Medical navigation system and medical navigation equipment

Abstract

The embodiment of the invention provides a medical navigation system and medical navigation equipment. When the position of the first medical navigation equipment needs to be retrieved, the first reference position information used by the first medical navigation equipment is recovered by using the second reference position information recorded by the second medical navigation equipment and the relative position relationship between the first reference position and the second reference position; therefore, accurate navigation information is provided for the user in the operation process so as to assist in accurately inserting the surgical instrument into a specified position.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a medical navigation system and a medical navigation device. Background Art

[0002] In clinical medical orthopedic surgery, some surgeries require the insertion of specific surgical instruments through auxiliary surgical tools. For example, in the case of proximal femoral fractures (such as intertrochanteric fractures) or long bone shaft fractures such as tibia or humerus, orthopedic surgery usually requires the use of an electric drill to guide the insertion of intramedullary nails, and the intramedullary nails are used for fixation to facilitate fracture healing. When inserting surgical instruments, the specific insertion position and direction of these surgical instruments will affect the subsequent surgical effect and the recovery effect after the operation.

[0003] Based on this, a technology for assisting in determining the insertion position of surgical instruments has emerged. However, the related technology relies on the positioning of navigation devices. If the navigation device loses position information due to user operation errors, it cannot be used to indicate the accurate insertion position of the surgical instrument. Summary of the invention

[0004] The embodiments of the present application provide a medical navigation system and a medical navigation device, which can partially solve the above technical problems.

[0005] In a first aspect, the present application provides a medical navigation system, including a first medical navigation device and a second medical navigation device, wherein the first medical navigation device is communicatively connected to the second medical navigation device, the first medical navigation device can measure position information of the first medical navigation device in a first world coordinate system, and the second medical navigation device can measure position information of the second medical navigation device in a second world coordinate system;

[0006] The first medical navigation device is used to prompt navigation information, and the navigation information is used to assist in guiding an orthopedic surgical tool fixed to the first medical navigation device to move to a target surgical position, and in the process of assisting in guiding the orthopedic surgical tool, multiple direction axes of the first world coordinate system are respectively parallel to multiple direction axes of the second world coordinate system;

[0007] The first medical navigation device is further used to obtain, in response to a position retrieval instruction, second reference position information when the second medical navigation device is located at a second reference position, and determine, based on a relative positional relationship between the first reference position and the second reference position, first reference position information when the first medical navigation device is located at the first reference position; wherein the second reference position is a designated position in a surgical scene, and the first reference position is a position in the surgical scene related to a part of a patient to be operated on;

[0008] The first medical navigation device is further used to determine the navigation information based on the first reference position information and the real-time position information measured by the first medical navigation device during the movement.

[0009] In a second aspect, the present application further provides a medical navigation system, including a first medical navigation device and a second medical navigation device, wherein the first medical navigation device is communicatively connected to the second medical navigation device, the first medical navigation device can measure position information of the first medical navigation device in a first world coordinate system, and the second medical navigation device can measure position information of the second medical navigation device in a second world coordinate system;

[0010] The first medical navigation device is used to prompt navigation information, and the navigation information is used to assist in guiding an orthopedic surgical tool fixed to the first medical navigation device to move to a target surgical position, and in the process of assisting in guiding the orthopedic surgical tool, multiple direction axes of the first world coordinate system are respectively parallel to multiple direction axes of the second world coordinate system;

[0011] The first medical navigation device is further used to respond to the position retrieval instruction, obtain a first reference position value of the first medical navigation device when it is in a first reference position, and reference directions of multiple direction axes of the second medical navigation device when it is in a second reference position; determine first reference position information of the first medical navigation device when it is in the first reference position according to the first reference position value and the reference direction; wherein the second reference position is a designated position in the surgical scene, and the first reference position is a position in the surgical scene related to the patient's surgical site;

[0012] The first medical navigation device is further used to determine the navigation information based on the first reference position information and the real-time position information measured by the first medical navigation device during the movement.

