Implant tracking method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an implant tracking method and device, electronic equipment and a storage medium, and relates to the technical field of medical instruments, and the method comprises the steps: collecting a plurality of first feature points on the surface of an implant through a probe, and obtaining the three-dimensional point cloud data of the implant; constructing a three-dimensional model of the implant based on the three-dimensional point cloud data; installing a tracer on the second feature point of the implant, and obtaining a first position relation between the second feature point and the three-dimensional model according to the three-dimensional model; in the process of implanting the implant into the body of the patient, acquiring current first position information of the second feature point by utilizing a tracer; according to the first position information and the first position relation, current second position information of the implant in the body of the patient is determined. According to the embodiment of the invention, the accuracy of implant tracking is improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an implant tracking method, device, electronic device and storage medium. Background Art

[0002] In orthopedic surgery, precise positioning of implants is crucial to the success of the operation. Traditional surgical methods rely on the doctor's experience and feel, and have certain limitations, such as insufficient surgical precision, long operation time, and slow postoperative recovery. With the continuous advancement of medical technology, orthopedic surgical robots are widely used and have become an important tool to improve surgical precision and safety.

[0003] In terms of precise positioning of implants, orthopedic surgical robots mostly use three technical solutions: optical tracking system, electromagnetic tracking system, and ultrasonic tracking system. Among them, the optical tracking system uses a camera to capture the mark on the implant and achieves tracking through image processing technology, but it is easily limited by light and field of view; the electromagnetic tracking system may be interfered by metal and has high requirements for the environment; the ultrasonic tracking system has limited penetration and poor tracking effect on soft tissue.

[0004] At present, the more common application scheme is to track the implant by using a binocular camera to collect the position of the tracer installed on the implant. However, the positioning of the tracer depends on the 3D model data of the implant, and the 3D model data of the implant is self-developed by the manufacturer and difficult for users to obtain. The tracer can only be placed at a fixed position on the implant. Once the position is blocked during the operation, or the implant is an unconventional structure and has no 3D model data at all, the accuracy of implant positioning is low. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide an implant tracking method, device, electronic device and storage medium to improve the accuracy of implant tracking. The specific technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides an implant tracking method, the method comprising:

[0007] Using the probe to collect a plurality of first feature points on the surface of the implant to obtain three-dimensional point cloud data of the implant;

[0008] constructing a three-dimensional model of the implant based on the three-dimensional point cloud data;

[0009] installing a tracer at a second characteristic point of the implant, and obtaining a first positional relationship between the second characteristic point and the three-dimensional model according to the three-dimensional model;

[0010] During the implantation of the implant into the patient's body, using the tracer to obtain current first position information of the second feature point;

[0011] According to the first position information and the first position relationship, current second position information of the implant in the patient's body is determined.

[0012] In one embodiment of the present application, after determining the current second position information of the implant in the patient's body, the method further includes:

[0013] Comparing the position deviation between the second position information and a preset target position, and generating a control signal according to the position deviation using a proportional-integral-differential controller, wherein the strength of the control signal is positively correlated with the size of the position deviation;

[0014] The proportional-integral-differential controller is used to adjust the control signal so that the robotic arm drives the implant to adjust its position according to the change of the control signal until the control signal indicates that the implant has reached the preset target position.

[0015] In one embodiment of the present application, constructing the three-dimensional model of the implant based on the three-dimensional point cloud data includes:

[0016] Projecting the three-dimensional point cloud data onto a two-dimensional plane through a normal line to obtain projection point data;

[0017] Based on a spatial region growing algorithm, triangulating the projection point data in a plane;

[0018] Determining the topological connection between the three-dimensional points in the three-dimensional point cloud data according to the topological connection relationship between the projection points after triangulation;

[0019] Based on the topological connection between the three-dimensional points, a three-dimensional model of the implant is constructed.

