Navigation method and system for high-precision femoral head necrosis operation

Abstract

The invention relates to the technical field of operation auxiliary instruments, in particular to a navigation method and system for a high-precision femoral head necrosis operation, and the method comprises the steps: collecting and reconstructing a femoral head region of a patient to obtain a three-dimensional CT image; separating a femoral head area from the three-dimensional CT image and registering the femoral head area to a navigation coordinate system; performing operation trajectory planning on the femoral head region to obtain a planned trajectory; and determining a starting point of the planned trajectory on the body surface of the patient according to the binocular vision image. In order to solve the problem that in the prior art, a caput femoris operation track navigation method is prone to causing coordinate offset in multiple mapping processes, and then the positioning accuracy in an operation is affected, firstly, a caput femoris area is registered into a navigation coordinate system, and an accurate operation track planning process is conducted in the navigation coordinate system. And secondary positioning is carried out according to the binocular vision image, and the initial point of the mapped point position in the operation track relative to the actual vision is determined, so that the problem that the point position cannot be accurately found in the actual operation process is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical auxiliary instruments, and in particular to a navigation method and system for high-precision femoral head necrosis surgery. Background Art

[0002] Femoral head necrosis, also known as avascular necrosis of the femoral head, is a disease caused by a variety of factors that impair the blood supply to the femoral head, leading to bone cell death, structural changes in the femoral head, and ultimately hip joint dysfunction. Femoral head necrosis surgery is an effective treatment for femoral head necrosis. Its purpose is to increase blood supply to the femoral head; reduce femoral head pressure, promote venous return; promote bone repair, and delay the progression of osteonecrosis. Common surgical methods for femoral head necrosis include using a fine needle to drill holes in the lesion area of ​​the femoral head to decompress the bone marrow area, thereby promoting venous return.

[0003] To perform this type of surgery, conventional techniques usually require the configuration of related auxiliary equipment, such as using CT images to first capture the bone condition of the lesion, determine the surgical area and the access route, etc.

[0004] For example, Chinese patent CN201911002646.2 discloses a minimally invasive surgical navigation system and surgical method for femoral head necrosis based on AR technology. The navigation system includes a head-mounted AR device, a processor, an image acquisition component, an execution device, a spatial locator component, a probe, and a 3D positioning guide; the 3D positioning guide is fixed to the femoral neck spine and is provided with a surgical guide opening; the spatial locator component is arranged on the 3D positioning guide, the probe, the surgical site and the execution device; the image acquisition component collects relevant coordinate information of the spatial locator component and the surgical site; the processor aligns the coordinate information with the three-dimensional model; and generates a real surgical space based on the coordinate information, fuses the real surgical space, the three-dimensional model, and the simulated surgical path, displays the fused image on the head-mounted device, and tracks and displays the position of the execution device in real time; so as to achieve the purpose of combining the head-mounted AR device with the execution device auxiliary technology to help doctors perform precise surgical positioning.

[0005] For another example, Chinese patent CN201711394413.2 discloses a method and system for selecting surgical equipment and consumables and paths in a virtual space. The method includes: obtaining the original CT image of the patient's femoral neck fracture side and the original CT image of the healthy side and three-dimensional modeling; calculating the actual value of the fracture side that needs to be adjusted to the anteroposterior position; following the internal reticular blood vessel distribution structure of the femoral fossa, the perfused femoral head vascular model is nested into the femoral neck model of the fracture side after anteroposterior position through the marking reticular structure of the femoral fossa; checking the degree of blood supply damage of the model after the nested blood vessels, determining the path of the combined tantalum nail including the nail insertion direction and nail insertion angle, and determining the selection of the combined tantalum nail according to the nail insertion direction and nail insertion angle; determining the incision size and direction according to the nail insertion direction and nail insertion angle of the combined tantalum nail, and further determining the surgical equipment. The more precise design scheme of the present invention helps doctors to accurately select appropriate surgical consumables and corresponding equipment before surgery.

[0006] However, during actual implementation, the inventors discovered that the existing planning process for femoral head surgery typically involves fusing a 3D model with the surgical space. However, due to the limited acquisition accuracy of different imaging devices, this fusion process often results in positional offsets, which can lead to inaccurate surgical paths and an inability to accurately locate the corresponding site. Summary of the Invention

[0007] In view of the above problems existing in the prior art, a high-precision navigation method for femoral head necrosis surgery is provided.

[0008] On the other hand, a navigation system for high-precision femoral head necrosis surgery for implementing the navigation method is also provided.

