A mixed reality navigation method and system for a humeral interlocking intramedullary nail

Abstract

This invention relates to the field of medical image navigation technology, and in particular to a mixed reality navigation method and system for interlocking intramedullary nailing of the humerus. The mixed reality navigation method provided by this invention includes the following steps: acquiring a two-dimensional humeral image atlas; generating and visualizing a three-dimensional humeral model using the two-dimensional humeral image atlas, the three-dimensional humeral model including an epidermal sub-model and a humeral bone sub-model; setting incision points, nail insertion points, and nail insertion paths on the three-dimensional humeral model; generating nail insertion navigation images using the three-dimensional humeral model with the incision points, nail insertion points, and nail insertion paths; projecting the nail insertion navigation images onto the patient's epidermis, so that the patient's epidermis coincides with the epidermal projection; and using the incision point projection image, the nail insertion point projection image, and the nail insertion path projection image to indicate the incision point location, the nail insertion point location, and the nail insertion path, respectively. This invention achieves precise guidance for incision location and nail insertion path by aligning the virtual model with the actual anatomical location.

Description

Technical Field

[0001] This invention relates to the field of medical image navigation technology, and in particular to a mixed reality navigation method and system for interlocking intramedullary nails of the humerus. Background Technology

[0002] Humeral fractures significantly impact patients' daily lives and functional activities, typically requiring internal fixation surgery. Interlocking intramedullary nailing of the humerus is a common treatment for humeral fractures. It involves inserting an intramedullary nail into the humeral medullary cavity and fixing it with interlocking screws, offering advantages such as minimal trauma, stable fixation, and rapid recovery.

[0003] However, traditional fluoroscopic guidance methods rely on two-dimensional images, while the three-dimensional structural features of humeral fractures often lead to overlapping or distortion of images, and the fracture ends are often accompanied by displacement and deformation, making it difficult to accurately determine the entry point and direction of the intramedullary nail during surgery. Summary of the Invention

[0004] This invention provides a hybrid reality navigation method and system for interlocking intramedullary nailing of the humerus, aiming to solve the problems of inaccurate nail entry point positioning and nail entry path in humeral fracture surgery.

[0005] In a first aspect, the present invention provides a mixed reality navigation method for interlocking intramedullary nailing of the humerus, comprising the following steps: acquiring a two-dimensional humeral image atlas, the atlas including multiple two-dimensional humeral images; generating and visualizing a three-dimensional humeral model using the atlas, the three-dimensional humeral model including an epidermal sub-model and a humeral bone sub-model; setting an entry point and entry path on the humeral bone sub-model, and setting an incision point on the epidermal sub-model based on the entry point and entry path; generating an entry navigation image using the three-dimensional humeral model with the incision point, entry point, and entry path, the entry navigation image including an epidermal projection image, an incision point projection image, an entry point projection image, and an entry path projection image; projecting the entry navigation image onto the patient's epidermis, so that the patient's epidermis coincides with the epidermal projection, and using the incision point projection image, the entry point projection image, and the entry path projection image to indicate the incision point position, the entry point position, and the entry path, respectively.

[0006] Further, the acquisition of a two-dimensional humeral image atlas includes the following steps: using a CT device or an MRI device to continuously scan along the humeral axis to obtain multiple consecutive two-dimensional humeral images along the humeral axis, wherein the humeral axis distance between any two adjacent two-dimensional humeral images is less than 2 mm.

[0007] Furthermore, the step of generating an insertion navigation image using a three-dimensional humeral model with incision points, insertion points, and insertion paths includes the following steps: setting a first projection direction, and obtaining a first navigation map based on the first projection direction, wherein the first navigation map is a projection image of the epidermal sub-model and the incision points on the epidermal sub-model in the first projection direction; obtaining a second navigation map based on the first projection direction, wherein the second navigation map is a projection image of the insertion points and insertion paths on the epidermal sub-model of the humeral sub-model in the first projection direction with the first navigation map as the background; setting a second projection direction, wherein the second projection direction is not parallel to the first projection direction, and obtaining a third navigation map based on the second projection direction, wherein the third navigation map is a projection image of the epidermal sub-model and the insertion points and insertion paths on the epidermal sub-model of the humeral sub-model in the second projection direction.