[0020] In one embodiment of the present application, obtaining a first positional relationship between the second feature point and the three-dimensional model according to the three-dimensional model includes:

[0021] Obtaining a second positional relationship to be verified between the second feature point and the three-dimensional model according to a positional relationship between the second feature point and the first feature point in the three-dimensional model;

[0022] Using a pre-calibrated calibrator to collect a sample position relationship between the second feature point and the three-dimensional model;

[0023] The spacing deviation between the second position relationship and the sample position relationship is compared, and the second position relationship is adjusted according to the spacing deviation to obtain the first position relationship.

[0024] In one embodiment of the present application, after acquiring the three-dimensional point cloud data of the implant, the method further includes:

[0025] Using a preset denoising algorithm, the three-dimensional point cloud data is denoised to obtain the three-dimensional point cloud data after denoising;

[0026] Using a preset filtering algorithm, filtering the three-dimensional model data after denoising to obtain the three-dimensional point cloud data after preprocessing;

[0027] After constructing the three-dimensional model of the implant, the method further comprises:

[0028] Using a preset smoothing algorithm to smooth the three-dimensional model;

[0029] The boundaries of the three-dimensional model are constrained using preset boundary conditions.

[0030] In a second aspect, an embodiment of the present application provides an implant tracking device, the device comprising:

[0031] A data acquisition module, used to collect a plurality of first feature points on the surface of the implant using the probe to acquire three-dimensional point cloud data of the implant;

[0032] A three-dimensional model building module, used to build a three-dimensional model of the implant based on the three-dimensional point cloud data;

[0033] a positional relationship determination module, configured to install a tracer on a second characteristic point of the implant, and obtain a first positional relationship between the second characteristic point and the three-dimensional model according to the three-dimensional model;

[0034] A first position information acquisition module, used for acquiring the current first position information of the second feature point by using the tracer during the implantation of the implant into the patient's body;

[0035] A second position information determining module is used to determine the current second position information of the implant in the patient's body according to the first position information and the first position relationship.

[0036] In one embodiment of the present application, the device further includes:

[0037] a control signal generating module, used for comparing the position deviation between the second position information and a preset target position, and generating a control signal according to the position deviation by using a proportional-integral-differential controller, wherein the strength of the control signal is positively correlated with the size of the position deviation;

[0038] The position adjustment module is used to adjust the control signal using the proportional-integral-differential controller so that the robotic arm drives the implant to adjust its position according to the change of the control signal until the control signal indicates that the implant reaches the preset target position.

[0039] In one embodiment of the present application, the three-dimensional model construction module is specifically used to:

[0040] Projecting the three-dimensional point cloud data onto a two-dimensional plane through a normal line to obtain projection point data;

[0041] Based on a spatial region growing algorithm, triangulating the projection point data in a plane;

[0042] Determining the topological connection between the three-dimensional points in the three-dimensional point cloud data according to the topological connection relationship between the projection points after triangulation;

[0043] Based on the topological connection between the three-dimensional points, a three-dimensional model of the implant is constructed.

[0044] In one embodiment of the present application, the first location information acquisition module is specifically used to:

[0045] Obtaining a second positional relationship to be verified between the second feature point and the three-dimensional model according to a positional relationship between the second feature point and the first feature point in the three-dimensional model;

[0046] Using a pre-calibrated calibrator to collect a sample position relationship between the second feature point and the three-dimensional model;

[0047] The spacing deviation between the second position relationship and the sample position relationship is compared, and the second position relationship is adjusted according to the spacing deviation to obtain the first position relationship.

[0048] In one embodiment of the present application, the device further includes:

[0049] A denoising processing module, used to perform denoising processing on the three-dimensional point cloud data using a preset denoising algorithm to obtain the three-dimensional point cloud data after denoising processing;

[0050] A filtering processing module, used to filter the three-dimensional model data after denoising using a preset filtering algorithm to obtain the three-dimensional point cloud data after preprocessing;

[0051] A smoothing processing module, used to perform smoothing processing on the three-dimensional model using a preset smoothing algorithm;

[0052] The boundary constraint module is used to constrain the boundary of the three-dimensional model using preset boundary conditions.