[0009] The specific technical solutions are as follows:

[0010] A high-precision navigation method for femoral head necrosis surgery, comprising:

[0011] Step S1: Acquire and reconstruct a three-dimensional CT image of the patient's femoral head area;

[0012] Step S2: separating the femoral head region from the three-dimensional CT image and registering it to a navigation coordinate system;

[0013] Step S3: performing surgical trajectory planning on the femoral head region in the navigation coordinate system to obtain a planned trajectory;

[0014] Step S4: capturing a binocular visual image of the patient's body surface area, and determining a starting point of the planned trajectory on the patient's body surface based on the binocular visual image to form a complete navigation trajectory.

[0015] On the other hand, the step S1 includes:

[0016] Step S11: setting a corresponding imaging sequence for the femoral head region and acquiring multiple sets of imaging signals;

[0017] The imaging signals correspond to different imaging angles respectively;

[0018] Step S12: performing image reconstruction according to the imaging signals to obtain a two-dimensional CT image;

[0019] Step S13: performing voxel-by-voxel mapping on the two-dimensional CT image according to the imaging angle, so as to map each voxel point in the two-dimensional CT image to a pixel coordinate point in a three-dimensional coordinate system;

[0020] Step S14: for each corresponding voxel point, coordinate fusion is performed on all the pixel coordinate points to obtain actual coordinates;

[0021] Step S14: reconstructing the three-dimensional CT image according to the actual coordinates.

[0022] On the other hand, the step S2 includes:

[0023] Step S21: screening grayscale pixels corresponding to bone tissue from the 3D CT image according to a grayscale threshold;

[0024] Step S22: performing connected domain detection on the grayscale pixel points on each of the two-dimensional CT images to obtain a connected domain detection result;

[0025] Step S23: identifying and obtaining the femoral head region according to the connected domain detection result;

[0026] Step S24: registering each pixel point in the femoral head region to the navigation coordinate system.

[0027] On the other hand, step S3 includes:

[0028] Step S31: extracting grayscale values ​​of the femoral head region to determine the bone region and the lesion region;

[0029] Step S32: performing edge pixel selection on the lesion area to determine lesion edge pixels;

[0030] Step S33: constructing normal vectors relative to the edge of the lesion area for the lesion edge pixels respectively;

[0031] Step S34: obtaining the puncture length of each lesion edge pixel relative to the bone edge according to the normal vector and the bone area measurement;

[0032] Step S35: taking the edge pixel of the lesion with the shortest puncture length as the surgical endpoint;

[0033] Step S36: performing trajectory planning according to the surgical endpoint and the standard human body model to obtain the surgical trajectory.

[0034] On the other hand, the step S36 includes:

[0035] Step S361: adding the standard human body model to the navigation coordinate system, and scaling the standard human body model according to the model thigh diameter of the standard human body model and the actual thigh diameter measured in advance on the patient to obtain a scaled human body model;

[0036] Step S362: registering the scaled human body model so that the femoral region marker is aligned with the femoral head region;

[0037] Step S363: performing trajectory planning based on the scaled human body model, the femoral head area and the surgical endpoint to obtain the planned trajectory.

[0038] On the other hand, the step S4 includes:

[0039] Step S41: reading the predetermined surgical starting point of the planned trajectory to determine the surface position of the predetermined surgical starting point on the patient's body surface;

[0040] Step S42: capturing the binocular vision image according to the body surface orientation;

[0041] Step S43: Modeling the body surface area according to the binocular vision image to obtain a starting area model;

[0042] Step S44: performing registration on the starting area model and the scaled human body model to obtain a registration area image;

[0043] Step S45: mapping the predetermined surgical starting point to the registration region image to obtain the starting point.

[0044] On the other hand, after executing step S4, the method further includes:

[0045] Step S5: During the operation, the real-time position information of the surgical instrument is collected and compared with the surgical trajectory, and feedback information is output.

[0046] A navigation system for implementing the above navigation method;

[0047] The navigation system includes: a support frame and a scanning component;

[0048] The top of the support frame is fixedly connected to a CT machine;

[0049] An image processing module is fixedly connected to the interior of the CT machine;

[0050] A support plate is fixedly connected to the front of the support frame;

[0051] The top of the support plate is fixedly connected with an adjuster;

[0052] The top of the regulator is fixedly connected with an examination bed.

[0053] On the other hand, a movable frame 1 is provided on the front of the CT machine;

[0054] The top of the mobile frame 1 is fixedly connected with a support platform;

[0055] The top of the support platform is fixedly connected with an imaging workbench;

[0056] The image workbench is electrically connected to the image processing module;

[0057] A control panel is fixedly connected to the top of the imaging workbench;

[0058] The control panel is electrically connected to the imaging workbench.

[0059] On the other hand, a second movable frame is provided on the front of the support frame, and a surgical instrument tracking module is fixedly connected to the top of the second movable frame.

[0060] On the other hand, the bottom of the second movable frame and the first movable frame are movably connected with universal wheels.