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

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

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

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

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

[0013] Further, the nail insertion navigation image is projected onto the patient's skin, so that the patient's skin coincides with the skin projection. The incision point projection image, nail insertion point projection image, and nail insertion path projection image are used to indicate the incision point location, nail insertion point location, and nail insertion path, respectively. This includes the following steps: Projecting the first navigation map onto the patient's skin, so that the skin projection image in the first skin projection layer coincides with the patient's skin, and using the incision point projection image in the incision point projection layer to indicate the incision point location; Projecting the second navigation map and the third navigation map onto the patient's skin, so that the skin projection image in the first skin projection layer coincides with the patient's skin, and also coinciding with the skin projection image in the second skin projection layer; Combining the nail insertion point projection image and nail insertion path projection image in the first and second nail insertion projection layers, the nail insertion point location and nail insertion direction are indicated.

[0014] Secondly, the mixed reality navigation system for interlocking intramedullary nails of the humerus provided by the present invention includes 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 includes program instructions, and the processor is configured to call the program instructions to execute the mixed reality navigation method for interlocking intramedullary nails of the humerus provided in the first aspect.

[0015] The mixed reality navigation method and system for interlocking intramedullary nailing of the humerus provided by this invention have the following advantages: This invention achieves precise navigation of humeral fractures during surgery through three-dimensional reconstruction and mixed reality technology; furthermore, this invention can generate a three-dimensional humeral model from two-dimensional image atlases, allowing doctors to clearly observe the fracture site and structural characteristics, and thus plan more precise nail entry points and paths; simultaneously, this invention utilizes multi-layered, multi-view projection navigation images and projects them onto the patient's epidermis, achieving overlap between the virtual model and the actual anatomical location, which helps in incision positioning and nail entry path guidance, reducing surgical errors. Attached Figure Description

[0016] Figure 1 This is a flowchart of the hybrid reality navigation method for interlocking intramedullary nails of the humerus provided in an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the first projection direction provided in an embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the second projection direction provided in an embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of a mixed reality navigation system for interlocking intramedullary nails of the humerus provided in an embodiment of the present invention. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and technologies are set forth for illustrative purposes and not limiting, in order to provide a thorough understanding of the embodiments of this application.

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

[0022] like Figure 1 As shown, the hybrid reality navigation method for interlocking intramedullary nails of the humerus provided in this embodiment of the invention includes the following steps:

[0023] S01. Obtain a two-dimensional humeral image atlas, wherein the two-dimensional humeral image atlas includes multiple two-dimensional humeral images.

[0024] Any two-dimensional humeral image includes a cross-sectional image of the humerus at a position along the humeral axis, and the cross-sectional images of the humerus in any two two-dimensional humeral images have different corresponding positions along the humeral axis.

[0025] It is understood that the humeral axis refers to the length direction of the humerus; the humeral cross-sectional image refers to a cross-sectional image of the humerus at a specific location along the humeral axis, which shows the cross-sectional information such as the shape, structure, and fracture status of the humerus at that specific location.

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

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

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

[0029] S02. Using the two-dimensional humeral image atlas, generate and visualize a three-dimensional humeral model, which includes an epidermal sub-model and a humeral sub-model.

[0030] Furthermore, the epidermal sub-model is a three-dimensional model of the patient's skin reconstructed from a two-dimensional humeral image atlas, representing the skin on the outer side of the humerus, used to determine the incision location; the humeral sub-model is a three-dimensional model of the humeral bone itself reconstructed from a two-dimensional humeral image atlas, used to plan the screw insertion path.