[0053] In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0054] Memory, used to store computer programs;

[0055] The processor is used to implement any of the above-mentioned implant tracking methods when executing the program stored in the memory.

[0056] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the implant tracking methods described above is implemented.

[0057] An embodiment of the present invention also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the implant tracking methods described above.

[0058] Beneficial effects of the embodiments of the present invention:

[0059] The implant tracking method, device, electronic device and storage medium provided by the embodiment of the present invention use a probe to collect multiple first feature points on the surface of the implant to obtain the three-dimensional point cloud data of the implant; based on the three-dimensional point cloud data, a three-dimensional model of the implant is constructed; a tracer is installed on the second feature point of the implant, and the first position relationship between the second feature point and the three-dimensional model is obtained according to the three-dimensional model; during the implantation of the implant into the patient's body, the current first position information of the second feature point is obtained by the tracer; based on the first position information and the first position relationship, the current second position information of the implant in the patient's body is determined. By collecting the three-dimensional point cloud data of the implant and constructing the three-dimensional model of the implant, the tracer can be installed at any position of the implant that is not blocked during the operation. Combined with the position information of the tracer and its positional relationship with the implant, the real-time and accurate positioning of the implant during the operation can be achieved, thereby improving the accuracy of implant tracking. Even if the implant is an unconventional structure or other structure that the manufacturer does not provide 3D modeling for, and there is no implant data model, the use of point cloud technology to obtain feature points and generate 3D model data of the implant can also achieve real-time tracking of the implant during surgery, provide precise navigation and positioning support for the surgery, and improve the versatility of the implant tracking method.

[0060] Of course, it is not necessary to achieve all of the advantages described above at the same time to implement any product or method of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0062] Figure 1 A first flow chart of the implant tracking method according to an embodiment of the present application;

[0063] Figure 2 A second flow chart of the implant tracking method according to an embodiment of the present application;

[0064] Figure 3 A schematic diagram of a possible implementation of step S103 in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of a possible implementation of step S104 in an embodiment of the present application;

[0066] Figure 5 A schematic diagram of the structure of an implant tracking device according to an embodiment of the present application;

[0067] Figure 6 A schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the present invention.

[0069] Since the tracer in the related art is easily blocked, resulting in low implant tracking accuracy, in order to solve this problem, a first aspect of an embodiment of the present application provides an implant tracking method, which can be executed by an electronic device. Specifically, the electronic device can be an industrial computer, a computer, etc. connected to a binocular camera.

[0070] The implant tracking method of the present application is described in detail below. Figure 1 , Figure 1 The first flow chart of the implant tracking method according to the embodiment of the present application includes:

[0071] S101, using a probe to collect a plurality of first feature points on the surface of an implant to obtain three-dimensional point cloud data of the implant.

[0072] Using a 3D scanning device, such as a laser scanner or an RGB-D camera (depth camera), 3D point cloud data of the implant is acquired based on the probe.

[0073] The first characteristic point of the implant is a point that can present the contour of the implant as much as possible. Specifically, the first characteristic point can be multiple points, and the implant can use a probe to collect multiple first characteristic points respectively.

[0074] In a possible implementation, after acquiring the three-dimensional point cloud data of the implant, the method further includes:

[0075] Step 1: Using a preset denoising algorithm, denoising the three-dimensional point cloud data to obtain denoised three-dimensional point cloud data;

[0076] Step 2: Use a preset filtering algorithm to filter the denoised 3D model data to obtain pre-processed 3D point cloud data.

[0077] Specifically, the preset denoising algorithm may be ESANet (a feature extraction-compression network with an attention module), and the preset filtering algorithm may be statistical outlier removal (SOR), radius outlier removal (ROR), etc.

[0078] The collected point cloud data is preprocessed to remove irrelevant noise points and improve the quality of the three-dimensional point cloud data.

[0079] S102, constructing a three-dimensional model of the implant based on the three-dimensional point cloud data;

[0080] A three-dimensional model of the implant is constructed based on the three-dimensional point cloud data. Specifically, it can be implemented by using triangulated meshing, implicit surface reconstruction, slicing method and contour extraction algorithm.