[0061] The above technical solution has the following advantages or beneficial effects:

[0062] To address the problem that existing surgical trajectory navigation methods for the femoral head are prone to coordinate offset during multiple mapping processes, which in turn affects positioning accuracy during surgery, this solution first separates the femoral head region from the three-dimensional image and registers it to the navigation coordinate system. A more accurate surgical trajectory planning process is then performed in the navigation coordinate system. Binocular visual images are also taken of the patient, and secondary positioning is performed based on the binocular visual images. This determines the mapped points in the surgical trajectory relative to the actual visual starting point, thus avoiding the problem of not being able to accurately find the points during the actual surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The embodiments of the present invention will be described more fully with reference to the accompanying drawings, which are provided for illustration and description only and are not intended to limit the scope of the present invention.

[0064] Figure 1 is an overall schematic diagram of an embodiment of the present invention;

[0065] Figure 2 This is a schematic diagram of step S1 in an embodiment of the present invention;

[0066] Figure 3 This is a schematic diagram of step S2 in an embodiment of the present invention;

[0067] Figure 4 This is a schematic diagram of step S3 in an embodiment of the present invention;

[0068] Figure 5 This is a schematic diagram of step S36 in an embodiment of the present invention;

[0069] Figure 6 This is a schematic diagram of step S4 in an embodiment of the present invention;

[0070] Figure 7 Schematic diagram of the three-dimensional structure of the present invention Figure 1 ;

[0071] Figure 8 This is a schematic diagram of the three-dimensional structure of the scanning component of the present invention;

[0072] Figure 9 This is a schematic diagram of the three-dimensional structure of the imaging workbench of the present invention;

[0073] Figure 10 Schematic diagram of the cross-sectional structure of the imaging workbench of the present invention;

[0074] Figure 11 This is a schematic diagram of the three-dimensional structure of the surgical instrument tracking module of the present invention;

[0075] Figure 12 Schematic diagram of the three-dimensional structure of the present invention Figure 2 .

[0076] In the figure: 1. Support frame; 2. Scanning component; 201. CT machine; 202. Image processing module; 203. Support plate; 204. Regulator; 205. Examination bed; 3. Mobile frame 1; 4. Support table; 5. Imaging workbench; 6. Control panel; 7. Positioning module; 8. Display screen; 9. GPU unit; 10. Surgical path planning module; 11. Mobile frame 2; 12. Surgical instrument tracking module; 13. SLAM tracking module; 14. Algorithm optimization module; 15. Universal wheel. DETAILED DESCRIPTION

[0077] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0078] The terms used in the embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit this specification. Unless otherwise defined, technical or scientific terms used in the embodiments of this specification should have the ordinary meaning understood by a person of ordinary skill in the art to which this specification belongs. The terms "first," "second," and similar terms used in this specification and claims do not denote any order, quantity, or importance, but are simply used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a limitation of quantity, but rather denote the presence of at least one. "Multiple" or "several" means two or more. Unless otherwise indicated, terms such as "front," "rear," "lower," and / or "upper" are for convenience only and are not intended to limit to a single position or spatial orientation. Terms such as "include" or "comprising" mean that the elements or objects listed before "include" or "comprising" include the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. Terms such as "connected" or "connected" are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a," "an," "said," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0079] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0080] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0081] The present invention comprises:

[0082] A high-precision navigation method for femoral head necrosis surgery, such as Figure 1 Shown, including:

[0083] Step S1: Acquire and reconstruct a three-dimensional CT image of the patient's femoral head area;

[0084] Step S2: Separate the femoral head region from the 3D CT image and register it to the navigation coordinate system;

[0085] Step S3: planning a surgical trajectory for the femoral head region in the navigation coordinate system to obtain a planned trajectory;

[0086] Step S4: capturing a binocular visual image of the patient's body surface area, and determining the starting point of the planned trajectory on the patient's body surface based on the binocular visual image to form a complete navigation trajectory.

[0087] Specifically, in order to address the problem that the existing surgical trajectory navigation methods for the femoral head are prone to coordinate offset during multiple mapping processes, thereby affecting the positioning accuracy during surgery, this solution first separates the femoral head area from the three-dimensional image, aligns it to the navigation coordinate system, and then performs a more accurate surgical trajectory planning process in the navigation coordinate system. Binocular visual images are also taken of the patient, and secondary positioning is performed based on the binocular visual images to determine the mapped points in the surgical trajectory relative to the actual visual starting point, thereby avoiding the problem of not being able to accurately find the points during the actual surgery.

[0088] During implementation, the above navigation method is mainly configured as a software embodiment in a computer system, such as a workstation in an operating room, to cooperate with a navigation system to realize the collection of relevant information and navigation of the operation.

