis projection image in the second epidermis projection layer, and the grayscale value of the epidermis projection image in the second epidermis projection layer is different from the grayscale value of the second background layer.

[0011] Furthermore, the first projection direction is the direction of a perpendicular line from the incision point to the axial center line of the humerus.

[0012] Furthermore, on any plane perpendicular to the axial direction of the humerus, the minimum angle between two straight lines respectively parallel to the first projection direction and the second projection direction on the plane perpendicular to the axial direction of the humerus does not exceed 90°.

[0013] Furthermore, the nail insertion navigation image is projected onto the injured person's epidermis so that the injured person's epidermis overlaps with the epidermal projection, and the incision point projection image, the nail insertion point projection image and the nail insertion path projection image are used to indicate the incision point position, the nail insertion point position and the nail insertion path, respectively, including the following steps: projecting the first navigation map onto the injured person's epidermis so that the epidermis projection image in the first epidermis projection layer overlaps with the injured person's epidermis, and using the incision point projection image in the incision point projection layer to indicate the incision point position; projecting the second navigation map and the third navigation map onto the injured person's epidermis respectively so that the epidermis projection image in the first epidermis projection layer overlaps with the injured person's epidermis, and so that the epidermis projection image in the second epidermis projection layer overlaps with the injured person's epidermis; combining the nail insertion point projection image and the nail insertion path projection image in the first nail insertion projection layer and the second nail insertion projection layer to indicate the nail insertion point position and the nail insertion direction.

[0014] In a second aspect, the mixed reality navigation system for humeral interlocking intramedullary nail provided by the present invention comprises an input device, a processor, a memory and an output device, wherein the input device, the processor, the memory and the output device are interconnected, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the mixed reality navigation method for humeral interlocking intramedullary nail provided by the first aspect.

[0015] The mixed reality navigation method and system for humeral interlocking intramedullary nail provided by the present invention have the following benefits: the present invention realizes accurate navigation of humeral fracture during surgery through three-dimensional reconstruction and mixed reality technology; and the present invention can generate a three-dimensional humeral model through a two-dimensional image atlas, so that the doctor can clearly observe the fracture site and structural characteristics, and then plan a more accurate nail entry point and path; at the same time, the present invention utilizes multi-level, multi-perspective projection navigation images and projects them onto the skin of the injured person, thereby realizing the overlap of the virtual model with the real anatomical position, which is helpful for incision positioning and nail entry path guidance, and reduces surgical errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of a mixed reality navigation method for a humeral interlocking intramedullary nail provided in an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of a first projection direction provided by an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of a second projection direction provided by an embodiment of the present invention;

[0019] Figure 4 A schematic diagram of a mixed reality navigation system for a humeral interlocking intramedullary nail provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are proposed to facilitate a thorough understanding of the embodiments of the present application.

[0021] In one embodiment, see Figure 1 , Figure 1 This is a flow chart of the mixed reality navigation method for the humeral interlocking intramedullary nail provided in an embodiment of the present invention.

[0022] like Figure 1 As shown, the mixed reality navigation method for humeral interlocking intramedullary nail provided by the embodiment of the present invention comprises the following steps:

[0023] S01. Acquire a two-dimensional humeral image atlas, wherein the two-dimensional humeral image atlas includes a plurality of two-dimensional humeral images.

[0024] Any two-dimensional humeral image includes a humeral cross-sectional image at a position on the axial direction of the humerus, and the humeral cross-sectional images in any two two-dimensional humeral images correspond to different positions on the axial direction of the humerus.

[0025] It can be understood that the humeral axis refers to the length direction of the humerus; the humeral cross-sectional image refers to the humeral cross-sectional image at a specific position of the humeral axis, which shows the cross-sectional information such as the humeral shape, structure, fracture condition, etc. at the specific position.

[0026] Furthermore, the two-dimensional humeral image atlas can be acquired by CT (computed tomography) or MRI (magnetic resonance imaging) equipment.