[0081] In a possible implementation, after constructing the three-dimensional model of the implant, the method further includes:

[0082] Step 1: Smoothing the three-dimensional model using a preset smoothing algorithm;

[0083] Step 2: Using preset boundary conditions to constrain the boundaries of the three-dimensional model.

[0084] The preset smoothing algorithm can be Laplacian smoothing or Gaussian smoothing algorithm. The preset smoothing algorithm is used to smooth the 3D model. The preset boundary conditions are used to constrain the boundary of the 3D model to ensure that the model boundary is smooth and conforms to the anatomical structure during surgery.

[0085] S103, installing a tracer on the second characteristic point of the implant, and obtaining a first positional relationship between the second characteristic point and the three-dimensional model according to the three-dimensional model.

[0086] The second characteristic point of the implant is an arbitrary point that can make the tracer as unobstructed as possible during the operation.

[0087] According to the three-dimensional model data of the implant, a first positional relationship between the second characteristic point and the three-dimensional model is determined. When the tracer is installed at the second characteristic point, the first positional relationship is the positional relationship between the tracer and the implant.

[0088] S104, during the process of implanting the implant into the patient's body, using the tracer to obtain the current first position information of the second feature point.

[0089] The probe is removed from the implant, and when the implant enters the patient's body through the minimally invasive incision, the binocular camera is used to collect the position information of the tracer in real time, thereby obtaining the current first position information of the second feature point.

[0090] S105: Determine current second position information of the implant in the patient's body according to the first position information and the first position relationship.

[0091] According to the first position relationship between the second feature point and the three-dimensional model, based on the first position information of the second feature point, the second position information of the implant currently in the patient's body is determined.

[0092] As can be seen from the above, the implant tracking method provided in the embodiment of the present application uses a probe to collect multiple first feature points on the surface of the implant to obtain the three-dimensional point cloud data of the implant; based on the three-dimensional point cloud data, a three-dimensional model of the implant is constructed; a tracer is installed on the second feature point of the implant, and the first position relationship between the second feature point and the three-dimensional model is obtained according to the three-dimensional model; during the implantation of the implant into the patient's body, the current first position information of the second feature point is obtained using the tracer; based on the first position information and the first position relationship, the current second position information of the implant in the patient's body is determined. By collecting the three-dimensional point cloud data of the implant and constructing the three-dimensional model of the implant, the tracer can be installed at any position of the implant that is not blocked during the operation. Combined with the position information of the tracer and its positional relationship with the implant, the real-time and accurate positioning of the implant during the operation can be achieved, thereby improving the accuracy of implant tracking. Even if the implant is an unconventional structure or other structure that the manufacturer does not provide 3D modeling for, and there is no implant data model, the use of point cloud technology to obtain feature points and generate 3D model data of the implant can also achieve real-time tracking of the implant during surgery, provide precise navigation and positioning support for the surgery, and improve the versatility of the implant tracking method.

[0093] In one possible implementation, Figure 2 As shown, after determining the current second position information of the implant in the patient's body, the method further includes:

[0094] S201, comparing a position deviation between the second position information and a preset target position, and generating a control signal according to the position deviation using a proportional-integral-differential controller;

[0095] Wherein, the strength of the control signal is positively correlated with the size of the position deviation;

[0096] S202, using a proportional-integral-differential controller to adjust the control signal so that the robotic arm drives the implant to adjust its position according to changes in the control signal until the control signal indicates that the implant reaches the preset target position.

[0097] The current second position information of the implant is compared with the preset target position (the designated position in the patient's body planned in advance during surgery) to obtain the position deviation between the two.

[0098] A closed-loop control system uses a proportional-integral-differential controller (PID controller) to calculate the control signal based on the position deviation through three links: proportional (P), integral (I), and differential (D). Among them, the proportional (P) link generates a control signal based on the size of the current deviation. The larger the deviation, the stronger the control signal; the integral (I) link integrates the deviation to eliminate the steady-state error and ensure that the implant can accurately stop at the target position; the differential (D) link predicts the change trend of the deviation to reduce the overshoot and oscillation of the system and improve the stability and response speed of the system.