[0089] In one embodiment, the navigation system includes a support frame 1 and a scanning assembly 2. A CT scanner 201 is fixedly connected to the top of the support frame 1, and an image processing module 202 is fixedly connected to the interior of the CT scanner 201. A support plate 203 is fixedly connected to the front of the support frame 1, an adjuster 204 is fixedly connected to the top of the support plate 203, and an examination bed 205 is fixedly connected to the top of the adjuster 204. A mobile frame 3 is provided on the front of the CT scanner 201; a support platform 4 is fixedly connected to the top of the mobile frame 3; an imaging workbench 5 is fixedly connected to the top of the support platform 4; and the imaging workbench 5 is electrically connected to the image processing module 202.

[0090] The image processing module 202 is a computer device equipped with specific software algorithms to implement the above functions.

[0091] The femoral head area refers to the area where the lesion exists and requires surgery. It may be on the left or right side depending on the patient's condition.

[0092] Since the lesions of femoral head necrosis usually involve the bones and bone marrow areas, in order to achieve better examination results, CT imaging is usually used to examine this area.

[0093] Furthermore, to facilitate subsequent trajectory planning, especially the position and angle of surgical entry, multi-angle CT examination should be used during the examination process, and three-dimensional CT images should be constructed to determine the best surgical position.

[0094] A three-dimensional CT image is a three-dimensional image obtained by examining and reconstructing the femoral head area. It includes multiple points and can obtain a two-dimensional image in the corresponding direction by projection.

[0095] The navigation coordinate system is a virtual space coordinate system used for path planning. The three-dimensional CT images and surgical trajectories are mapped into this coordinate system to perform a series of processing on the coordinate points and trajectories.

[0096] Accordingly, to facilitate subsequent surgery, the distance mapping relationship in the navigation coordinate system is transplanted with the physical space, and the corresponding mapping reference origin is pre-configured. For example, the patient's pelvic center point is used as the reference origin, and the relevant image acquisition and trajectory planning are all based on this point as the coordinate system origin for alignment.

[0097] The planned trajectory is a more appropriate surgical entry trajectory calculated based on analysis of the femoral head region and the surgeon's experience. For example, during a trepanation decompression procedure, the surgeon must penetrate the patient's thigh to reach the femoral head region. Therefore, the planned trajectory must ensure that it does not damage the femoral artery and vein while accurately reaching the corresponding lesion location.

[0098] Generally speaking, a planned trajectory includes the surgical start and end points, both of which require the needle's entry angle to be configured. In more complex scenarios, such as those that require bypassing arteries and veins, corresponding avoidance points are inserted into the planned trajectory, indicating the avoidance angle and entry depth for the puncture at those points.

[0099] At the same time, in order to enable doctors to combine the trajectory planning in the virtual navigation coordinate system with the patient's actual limb parts, binocular visual images are also taken of the patient's body surface area to assist in finding the corresponding position of the planned trajectory on the patient's body surface.

[0100] Binocular images are paired images captured by a binocular camera. Because the two image sensors of a binocular camera are oriented at an angle, a pre-calibrated extrinsic matrix can be used to assign spatial coordinates to each pixel in the image. These spatial coordinates are then matched with the starting point of the planned trajectory to achieve a transfer of the starting point.

[0101] In some embodiments, in order to improve the accuracy of scanning, laser projection and other technologies may be combined to project a multi-frequency light pattern on the patient's body surface, thereby improving the accuracy of pixel coordinate position calculation.

[0102] The complete navigation track is based on the above information and also adds the reference information of the starting point.

[0103] In addition, during the operation, the surgical instrument also includes a corresponding auxiliary navigation device, which is a surgical instrument tracking module, usually a scanning device based on the magnetic resonance principle, used to scan the surgical instrument entering the patient's body to determine the real-time position.

[0104] By comparing the real-time position and planned trajectory, relevant prompts for surgery can be generated, thereby improving accuracy.

[0105] In one embodiment, Figure 2 As shown, step S1 includes:

[0106] Step S11: setting a corresponding imaging sequence for the femoral head area and acquiring multiple sets of imaging signals;

[0107] The imaging signals correspond to different imaging angles respectively;

[0108] Step S12: performing image reconstruction according to the imaging signals to obtain a two-dimensional CT image;

[0109] Step S13: performing voxel-by-voxel mapping on the two-dimensional CT image according to the imaging angle, so as to map each voxel point in the two-dimensional CT image to a pixel coordinate point in the three-dimensional coordinate system;

[0110] Step S14: for each corresponding voxel point, coordinate fusion is performed on all pixel coordinate points to obtain the actual coordinates;

[0111] Step S15: reconstructing a three-dimensional CT image according to the actual coordinates.