[0027] In this embodiment, the obtaining of the two-dimensional humeral image atlas described in step S01 includes the following steps: using a CT device to continuously scan along the axial direction of the humerus to obtain a two-dimensional humeral image atlas that is continuous in the axial direction of the humerus, wherein the axial distance between the humerus corresponding to any two adjacent two-dimensional humeral images in the two-dimensional humeral image atlas is less than 2 mm.

[0028] In one or some other embodiments, the acquisition of the two-dimensional humeral image atlas described in step S01 can be obtained by continuous scanning along the axial direction of the humerus using an MRI device or other imaging device.

[0029] S02. Generate and visualize a three-dimensional humerus model using the two-dimensional humerus image atlas, wherein the three-dimensional humerus model includes an epidermis sub-model and a humerus sub-model.

[0030] Furthermore, the epidermal sub-model is a three-dimensional model of the patient's skin reconstructed through a two-dimensional humeral image atlas, which represents the skin on the outside of the humerus and is used to determine the incision position; the humeral sub-model is a three-dimensional model of the humeral bone itself reconstructed based on a two-dimensional humeral image atlas, and is used to plan the nail insertion path.

[0031] In this embodiment, the three-dimensional humerus model is reconstructed layer by layer using a two-dimensional humerus image atlas, which is a prior art and will not be described in detail here. Similarly, the three-dimensional humerus model is rendered and visualized using three-dimensional visualization tools such as Mimics, 3D Slicer, and Amira, which is a prior art and will not be described in detail here.

[0032] S03. Setting a nail entry point and a nail entry path on the humerus sub-model, and setting an incision point on the epidermis sub-model based on the nail entry point and the nail entry path.

[0033] In this embodiment, the incision point position, nail insertion point position, and nail insertion path on the three-dimensional humeral model are manually marked and adjusted on the three-dimensional humeral model by the surgeon or a professional team based on the patient's individual condition, fracture location, bone condition, and surgical requirements.

[0034] S04. Generate a nail insertion navigation image using a three-dimensional humeral model provided with an incision point, a nail insertion point, and a nail insertion path, wherein the nail insertion navigation image includes an epidermal projection image, an incision point projection image, a nail insertion point projection image, and a nail insertion path projection image.

[0035] In this embodiment, the step S04 described in which a three-dimensional humeral model provided with an incision point, a nail insertion point, and a nail insertion path is used to generate a nail insertion navigation image comprises the following steps:

[0036] S041. Set a first projection direction, and based on the first projection direction, obtain a first navigation map, where the first navigation map is an image of the epidermal sub-model and the incision points on the epidermal sub-model projected in the first projection direction.

[0037] Furthermore, the first projection direction is the direction of a perpendicular line from the incision point to the axis of the humerus.

[0038] Furthermore, the first navigation image includes an incision point projection layer, a first epidermis projection layer and a first background layer, the grayscale value of the incision point projection image in the incision point projection layer is different from the grayscale value of the epidermis projection image in the first epidermis projection layer, and the grayscale value of the epidermis projection image in the first epidermis projection layer is different from the grayscale value of the first background layer.

[0039] It should be noted that in order to make the incision point projection image in the incision point projection layer and the epidermis projection image in the first epidermis projection layer have a clear contrast, the difference between the grayscale value of the incision point projection image in the incision point projection layer and the grayscale value of the epidermis projection image in the first epidermis projection layer is at least 50.

[0040] Similarly, in order to make the epidermis projection image in the first epidermis projection layer have a clear contrast with the first background layer, the difference between the grayscale value of the epidermis projection image in the first epidermis projection layer and the grayscale value of the first background layer is also at least 50.

[0041] In this embodiment, the grayscale value of the incision point projection image in the incision point projection layer is any grayscale value between 200 and 255, the grayscale value of the epidermis projection image in the first epidermis projection layer is any grayscale value between 100 and 150, and the grayscale value of the first background layer is any grayscale value between 200 and 255.

[0042] S042. Based on the first projection direction, obtain a second navigation map, wherein the second navigation map is an image of the nail entry points and the nail entry path epidermal sub-model on the humeral sub-model projected in the first projection direction with the first navigation map as the background.