[0099] The PID controller outputs a control signal so that the electronic device (actuator) applying the method sends a command to the robotic arm so that the robotic arm (the robotic arm is connected to the implant and is responsible for driving the implant into the patient's body during surgery) drives the implant to adjust its position according to the adjustment and change of the control signal until the control signal indicates that the implant has reached the preset target position.

[0100] During the process of adjusting the position of the implant, the process can also continuously return to execute step S105 to collect the first position information of the tracer, thereby obtaining the current second position information of the implant. When there is still a position deviation between the second position information and the target position, the adjustment can be continued, and the cycle can be repeated until the second position information is consistent with the preset target position.

[0101] For example, other advanced control strategies may also be used to control and adjust the position of the implant.

[0102] When the second position information of the implant is obtained, or when the implant reaches the target position, the current positioning result of the implant can be output to the surgical system, and the positioning result can be displayed through a three-dimensional visualization tool to present the position of the implant in the patient's body for the doctor's reference.

[0103] As can be seen from the above, the implant tracking method provided in the embodiment of the present application uses a proportional-integral-differential controller to generate a control signal according to the position deviation between the second position information and the preset target position, and based on the control signal, the mechanical arm drives the implant to adjust the position according to the control signal until the implant reaches the preset target position. Real-time feedback and adjustment of the implant position are achieved, and the accuracy of implant application is improved.

[0104] In one possible implementation, Figure 3 As shown, constructing the three-dimensional model of the implant based on the three-dimensional point cloud data includes:

[0105] S301, projecting the three-dimensional point cloud data onto a two-dimensional plane through a normal line to obtain projection point data;

[0106] S302, triangulating the projection point data in a plane based on a spatial region growing algorithm;

[0107] S303, determining the topological connection between the three-dimensional points in the three-dimensional point cloud data according to the topological connection relationship between the projection points after triangulation;

[0108] S304: constructing a three-dimensional model of the implant based on the topological connections between the three-dimensional points.

[0109] ‌It can be seen from the above that the implant tracking method provided in the embodiment of the present application projects the three-dimensional point cloud data onto a two-dimensional plane through a normal line to obtain projection point data; based on the spatial region growth algorithm, the projection point data is triangulated in the plane; according to the topological connection relationship between the projection points after triangulation, the topological connection between each three-dimensional point in the three-dimensional point cloud data is determined; based on the topological connection between each three-dimensional point, a three-dimensional model of the implant is constructed. The three-dimensional model generated by this method has strong stability, good surface detail restoration effect, and is easy to operate and maintain. Even in the case of low point cloud density, it can better reproduce the three-dimensional details of the implant, thereby improving the accuracy of the three-dimensional model of the implant.

[0110] In one possible implementation, Figure 4 As shown, obtaining a first positional relationship between the second feature point and the three-dimensional model according to the three-dimensional model includes:

[0111] S401, obtaining a second positional relationship to be verified between the second feature point and the three-dimensional model according to the positional relationship between the second feature point and the first feature point in the three-dimensional model;

[0112] S402, using a pre-calibrated calibrator to collect a sample position relationship between the second feature point and the three-dimensional model;

[0113] The spacing deviation between the second position relationship and the sample position relationship is compared, and the second position relationship is adjusted according to the spacing deviation to obtain the first position relationship.

[0114] A calibrator is pre-calibrated to measure the sample position relationship between the second feature point and the first feature point. After the second position relationship between the second feature point and the first feature point is obtained according to the positioning of the binocular camera and the tracer, the accuracy of the position relationship is verified. If there is a large deviation between the second position relationship and the sample position relationship, the tracer and the binocular camera are corrected, and the second position relationship is adjusted until the first position relationship consistent with the sample position relationship is obtained.

[0115] As can be seen from the above, the implant tracking method provided in the embodiment of the present application uses a pre-calibrated calibrator to calibrate the positional relationship between the second feature point and the three-dimensional model until the accuracy requirement is met, thereby further improving the accuracy of the implant position information obtained based on the position information and positional relationship of the tracer.