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

[0032] S03. Set the nail entry point and nail entry path on the humeral sub-model, and set the incision point on the epidermal sub-model based on the nail entry point and the nail entry path.

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

[0034] S04. Using a three-dimensional humerus model with incision point, nail insertion point and nail insertion path set, generate nail insertion navigation image. The nail insertion navigation image includes epidermal projection image, incision point projection image, nail insertion point projection image and nail insertion path projection image.

[0035] In this embodiment, the step S04, which involves generating a nail insertion navigation image using a three-dimensional humerus model with incision points, nail insertion points, and nail insertion paths, includes the following steps:

[0036] S041. Set a first projection direction, and obtain a first navigation map based on the first projection direction. The first navigation map is the projection image of the skin sub-model and the cut points on the skin sub-model in the first projection direction.

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

[0038] Furthermore, the first navigation image includes a cut point projection layer, a first epidermal projection layer, and a first background layer. The grayscale value of the cut point projection image in the cut point projection layer is different from the grayscale value of the epidermal projection image in the first epidermal projection layer, and the grayscale value of the epidermal projection image in the first epidermal 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 epidermal projection image in the first epidermal projection layer clearly contrast, the difference between the gray values ​​of the incision point projection image in the incision point projection layer and the gray values ​​of the epidermal projection image in the first epidermal projection layer should be at least 50.

[0040] Similarly, in order to make the contrast between the epidermal projection image in the first epidermal projection layer and the first background layer obvious, the difference between the gray value of the epidermal projection image in the first epidermal projection layer and the gray value of the first background layer should be at least 50.

[0041] In this embodiment, the grayscale value of the cut point projection image in the cut point projection layer is any grayscale value between 200 and 255, the grayscale value of the epidermal projection image in the first epidermal 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. The second navigation map is a projection image of the humeral sub-model with the nail insertion point and nail insertion path epidermal sub-model on the first projection direction, with the first navigation map as the background.

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

[0044] It should also be noted that, in order to make the projection images of the nail insertion point and the nail insertion path in the first nail insertion projection layer clearly contrast with the epidermal projection image in the first epidermal projection layer, the difference between the gray values ​​of the projection images of the nail insertion point and the nail insertion path in the first nail insertion projection layer and the gray values ​​of the epidermal projection image in the first epidermal projection layer should be at least 50.

[0045] In this embodiment, the grayscale values ​​of the projection images of the nail insertion point and the nail insertion path in the first nail insertion projection layer are any grayscale values ​​between 200 and 255, the grayscale values ​​of the epidermal projection image in the first epidermal projection layer are any grayscale values ​​between 100 and 150, and the grayscale values ​​of the first background layer are any grayscale values ​​between 200 and 255.

[0046] S043. Set a second projection direction, which is not parallel to the first projection direction, and obtain a third navigation map based on the second projection direction. The third navigation map is a projection image of the nail insertion point and nail insertion path on the epidermal sub-model and the humeral sub-model in the second projection direction.

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

[0048] To avoid affecting the surgical procedure, the minimum included angle between two straight lines parallel to the first projection direction and the second projection direction on any plane perpendicular to the humeral axis shall not exceed 90°.

[0049] Please see Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the first projection direction provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of the second projection direction provided in an embodiment of the present invention. Figure 2 The first projection direction is the front-to-back projection direction. Figure 3 The first projection direction is the side projection direction.

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

[0051] It should also be noted that, in order to make the projection images of the nail entry point and the nail entry path in the second nail entry projection layer clearly contrast with the epidermal projection image in the second epidermal projection layer, the difference between the gray values ​​of the projection images of the nail entry point and the nail entry path in the second nail entry projection layer and the gray values ​​of the epidermal projection image in the second epidermal projection layer should be at least 50.