[0043] Furthermore, the second navigation image includes a first nail insertion projection layer, the first epidermis projection layer and the first background layer, and the grayscale values ​​of the nail insertion point projection image and the nail insertion path projection image in the first nail insertion projection layer are different from the grayscale values ​​of the epidermis projection image in the first epidermis projection layer.

[0044] It should also be noted that in order to make the contrast between the nail entry point projection image and the nail entry path projection image in the first nail entry projection layer and the epidermis projection image in the first epidermis projection layer obvious, the difference between the grayscale value of the nail entry point projection image and the nail entry path projection image in the first nail entry projection layer and the grayscale value of the epidermis projection image in the first epidermis projection layer is at least 50.

[0045] In this embodiment, the grayscale value of the projection image of the nail insertion point and the nail insertion path in the first nail insertion projection layer is any grayscale value between 200 and 255, the grayscale value of the epidermis projection image in the first epidermis projection layer is any grayscale value between 100 and 150, and the grayscale value of the first background layer is any grayscale value between 200 and 255.

[0046] S043. Set a second projection direction, which is not parallel to the first projection direction, and based on the second projection direction, obtain a third navigation map, which is an image of the nail entry points and nail entry paths on the epidermal sub-model and the humeral sub-model projected in the second projection direction.

[0047] To ensure that the nail insertion path can be accurately guided, in this implementation, projection images with two different projection perspectives are used to guide the direction of progress; in one or some other embodiments, projection images with more than two projection perspectives can also be used to guide the direction of progress.

[0048] In order not to affect the surgical operation, on any plane perpendicular to the axial direction of the humerus, the minimum angle between two straight lines respectively parallel to the first projection direction and the second projection direction on the plane perpendicular to the axial direction of the humerus does not exceed 90°.

[0049] See also Figure 2 and Figure 3 , Figure 2 A schematic diagram of a first projection direction provided by an embodiment of the present invention, Figure 3 This is a schematic diagram of a second projection direction provided by an embodiment of the present invention. Figure 2 The first projection direction is the anterior-posterior projection direction. Figure 3 The first projection direction is the lateral projection direction.

[0050] Furthermore, the third navigation image includes a second nail insertion projection layer, a second epidermis projection layer and a second background layer, the grayscale values ​​of the nail insertion point projection image and the nail insertion path projection image in the second nail insertion projection layer are different from the grayscale values ​​of the epidermis projection image in the second epidermis projection layer, and the grayscale value of the epidermis projection image in the second epidermis projection layer is different from the grayscale value of the second background layer.

[0051] It should also be noted that in order to make the contrast between the nail entry point projection image and the nail entry path projection image in the second nail entry projection layer and the epidermis projection image in the second epidermis projection layer obvious, the difference between the grayscale value of the nail entry point projection image and the nail entry path projection image in the second nail entry projection layer and the grayscale value of the epidermis projection image in the second epidermis projection layer is at least 50.

[0052] Similarly, in order to make the epidermis projection image in the second epidermis projection layer have a clear contrast with the second background layer, the difference between the grayscale value of the epidermis projection image in the second epidermis projection layer and the grayscale value of the second background layer is also at least 50.

[0053] In this embodiment, the grayscale values ​​of the nail insertion point projection image and the nail insertion path projection image in the second nail insertion projection layer are any grayscale values ​​between 200 and 255, the grayscale value of the epidermis projection image in the second epidermis projection layer is any grayscale value between 100 and 150, and the grayscale value of the second background layer is any grayscale value between 200 and 255.

[0054] S05. Project the nail insertion navigation image onto the injured person's epidermis so that the injured person's epidermis overlaps with the epidermal projection, and use the incision point projection image, the nail insertion point projection image, and the nail insertion path projection image to indicate the incision point position, the nail insertion point position, and the nail insertion path, respectively.