[0116] The present application also provides an implant tracking device, see Figure 5 , the device comprises:

[0117] A data acquisition module 501 is used to collect a plurality of first feature points on the surface of the implant using the probe to acquire three-dimensional point cloud data of the implant;

[0118] A three-dimensional model building module 502 is used to build a three-dimensional model of the implant based on the three-dimensional point cloud data;

[0119] a position relationship determination module 503, configured to install a tracer on a second characteristic point of the implant, and obtain a first position relationship between the second characteristic point and the three-dimensional model according to the three-dimensional model;

[0120] A first position information acquisition module 504 is used to acquire the current first position information of the second feature point using the tracer during the implantation of the implant into the patient's body;

[0121] The second position information determining module 505 is used to determine the current second position information of the implant in the patient's body according to the first position information and the first position relationship.

[0122] As can be seen from the above, the implant tracking device provided in the embodiment of the present application uses a probe to collect multiple first feature points on the surface of the implant to obtain the three-dimensional point cloud data of the implant; based on the three-dimensional point cloud data, a three-dimensional model of the implant is constructed; a tracer is installed on the second feature point of the implant, and the first position relationship between the second feature point and the three-dimensional model is obtained according to the three-dimensional model; during the implantation of the implant into the patient's body, the current first position information of the second feature point is obtained using the tracer; based on the first position information and the first position relationship, the current second position information of the implant in the patient's body is determined. By collecting the three-dimensional point cloud data of the implant and constructing the three-dimensional model of the implant, the tracer can be installed at any position of the implant that is not blocked during the operation. Combined with the position information of the tracer and its positional relationship with the implant, the real-time and accurate positioning of the implant during the operation can be achieved, thereby improving the accuracy of implant tracking. Even if the implant is an unconventional structure or other structure that the manufacturer does not provide 3D modeling for, and there is no implant data model, the use of point cloud technology to obtain feature points and generate 3D model data of the implant can also achieve real-time tracking of the implant during surgery, provide precise navigation and positioning support for the surgery, and improve the versatility of the implant tracking method.

[0123] In a possible implementation, the device further includes:

[0124] a control signal generating module, used for comparing the position deviation between the second position information and a preset target position, and generating a control signal according to the position deviation by using a proportional-integral-differential controller, wherein the strength of the control signal is positively correlated with the size of the position deviation;

[0125] The position adjustment module is used to adjust the control signal using the proportional-integral-differential controller so that the robotic arm drives the implant to adjust its position according to the change of the control signal until the control signal indicates that the implant reaches the preset target position.

[0126] As can be seen from the above, the implant tracking device provided in the embodiment of the present application uses a proportional-integral-differential controller to generate a control signal according to the position deviation between the second position information and the preset target position, and based on the control signal, the mechanical arm drives the implant to adjust the position according to the control signal until the implant reaches the preset target position. Real-time feedback and adjustment of the implant position are achieved, and the accuracy of implant application is improved.

[0127] In a possible implementation, the three-dimensional model building module 502 is specifically used to:

[0128] Projecting the three-dimensional point cloud data onto a two-dimensional plane through a normal line to obtain projection point data;

[0129] Based on a spatial region growing algorithm, triangulating the projection point data in a plane;

[0130] Determining the topological connection between the three-dimensional points in the three-dimensional point cloud data according to the topological connection relationship between the projection points after triangulation;

[0131] Based on the topological connection between the three-dimensional points, a three-dimensional model of the implant is constructed.

[0132] As can be seen from the above, the implant tracking device provided in the embodiment of the present application projects the three-dimensional point cloud data onto a two-dimensional plane through a normal line to obtain projection point data; based on the spatial region growth algorithm, the projection point data is triangulated in the plane; according to the topological connection relationship between the projection points after triangulation, the topological connection between each three-dimensional point in the three-dimensional point cloud data is determined; based on the topological connection between each three-dimensional point, a three-dimensional model of the implant is constructed. The three-dimensional model generated by this method has strong stability, good surface detail restoration effect, and is easy to operate and maintain. Even in the case of low point cloud density, it can better reproduce the three-dimensional details of the implant, thereby improving the accuracy of the three-dimensional model of the implant.