[0112] Specifically, in order to achieve a better three-dimensional reconstruction effect, in this embodiment, for the femoral head region, a corresponding imaging sequence is first set for the femoral head region and multiple sets of imaging signals are collected.

[0113] Each set of imaging signals has a different imaging angle during the acquisition process. Accordingly, before the acquisition begins, the position of the patient's examination bed and the distance between the patient's thigh and the scanning device are known.

[0114] Image reconstruction is performed for each set of imaging signals to obtain a two-dimensional CT image.

[0115] Since the imaging angle and the distance relative to the patient have been pre-calibrated, the paired two-dimensional CT images can be mapped voxel by voxel according to the imaging angle, so that each voxel point in the two-dimensional CT image is mapped to a pixel coordinate point in the three-dimensional coordinate system.

[0116] Furthermore, because multiple 2D CT images are acquired, the position of the same voxel may shift when extracting any two 2D CT images and mapping them based on the imaging angle. For each corresponding voxel, all pixel coordinates are fused to obtain the actual coordinates. This fusion process involves weighting the pixel coordinates calculated for each pair of 2D CT images. The weights are determined by the imaging angle, with larger angles being assigned higher weights, resulting in accurate actual coordinates.

[0117] Finally, the actual coordinates corresponding to all voxel points are assembled to obtain a three-dimensional CT image. This three-dimensional CT image consists of a series of discrete points, and corresponding two-dimensional projections can be formed on any section for viewing.

[0118] In one embodiment, Figure 3 As shown, step S2 includes:

[0119] Step S21: Filtering grayscale pixels corresponding to bone tissue from the 3D CT image according to the grayscale threshold;

[0120] Step S22: performing connected domain detection on the grayscale pixels on each two-dimensional CT image to obtain a connected domain detection result;

[0121] Step S23: identifying the femoral head region according to the connected domain detection result;

[0122] Step S24: register each pixel point in the femoral head region to the navigation coordinate system.

[0123] Specifically, to achieve better femoral head mapping, in this embodiment, the 3D CT image is first screened. Since CT images output grayscale values, and different grayscale values ​​correspond to different tissue regions, grayscale pixels corresponding to bone tissue can be screened from the 3D CT image according to a pre-calibrated grayscale threshold.

[0124] Then, considering that certain artifacts and interference from other bone areas may occur during CT imaging, connected domain detection is performed on the grayscale pixels on each two-dimensional CT image, and the grayscale pixels are marked on the corresponding connected domains.

[0125] Since each two-dimensional CT image has a different imaging angle, based on this process, when the grayscale pixel value is marked as multiple different connected domains, it indicates that the grayscale pixel point may be noise or a mapping error has occurred, and the grayscale pixel point needs to be eliminated.

[0126] Similarly, in the process of imaging the femoral head area, the target area that actually needs to be identified and path planned only includes the femoral head itself. Therefore, in the process of connected domain detection, the images produced by the relatively small local knee joint and local pelvis will be significantly smaller than the femoral head in terms of overall prime number.

[0127] Therefore, the femoral head region can be identified based on the connected domain detection results.

[0128] Finally, each pixel point in the femoral head area is registered to the navigation coordinate system, including migrating the origin and building a new mapping relationship based on the origin.

[0129] In one embodiment, Figure 4 As shown, step S3 includes:

[0130] Step S31: extracting grayscale values ​​of the femoral head region to determine the bone region and the lesion region;

[0131] Step S32: performing edge pixel selection on the lesion area to determine the lesion edge pixels;

[0132] Step S33: constructing normal vectors relative to the edge of the lesion area for each pixel at the edge of the lesion area;

[0133] Step S34: obtaining the puncture length of each lesion edge pixel relative to the bone edge according to the normal vector and the bone area measurement;

[0134] Step S35: taking the lesion edge pixel with the shortest puncture length as the surgical endpoint;

[0135] Step S36: performing trajectory planning based on the surgical endpoint and the standard human body model to obtain the surgical trajectory.

[0136] Specifically, in order to achieve a better surgical trajectory planning process, in this embodiment, the femoral head area is first further grayscale value extracted and classified based on different pre-calibrated grayscale thresholds to determine the healthy bone area and the lesion area.

[0137] The lesion area typically consists of a continuous set of 3D pixels distributed in a clustered pattern. By calculating the mean of these 3D pixels, the center of the cluster is determined. Based on this center, a vector corresponding to each 3D pixel is constructed. For multiple vectors pointing in the same direction, only the 3D pixel pointed by the longest vector is retained as the lesion edge pixel.

[0138] Next, for each lesion edge pixel, a normal vector relative to the lesion edge is constructed. This normal vector points outward from the lesion, typically passing through the bone region. The puncture length of each lesion edge pixel relative to the bone edge is measured based on the normal vector and the bone region.