[0055] In this embodiment, the step S05 of projecting the nail insertion navigation image onto the skin of the injured person so that the skin of the injured person overlaps with the skin projection, and indicating the incision point position, the nail insertion point position and the nail insertion path using the incision point projection image, the nail insertion point projection image and the nail insertion path projection image respectively includes the following steps:

[0056] S051. Projecting the first navigation map onto the epidermis of the injured person so that the epidermis projection image in the first epidermis projection layer overlaps with the epidermis of the injured person, and using the incision point projection image in the incision point projection layer to indicate the incision point position.

[0057] Specifically, after the actual epidermis position of the injured person is identified using a mixed reality device (such as HoloLensp), the image of the first epidermis projection layer is aligned with the actual epidermis.

[0058] Furthermore, the projection image of the incision point is directly superimposed on the skin of the injured person, and the doctor can confirm the position of the incision point by naked eye observation, ensuring the accurate match of the navigation information with the actual anatomical structure.

[0059] S052. Project the second navigation map and the third navigation map onto the epidermis of the injured person respectively, so that the epidermis projection image in the first epidermis projection layer overlaps with the epidermis of the injured person, and so that the epidermis projection image in the second epidermis projection layer overlaps with the epidermis of the injured person.

[0060] Similar to step S051, it will not be repeated here.

[0061] S053. In combination with the nail insertion point projection image and the nail insertion path projection image in the first nail insertion projection layer and the second nail insertion projection layer, the nail insertion point position and the nail insertion direction are indicated.

[0062] Similar to step S051, it will not be repeated here.

[0063] In one embodiment, see Figure 4 , Figure 4 A schematic diagram of a mixed reality navigation system for a humeral interlocking intramedullary nail provided in an embodiment of the present invention.

[0064] like Figure 4 As shown, the mixed reality navigation system for humeral interlocking intramedullary nail provided by the present invention includes an input device, a processor, a memory and an output device, and the input device, the processor, the memory and the output device are interconnected.

[0065] Furthermore, the input device described in this embodiment is a hardware component for collecting patient anatomical data, surgical planning parameters and doctor's operating instructions.

[0066] Furthermore, the processor described in this embodiment is used to process image data collected by the input device and the doctor's operating instructions, and call a computer program to perform real-time navigation operations to implement the mixed reality navigation method for the humeral interlocking intramedullary nail provided by the present invention.

[0067] Furthermore, the memory is used to store a computer program, and the computer program includes program instructions; specifically, the memory includes short-term storage (such as RAM) and long-term storage (such as SSD).

[0068] Furthermore, the output device is a hardware component for projecting the generated navigation image onto the patient's epidermis and providing visual and audio feedback.

[0069] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0070] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred implementation of the present invention; it should be noted that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A mixed reality navigation method for humeral interlocking intramedullary nail, characterized in that: The steps include: Acquire a two-dimensional humeral image atlas, wherein the two-dimensional humeral image atlas includes a plurality of two-dimensional humeral images; Using the two-dimensional humerus image atlas, generating and visualizing a three-dimensional humerus model, the three-dimensional humerus model comprising an epidermis sub-model and a humerus sub-model; Setting a nail entry point and a nail entry path on the humeral sub-model, and setting an incision point on the epidermis sub-model based on the nail entry point and the nail entry path; Generate a nail insertion navigation image using a three-dimensional humeral model provided with an incision point, a nail insertion point, and a nail insertion path, wherein the nail insertion navigation image includes an epidermal projection image, an incision point projection image, a nail insertion point projection image, and a nail insertion path projection image; The nail insertion navigation image is projected onto the injured person's epidermis so that the injured person's epidermis overlaps with the epidermis projection, and the incision point projection image, the nail insertion point projection image and the nail insertion path projection image are used to indicate the incision point position, the nail insertion point position and the nail insertion path respectively.

2. The mixed reality navigation method for humeral interlocking intramedullary nail according to claim 1, characterized in that: Obtaining a two-dimensional humeral image atlas includes the following steps: Continuous scanning along the axial direction of the humerus is performed using a CT device or an MRI device to obtain a plurality of continuous two-dimensional humeral images along the axial direction of the humerus, and the axial distance of the humerus corresponding to any two adjacent two-dimensional humeral images is less than 2 mm.