[0133] In a possible implementation manner, the first location information acquisition module 504 is specifically configured to:

[0134] Obtaining a second positional relationship to be verified between the second feature point and the three-dimensional model according to a positional relationship between the second feature point and the first feature point in the three-dimensional model;

[0135] Using a pre-calibrated calibrator to collect a sample position relationship between the second feature point and the three-dimensional model;

[0136] The spacing deviation between the second position relationship and the sample position relationship is compared, and the second position relationship is adjusted according to the spacing deviation to obtain the first position relationship.

[0137] As can be seen from the above, the implant tracking device provided in the embodiment of the present application uses a pre-calibrated calibrator to calibrate the positional relationship between the second feature point and the three-dimensional model until the accuracy requirement is met, thereby further improving the accuracy of the implant position information obtained based on the position information and positional relationship of the tracer.

[0138] In a possible implementation, the device further includes:

[0139] A denoising processing module, used to perform denoising processing on the three-dimensional point cloud data using a preset denoising algorithm to obtain the three-dimensional point cloud data after denoising processing;

[0140] A filtering processing module, used to filter the three-dimensional model data after denoising using a preset filtering algorithm to obtain the three-dimensional point cloud data after preprocessing;

[0141] A smoothing processing module, used to perform smoothing processing on the three-dimensional model using a preset smoothing algorithm;

[0142] The boundary constraint module is used to constrain the boundary of the three-dimensional model using preset boundary conditions.

[0143] The embodiment of the present invention further provides an electronic device, such as Figure 6 As shown, it includes a processor 601 , a communication interface 602 , a memory 603 and a communication bus 604 , wherein the processor 601 , the communication interface 602 , and the memory 603 communicate with each other via the communication bus 604 .

[0144] Memory 603, used for storing computer programs;

[0145] The processor 601 is used to implement any of the above-mentioned implant tracking methods when executing the program stored in the memory 603.

[0146] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0147] The communication interface is used for communication between the above electronic device and other devices.

[0148] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0149] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0150] In another embodiment provided by the present invention, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned implant tracking methods are implemented.

[0151] In another embodiment provided by the present invention, a computer program product comprising instructions is also provided, which, when executed on a computer, enables the computer to execute any implant tracking method in the above embodiments.

[0152] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0153] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0154] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0155] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An implant tracking method, characterized in that: The method comprises: Using a probe to collect a plurality of first feature points on the surface of the implant to obtain three-dimensional point cloud data of the implant; constructing a three-dimensional model of the implant based on the three-dimensional point cloud data; installing a tracer at a second characteristic point of the implant, and obtaining a first positional relationship between the second characteristic point and the three-dimensional model according to the three-dimensional model; During the implantation of the implant into the patient's body, using the tracer to obtain current first position information of the second feature point; According to the first position information and the first position relationship, current second position information of the implant in the patient's body is determined.

2. The method according to claim 1, characterized in that: After determining the second current position information of the implant in the patient's body, the method further includes: Comparing the position deviation between the second position information and a preset target position, and generating a control signal according to the position deviation using a proportional-integral-differential controller, wherein the strength of the control signal is positively correlated with the size of the position deviation; The proportional-integral-differential controller is used to adjust the control signal so that the robotic arm drives the implant to adjust its position according to the change of the control signal until the control signal indicates that the implant has reached the preset target position.

3. The method according to claim 1, characterized in that The step of constructing a three-dimensional model of the implant based on the three-dimensional point cloud data comprises: Projecting the three-dimensional point cloud data onto a two-dimensional plane through a normal line to obtain projection point data; Based on a spatial region growing algorithm, triangulating the projection point data in a plane; Determining the topological connection between the three-dimensional points in the three-dimensional point cloud data according to the topological connection relationship between the projection points after triangulation; Based on the topological connection between the three-dimensional points, a three-dimensional model of the implant is constructed.