[0139] Specifically, this process is similar to the process of determining the edge pixels of the lesion. The normal vector points to the bone area and collects the three-dimensional pixel points in the bone area passed through. Then, the three-dimensional pixel point in the farthest bone area that each vector can reach is calculated, and the three-dimensional pixel point is used as the end point of the vector. Then, the vector length is calculated as the puncture length in this direction.

[0140] All puncture lengths were compared, and the lesion edge pixel with the shortest puncture length was taken as the surgical endpoint.

[0141] Finally, trajectory planning is performed based on the surgical endpoint and the standard human body model to obtain the surgical trajectory.

[0142] In one embodiment, Figure 5 As shown, step S36 includes:

[0143] Step S361: adding a standard human body model to the navigation coordinate system, and scaling the standard human body model according to the model thigh diameter of the standard human body model and the actual thigh diameter measured in advance on the patient to obtain a scaled human body model;

[0144] Step S362: registering the scaled human body model so that the femoral region marker is aligned with the femoral head region;

[0145] Step S363: Perform trajectory planning based on the scaled human body model, the femoral head area, and the surgical endpoint to obtain a planned trajectory.

[0146] Specifically, to achieve optimal trajectory planning, the surgical starting and end points must be determined. To determine the surgical starting point, this embodiment introduces a standard human model. Multiple standard human models are constructed based on different age, gender, and body fat percentages. By reading the patient's basic information, a closely matching model can be obtained.

[0147] Then, the standard human body model is scaled according to the model thigh diameter of the standard human body model and the actual thigh diameter measured in advance on the patient to obtain a scaled human body model, so that the scaled human body model is substantially consistent with the thigh of the patient.

[0148] The scaled human body model was then registered so that its femoral region landmarks were aligned with the femoral head region.

[0149] Based on this, the femoral head model in the scaled human model will overlap with the skeletal area, and the surgical endpoint will fall on the femoral head model. The scaled human model pre-configures the routes of the major arteries and veins of the thigh. Based on the surgical endpoint and the areas to be avoided, a shortest navigation path can be reversely constructed to reach the patient's body surface, which serves as the predetermined surgical starting point.

[0150] In one embodiment, Figure 6 As shown, step S4 includes:

[0151] Step S41: reading the predetermined surgical starting point of the planned trajectory to determine the surface position of the predetermined surgical starting point on the patient's body surface;

[0152] Step S42: capturing binocular vision images according to the body surface orientation;

[0153] Step S43: Modeling the body surface area according to the binocular vision image to obtain a starting area model;

[0154] Step S44: Modeling the starting area and registering the scaled human body model to obtain a registered area image;

[0155] Step S45: Mapping the predetermined surgical starting point to the registration region image to obtain a starting point.

[0156] Specifically, in order to achieve a more accurate transfer of the planned surgical starting point of the planned trajectory to the patient's body surface position, in this embodiment, first reading is performed based on the scaled human body model and the predetermined surgical starting point, so that the surface position of the predetermined surgical starting point on the patient's body surface is marked on the scaled human body model for the doctor's reference.

[0157] The doctor then takes binocular vision images according to the body surface orientation. This shooting process should be completed by the robot arm moving the binocular vision camera, so that during the movement, the servo system based on the robot arm can collect the position information of the binocular vision camera.

[0158] Based on this pose information, the binocular vision camera can be calibrated with external parameters to determine the corresponding position of the image sensor on each side in the physical space.

[0159] Based on the extrinsic parameter matrix, each pixel in the binocular visual image can be reconstructed in three dimensions in the physical space coordinate system to determine the corresponding physical space three-dimensional coordinates. On this basis, based on a series of points on the patient's body surface, the body surface area can be modeled to obtain the starting area model.

[0160] Then, returning to the navigation coordinate system, since the surface position of the predetermined surgical starting point on the patient's body surface has been pre-marked on the scaled human body model before taking the binocular vision image, the starting area modeling can be aligned with the scaled human body model based on the center point alignment to obtain the registered area image.

[0161] On this basis, an actual pixel point corresponding to the predetermined surgical starting point is selected in the registration area image as the starting point, and the information of this point position is added to the trajectory, thereby completing the generation of the complete navigation trajectory.

[0162] In one embodiment, after executing step S4, the method further includes:

[0163] Step S5: During the operation, the real-time position information of the surgical instrument is collected and compared with the surgical trajectory, and feedback information is output.

[0164] Specifically, in order to achieve a more accurate surgical navigation effect, in this embodiment, during the operation, the real-time position information of the surgical instrument is collected and compared with the surgical trajectory, and feedback information is output.

[0165] A navigation system for implementing the above navigation method;

[0166] like Figure 7-12 As shown, the navigation system includes a support frame 1 and a scanning component 2.