3. The mixed reality navigation method for humeral interlocking intramedullary nail according to claim 1, characterized in that: The method of generating a nail insertion navigation image by using a three-dimensional humeral model provided with an incision point, a nail insertion point and a nail insertion path comprises the following steps: Setting a first projection direction, and based on the first projection direction, acquiring a first navigation map, wherein the first navigation map is an image of the epidermis sub-model and the incision points on the epidermis sub-model projected in the first projection direction; Based on the first projection direction, a second navigation map is acquired, wherein the second navigation map is an image of the nail entry point and the nail entry path epidermal sub-model on the humeral sub-model projected in the first projection direction with the first navigation map as the background; A second projection direction is set, where the second projection direction is not parallel to the first projection direction, and based on the second projection direction, a third navigation map is obtained, where the third navigation map is an image of the nail entry points and nail entry paths on the epidermal sub-model and the humeral sub-model projected in the second projection direction.

4. The mixed reality navigation method for humeral interlocking intramedullary nail according to claim 3, characterized in that: The first navigation image includes an incision point projection layer, a first epidermis projection layer and a first background layer. The grayscale value of the incision point projection image in the incision point projection layer is different from the grayscale value of the epidermis projection image in the first epidermis projection layer, and the grayscale value of the epidermis projection image in the first epidermis projection layer is different from the grayscale value of the first background layer.

5. The mixed reality navigation method for humeral interlocking intramedullary nail according to claim 4, characterized in that: The second navigation image includes a first nail insertion projection layer, the first epidermis projection layer and the first background layer. The grayscale values ​​of the nail insertion point projection image and the nail insertion path projection image in the first nail insertion projection layer are different from the grayscale value of the epidermis projection image in the first epidermis projection layer.

6. The mixed reality navigation method for humeral interlocking intramedullary nail according to claim 5, characterized in that: The third navigation image includes a second nail insertion projection layer, a second epidermis projection layer and a second background layer. The grayscale values ​​of the nail insertion point projection image and the nail insertion path projection image in the second nail insertion projection layer are different from the grayscale values ​​of the epidermis projection image in the second epidermis projection layer. The grayscale value of the epidermis projection image in the second epidermis projection layer is different from the grayscale value of the second background layer.

7. The mixed reality navigation method for humeral interlocking intramedullary nail according to any one of claims 3 to 6, characterized in that: The first projection direction is the perpendicular direction from the incision point to the humeral axis.

8. The mixed reality navigation method for humeral interlocking intramedullary nail according to claim 7, characterized in that: On any plane perpendicular to the axial direction of the humerus, the minimum angle between two straight lines respectively parallel to the first projection direction and the second projection direction on the plane perpendicular to the axial direction of the humerus does not exceed 90°.

9. The mixed reality navigation method for humeral interlocking intramedullary nail according to claims 3-6, characterized in that: The nail insertion navigation image is projected onto the skin of the injured person so that the skin of the injured person overlaps with the skin projection, and the incision point projection image, the nail insertion point projection image, and the nail insertion path projection image are used to indicate the incision point position, the nail insertion point position, and the nail insertion path, respectively, including the following steps: Projecting the first navigation map onto the epidermis of the injured person so that the epidermis projection image in the first epidermis projection layer overlaps with the epidermis of the injured person, and using the incision point projection image in the incision point projection layer to indicate the incision point position; Projecting the second navigation map and the third navigation map onto the epidermis of the injured person respectively, so that the epidermis projection image in the first epidermis projection layer overlaps with the epidermis of the injured person, and so that the epidermis projection image in the second epidermis projection layer overlaps with the epidermis of the injured person; The nail insertion point projection image and the nail insertion path projection image in the first nail insertion projection layer and the second nail insertion projection layer are combined to indicate the nail insertion point position and the nail insertion direction.

10. A mixed reality navigation system for humeral interlocking intramedullary nail, characterized in that: The invention comprises an input device, a processor, a memory and an output device, wherein the input device, the processor, the memory and the output device are interconnected, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the mixed reality navigation method for the humeral interlocking intramedullary nail as described in any one of claims 1 to 9.

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