[0052] Similarly, in order to make the contrast between the epidermal projection image in the second epidermal projection layer and the second background layer obvious, the difference between the gray value of the epidermal projection image in the second epidermal projection layer and the gray value of the second background layer should be 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 epidermal projection image in the second epidermal 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 patient's skin so that the patient's skin coincides with the skin projection. Use the incision point projection image, nail insertion point projection image, and nail insertion path projection image to indicate the incision point position, nail insertion point position, and nail insertion path, respectively.

[0055] In this embodiment, step S05, which involves projecting the nail insertion navigation image onto the patient's skin so that the patient's skin coincides with the skin projection, and using the incision point projection image, the nail insertion point projection image, and the nail insertion path projection image to indicate the incision point location, the nail insertion point location, and the nail insertion path, includes the following steps:

[0056] S051. Project the first navigation map onto the patient's skin, so that the skin projection image in the first skin projection layer coincides with the patient's skin, and use the incision point projection image in the incision point projection layer to indicate the location of the incision point.

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

[0058] Furthermore, by directly overlaying the incision point projection image onto the patient's skin, doctors can visually confirm the location of the incision point, ensuring a precise match between the navigation information and the actual anatomical structure.

[0059] S052. Project the second navigation map and the third navigation map onto the injured person's skin, so that the skin projection image in the first skin projection layer coincides with the injured person's skin, and so that the skin projection image in the second skin projection layer coincides with the injured person's skin.

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

[0061] S053. By combining the nail insertion point projection image and nail insertion path projection image in the first nail insertion projection layer and the second nail insertion projection layer, the position of the nail insertion point 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 This is a schematic diagram of a mixed reality navigation system for interlocking intramedullary nails of the humerus provided in an embodiment of the present invention.

[0064] like Figure 4 As shown, the mixed reality navigation system for interlocking intramedullary nails of the humerus provided by the present invention includes 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.

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

[0066] Furthermore, the processor described in this embodiment is used to process the image data collected by the input device and the doctor's operation instructions, and to call the computer program to perform real-time navigation calculations, so as to implement the mixed reality navigation method for interlocking intramedullary nails of the humerus provided by the present invention.

[0067] Furthermore, the memory is used to store computer programs, the computer programs including 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 used to project the generated navigation image onto the patient's skin and provide visual and audio feedback.

[0069] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0070] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention; it should be noted that for those skilled in the art, 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 protection scope of the present invention.

Claims

1. A hybrid reality navigation method for interlocking intramedullary nails of the humerus, characterized in that, Includes the following steps: A two-dimensional humeral image atlas is obtained, which includes multiple two-dimensional humeral images, and the axial distance between any two adjacent two-dimensional humeral images is less than 2 mm. Using the two-dimensional humeral image atlas, a three-dimensional humeral model is generated and visualized. The three-dimensional humeral model includes an epidermal sub-model and a humeral bone sub-model. The humeral bone sub-model is a three-dimensional model of the humeral skeleton itself reconstructed from the two-dimensional humeral image atlas, and is used to plan the screw insertion path. An entry point and an entry path are set on the humeral sub-model, and an incision point is set on the epidermal sub-model based on the entry point and the entry path; Using a three-dimensional humerus model with incision point, nail insertion point and nail insertion path set, a nail insertion navigation image is generated. The nail insertion navigation image includes a skin projection image, as well as 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 patient's skin so that the patient's skin coincides with the projected image of the skin. 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. The method of generating a nail insertion navigation image using a three-dimensional humerus model with incision points, nail insertion points, and nail insertion paths includes: setting a first projection direction and a second projection direction that are not parallel to each other; acquiring projection images of the nail insertion points and nail insertion paths on the epidermal sub-model and the humerus sub-model respectively in the first projection direction and the second projection direction; and generating a nail insertion navigation image including multiple projection layers, wherein the grayscale difference between the multiple projection layers is at least 50.

2. The hybrid reality navigation method for interlocking intramedullary nails of the humerus according to claim 1, characterized in that, Obtaining a two-dimensional humeral image atlas includes the following steps: Multiple two-dimensional images of the humerus are obtained by continuously scanning along the humeral axis using CT or MRI equipment.