[0167] A CT machine 201 is fixedly connected to the top of the support frame 1 , and an image processing module 202 is fixedly connected inside the CT machine 201 .

[0168] The front of the support frame 1 is fixedly connected to a support plate 203 , the top of the support plate 203 is fixedly connected to an adjuster 204 , and the top of the adjuster 204 is fixedly connected to an examination bed 205 .

[0169] A movable frame 3 is provided on the front of the CT machine 201;

[0170] The top of the mobile frame 3 is fixedly connected with a support platform 4;

[0171] The top of the support platform 4 is fixedly connected to an imaging workbench 5;

[0172] The image workbench 5 is electrically connected to the image processing module 202 .

[0173] A control panel 6 is fixedly connected to the top of the imaging workbench 5 , and the control panel 6 is electrically connected to the imaging workbench 5 . A positioning module 7 is fixedly connected to the inside of the imaging workbench 5 , and the positioning module 7 is electrically connected to the imaging workbench 5 . A display screen 8 is fixedly connected to the top of the imaging workbench 5 .

[0174] A second movable frame 11 is provided on the front of the support frame 1 , and a surgical instrument tracking module 12 is fixedly connected to the top of the second movable frame 11 .

[0175] When using the device, the patient may first lie on top of the examination table 205 .

[0176] Then the staff can start the regulator 204, which controls the examination bed 205 to move backward, so that the examination bed 205 can move the patient into the CT machine 201. Then the staff can start the CT machine 201, and the CT machine 201 scans the patient's body.

[0177] The installed image processing module 202 can improve the contrast and clarity of the image through the image enhancement algorithm, use the denoising algorithm to reduce the noise interference in the image, and use the segmentation algorithm to distinguish the various parts of the femoral head, obtain a high-resolution image of the patient's femoral head area, and then transmit the image to the imaging workbench 5 so that the display screen 8 can display the patient's bones. Then, through the GPU unit 9 installed inside the positioning module 7, the processed image can be analyzed to automatically identify the lesion area of ​​femoral head necrosis.

[0178] In order to achieve better computational efficiency, the software part is split here. The 3D CT image processing part is implemented by the image processing module 202 , while the path planning part is processed by the GPU unit 9 .

[0179] Based on the identified lesion area, it is then displayed on the display screen 8, and combined with the patient's anatomical structure, the coordinate positioning technology is used to determine the precise location of the lesion. At the same time, the installed surgical path planning module 10 can plan the optimal surgical path based on the lesion location and surrounding tissue structure.

[0180] During the operation, the position of the surgical instrument is tracked in real time by the SLAM tracking module 13 installed inside the surgical instrument tracking module 12 , and the suggested surgical operation area is displayed on the display screen 8 .

[0181] An intuitive user interface is designed to display imaging data and surgical paths directly on the surgical operation screen, making it easy for doctors to view and operate in real time. At the same time, through the installed algorithm optimization module 14, surgical data can be continuously learned through machine learning algorithms to optimize the accuracy of lesion identification and surgical path planning.

[0182] Those skilled in the art will appreciate that various aspects of the present invention, or possible implementations of various aspects, may be embodied as systems, methods, or computer program products. Thus, various aspects of the present invention, or possible implementations of various aspects, may take the form of complete hardware embodiments, complete software embodiments (including firmware, resident software, etc.), or embodiments combining software and hardware aspects, all collectively referred to herein as "circuits," "modules," or "systems." Furthermore, various aspects of the present invention, or possible implementations of various aspects, may take the form of computer program products, which refer to computer instructions stored in a memory.

[0183] The memory may be a computer-readable signal medium or a computer-readable storage medium. Computer-readable storage media include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or apparatuses, or any suitable combination thereof, such as random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, and portable read-only memory (CD-ROM).

[0184] The processor in the computer reads the computer instructions stored in the memory, so that the processor can perform the functional actions specified in each step or the combination of steps in the flowchart; and generate a device that implements the functional actions specified in each block or the combination of blocks in the block diagram.

[0185] It should be understood that the processor in the computer can be understood as one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components implemented to execute the aforementioned computer instructions.

[0186] Computer instructions can be executed entirely on the user's local computer, partially on the user's local computer, as a separate software package, partially on the user's local computer and partially on a remote computer, or entirely on a remote computer or server. It should also be noted that in certain alternative embodiments, the functions noted in each step of the flow chart or each block in the block diagram may not occur in the order noted in the figure. For example, depending on the functions involved, two steps or two blocks shown in succession may actually be executed approximately simultaneously, or the blocks may sometimes be executed in reverse order.

[0187] In practice, the various components of a computer system are coupled together via a bus system. It is understood that the bus system is used to enable communication between these components. In addition to the data bus, the bus system also includes a power bus, a control bus, and a status signal bus.