4. The method according to claim 1, characterized in that The step of installing a tracer on the second characteristic point of the implant and obtaining a first positional relationship between the second characteristic point and the three-dimensional model according to the three-dimensional model comprises: Obtaining a second positional relationship to be verified between the second feature point and the three-dimensional model according to a positional relationship between the second feature point and the first feature point in the three-dimensional model; Using a pre-calibrated calibrator to collect a sample position relationship between the second feature point and the three-dimensional model; The spacing deviation between the second position relationship and the sample position relationship is compared, and the second position relationship is adjusted according to the spacing deviation to obtain the first position relationship.

5. The method according to claim 1, characterized in that: After acquiring the three-dimensional point cloud data of the implant, the method further comprises: Using a preset denoising algorithm, the three-dimensional point cloud data is denoised to obtain the three-dimensional point cloud data after denoising; Using a preset filtering algorithm, filtering the three-dimensional model data after denoising to obtain the three-dimensional point cloud data after preprocessing; After constructing the three-dimensional model of the implant, the method further comprises: Using a preset smoothing algorithm to smooth the three-dimensional model; The boundaries of the three-dimensional model are constrained using preset boundary conditions.

6. An implant tracking device, characterized in that: The device comprises: A data acquisition module, used for collecting a plurality of first feature points on the surface of the implant using a probe to acquire three-dimensional point cloud data of the implant; A three-dimensional model building module, used to build a three-dimensional model of the implant based on the three-dimensional point cloud data; a positional relationship determination module, configured to install a tracer on a second characteristic point of the implant, and obtain a first positional relationship between the second characteristic point and the three-dimensional model according to the three-dimensional model; A first position information acquisition module, used for acquiring the current first position information of the second feature point by using the tracer during the implantation of the implant into the patient's body; A second position information determining module is used to determine the current second position information of the implant in the patient's body according to the first position information and the first position relationship.

7. The device according to claim 6, characterized in that The device also includes: a control signal generating module, used for comparing the position deviation between the second position information and a preset target position, and generating a control signal according to the position deviation by using a proportional-integral-differential controller, wherein the strength of the control signal is positively correlated with the size of the position deviation; The position adjustment module is used to adjust the control signal using the proportional-integral-differential controller so that the robotic arm drives the implant to adjust its position according to the change of the control signal until the control signal indicates that the implant reaches the preset target position.

8. The device according to claim 6, characterized in that The three-dimensional model building module is specifically used for: Projecting the three-dimensional point cloud data onto a two-dimensional plane through a normal line to obtain projection point data; Based on a spatial region growing algorithm, triangulating the projection point data in a plane; Determining the topological connection between the three-dimensional points in the three-dimensional point cloud data according to the topological connection relationship between the projection points after triangulation; Based on the topological connection between the three-dimensional points, a three-dimensional model of the implant is constructed.

9. The device according to claim 6, characterized in that The first location information acquisition module is specifically used to: Obtaining a second positional relationship to be verified between the second feature point and the three-dimensional model according to a positional relationship between the second feature point and the first feature point in the three-dimensional model; Using a pre-calibrated calibrator to collect a sample position relationship between the second feature point and the three-dimensional model; The spacing deviation between the second position relationship and the sample position relationship is compared, and the second position relationship is adjusted according to the spacing deviation to obtain the first position relationship.

10. The device according to claim 6, characterized in that The device also includes: A denoising processing module, used to perform denoising processing on the three-dimensional point cloud data using a preset denoising algorithm to obtain the three-dimensional point cloud data after denoising; A filtering processing module, used to filter the three-dimensional model data after denoising using a preset filtering algorithm to obtain the three-dimensional point cloud data after preprocessing; A smoothing processing module, used to perform smoothing processing on the three-dimensional model using a preset smoothing algorithm; The boundary constraint module is used to constrain the boundary of the three-dimensional model using preset boundary conditions.

11. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-5 when executing a program stored in a memory.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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