3. The hybrid reality navigation method for interlocking intramedullary nails of the humerus according to claim 1, characterized in that, The process of generating a nail insertion navigation image using a three-dimensional humerus model with incision points, nail insertion points, and nail insertion paths includes the following steps: Set a first projection direction, and obtain a first navigation map based on the first projection direction. The first navigation map is the projection image of the skin sub-model and the cut points on the skin sub-model in the first projection direction. Based on the first projection direction, a second navigation map is obtained. The second navigation map is a projection image of the nail insertion point and nail insertion path on the humeral sub-model in the first projection direction with the first navigation map as the background. A second projection direction is set, which is not parallel to the first projection direction. Based on the second projection direction, a third navigation map is obtained. The third navigation map is the projection image of the nail insertion point and nail insertion path on the epidermal sub-model and the humeral sub-model in the second projection direction.

4. The hybrid reality navigation method for interlocking intramedullary nails of the humerus according to claim 3, characterized in that, The first navigation map includes a cut point projection layer, a first epidermal projection layer, and a first background layer. The grayscale value of the cut point projection image in the cut point projection layer is different from the grayscale value of the epidermal projection image in the first epidermal projection layer, and the grayscale value of the epidermal projection image in the first epidermal projection layer is different from the grayscale value of the first background layer.

5. The hybrid reality navigation method for interlocking intramedullary nails of the humerus according to claim 4, characterized in that, The second navigation map includes a first nail insertion projection layer, a first skin projection layer, and a 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 values ​​of the skin projection image in the first skin projection layer.

6. The hybrid reality navigation method for interlocking intramedullary nails of the humerus according to claim 5, characterized in that, The third navigation map includes a second nail-in projection layer, a second skin projection layer, and a second background layer. The grayscale values ​​of the nail-in point projection image and the nail-in path projection image in the second nail-in projection layer are different from the grayscale values ​​of the skin projection image in the second skin projection layer, and the grayscale values ​​of the skin projection image in the second skin projection layer are different from the grayscale values ​​of the second background layer.

7. The hybrid reality navigation method for interlocking intramedullary nails of the humerus according to any one of claims 3-6, characterized in that, The first projection direction is the perpendicular direction from the incision point to the axis of the humerus.

8. The hybrid reality navigation method for interlocking intramedullary nails of the humerus according to claim 7, characterized in that, On any plane perpendicular to the axial direction of the humerus, two straight lines parallel to the first projection direction and the second projection direction, respectively, shall have a minimum included angle of no more than 90° on the plane perpendicular to the axial direction of the humerus.

9. The hybrid reality navigation method for interlocking intramedullary nails of the humerus according to claim 6, characterized in that, The nail insertion navigation image is projected onto the patient's skin, making the patient's skin coincide with the projected image. The incision point projection image, nail insertion point projection image, and nail insertion path projection image are used to indicate the incision point location, nail insertion point location, and nail insertion path, respectively. This includes the following steps: The first navigation map is projected onto the patient's skin so that the skin projection image in the first skin projection layer coincides with the patient's skin, and the incision point projection image in the incision point projection layer is used to indicate the location of the incision point. The second navigation map and the third navigation map are projected onto the patient's skin, so that the skin projection image in the first skin projection layer coincides with the patient's skin, and the skin projection image in the second skin projection layer coincides with the patient's skin. By combining the projection images of the nail entry point and the nail entry path in the first and second nail entry projection layers, the position of the nail entry point and the direction of nail entry are indicated.

10. A hybrid reality navigation system for interlocking intramedullary nails of the humerus, characterized in that, include: The system includes an input device, a processor, a memory, and an output device, all interconnected, wherein the memory stores a computer program comprising program instructions, and the processor is configured to invoke the program instructions to execute the mixed reality navigation method for interlocking intramedullary nails of the humerus as described in any one of claims 1 to 9.

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