[0188] The above are only preferred embodiments of the present invention and do not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision navigation method for femoral head necrosis surgery, characterized in that: include: Step S1: collecting and reconstructing a three-dimensional CT image of the femoral head region of the patient; Step S2: separating the femoral head region from the three-dimensional CT image and registering it to a navigation coordinate system; Step S3: performing surgical trajectory planning on the femoral head region in the navigation coordinate system to obtain a planned trajectory; Step S4: capturing a binocular visual image of the patient's body surface area, and determining a starting point of the planned trajectory on the patient's body surface according to the binocular visual image to form a complete navigation trajectory.

2. The navigation method according to claim 1, characterized in that: The step S1 comprises: Step S11: setting a corresponding imaging sequence for the femoral head region and collecting multiple sets of imaging signals; The imaging signals correspond to different imaging angles respectively; Step S12: performing image reconstruction according to the imaging signals to obtain a two-dimensional CT image; Step S13: performing voxel-by-voxel mapping on the two-dimensional CT image according to the imaging angle, so as to map each voxel point in the two-dimensional CT image to a three-dimensional coordinate system to form a pixel coordinate point; Step S14: for each corresponding voxel point, coordinate fusion is performed on all the pixel coordinate points to obtain actual coordinates; Step S15: reconstructing the three-dimensional CT image according to the actual coordinates.

3. The navigation method according to claim 2, characterized in that: The step S2 comprises: Step S21: screening grayscale pixel points corresponding to bone tissue from the three-dimensional CT image according to the grayscale threshold; Step S22: performing connected domain detection on the grayscale pixel points on each of the two-dimensional CT images to obtain a connected domain detection result; Step S23: identifying the femoral head region according to the connected domain detection result; Step S24: registering each pixel point in the femoral head region to the navigation coordinate system.

4. The navigation method according to claim 1, characterized in that: The step S3 comprises: Step S31: extracting grayscale values ​​of the femoral head region to determine the bone region and the lesion region; Step S32: performing edge pixel selection on the lesion area to determine the lesion edge pixels; Step S33: constructing normal vectors relative to the edge of the lesion area for the lesion edge pixels respectively; Step S34: obtaining the puncture length of each lesion edge pixel relative to the bone edge according to the normal vector and the bone area measurement; Step S35: taking the lesion edge pixel with the shortest puncture length as the operation endpoint; Step S36: performing trajectory planning according to the surgical endpoint and the standard human body model to obtain the surgical trajectory.

5. The navigation method according to claim 4, characterized in that: The step S36 comprises: Step S361: adding the standard human body model to the navigation coordinate system, scaling the standard human body model according to the model thigh diameter of the standard human body model and the actual thigh diameter measured in advance on the patient to obtain a scaled human body model; Step S362: registering the scaled human body model so that its femoral region mark is aligned with the femoral head region; Step S363: performing trajectory planning according to the scaled human body model, the femoral head area and the surgical endpoint to obtain the planned trajectory.

6. The navigation method according to claim 5, characterized in that: The step S4 comprises: Step S41: reading the predetermined surgical starting point of the planned trajectory to determine the surface position of the predetermined surgical starting point on the body surface of the patient; Step S42: photographing the binocular vision image according to the body surface orientation; Step S43: Modeling the body surface area according to the binocular vision image to obtain a starting area modeling; Step S44: Modeling the starting area and registering the scaled human body model to obtain a registered area image; Step S45: Mapping the predetermined surgical starting point to the registration region image to obtain the starting point.

7. The navigation method according to claim 1, characterized in that: After executing step S4, the method further includes: Step S5: During the operation, the real-time position information of the surgical instrument is collected and compared with the surgical trajectory, and feedback information is output.

8. A navigation system, characterized in that: Used to implement the navigation method according to any one of claims 1 to 7; The navigation system comprises: a support frame and a scanning component; The top of the support frame is fixedly connected with a CT machine; An image processing module is fixedly connected inside the CT machine; A support plate is fixedly connected to the front side of the support frame; The top of the support plate is fixedly connected with an adjuster; The top of the regulator is fixedly connected with an examination bed.

9. The navigation system according to claim 8, characterized in that: A movable frame 1 is arranged on the front of the CT machine; The top of the mobile frame 1 is fixedly connected with a support platform; The top of the support table is fixedly connected with an imaging workbench; The image workbench is electrically connected to the image processing module; A control panel is fixedly connected to the top of the imaging workbench; The control panel is electrically connected to the imaging workbench.

10. The navigation system according to claim 8, characterized in that: A second movable frame is arranged on the front of the support frame, and a surgical instrument tracking module is fixedly connected to the top of the second movable frame.

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