[0013] In a third aspect, the present application further provides a medical navigation device, the medical navigation device being used to display a first operation interface, the first operation interface displaying a device type, the device type including a first device type and a second device type, obtaining a first selection operation of selecting the first device type from the device types, and determining that the medical navigation device is the first medical navigation device based on the first selection operation, and obtaining second real-time position information of a second medical navigation device in communication connection in a second world coordinate system, and calibrating the first medical navigation device based on the second real-time position information so that multiple direction axes of the first medical navigation device in the first world coordinate system are respectively parallel to multiple direction axes in the second world coordinate system;

[0014] The first medical navigation device is further used to respond to the reference setting instruction, obtain first reference position information of the first medical navigation device when it is in the first reference position, and send the first reference position information to the second medical navigation device in the second reference position, so that the second medical navigation device determines the relative position relationship between the first reference position and the second reference position according to the first reference position information; wherein the second reference position is a designated position in the surgical scene, and the first reference position is a position in the surgical scene related to the patient's surgical site to be operated on;

[0015] The first medical navigation device is further used to prompt navigation information, and the navigation information is used to assist in guiding the orthopedic surgery tool fixed to the first medical navigation device to move to a target surgery position;

[0016] The first medical navigation device is further configured to, in response to a position retrieval instruction, obtain the second reference position information when the second medical navigation device is located at the second reference position, and determine the first reference position information when the first medical navigation device is located at the first reference position based on the relative position relationship;

[0017] The first medical navigation device is further used to determine the navigation information based on the first reference position information and the real-time position information measured by the first medical navigation device during the movement;

[0018] or,

[0019] The medical navigation device is used to display a first operation interface, on which device types are displayed, and the device types include a first device type and a second device type; obtain a second selection operation of selecting the second device type from the device types, determine that the medical navigation device is a second medical navigation device based on the second selection operation, and obtain second real-time position information of the second medical navigation device in a second world coordinate system, send the second real-time position information to the first medical navigation device with which it is communicatively connected, so that the first medical navigation device calibrates the first medical navigation device based on the second real-time position information, so that multiple direction axes of the first medical navigation device in the first world coordinate system are respectively parallel to multiple direction axes in the second world coordinate system;

[0020] The second medical navigation device is further used to, upon receiving the first reference position information sent by the first medical navigation device indicating that the first medical navigation device is in the first reference position, obtain the second reference position information when the second medical navigation device is in the second reference position, and determine the relative position relationship between the first reference position and the second reference position according to the first reference position information and the second reference position information; wherein the second reference position is a designated position in the surgical scene, and the first reference position is a position in the surgical scene related to the patient's part to be operated on;

[0021] The second medical navigation device is further used to obtain the second reference position information and the relative position relationship based on the position retrieval instruction of the first medical navigation device, and send the second reference position information and the relative position relationship to the first medical navigation device, so that the first medical navigation device determines the first reference position information of the first medical navigation device when it is at the first reference position according to the second reference position information and the relative position relationship, and determines navigation information based on the first reference position information and the first real-time position information measured by the first medical navigation device.

[0022] The embodiments of the present application provide a medical navigation system and a medical navigation device, wherein, when the position of the first medical navigation device needs to be retrieved, the second reference position information recorded by the second medical navigation device and the relative position relationship between the first reference position and the second reference position are used to restore the first reference position information of the first medical navigation device, thereby providing the user with accurate navigation information during surgery to assist in accurately inserting the surgical instrument into the designated position. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A schematic diagram of the structure of a medical navigation system provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the effect of a world coordinate system in which a medical navigation device is located provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of a display interface effect of a medical navigation device provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of another display interface effect of a medical navigation device provided in an embodiment of the present application;

[0028] Figure 5a A schematic diagram of the structure of a development positioning assembly provided in an embodiment of the present application;

[0029] Figure 5b A schematic diagram of a perspective image effect provided by an embodiment of the present application;

[0030] Figure 6a A schematic diagram of the effect of a navigation interface of a medical navigation device provided in an embodiment of the present application;

[0031] Figure 6b A schematic diagram of the effect of a positioning failure interface of a medical navigation device provided in an embodiment of the present application;

[0032] Figure 6c A schematic diagram of another effect of a positioning failure interface of a medical navigation device provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of a medical navigation device provided in an embodiment of the present application;

[0034] Figure 8a A schematic diagram of an ideal nail insertion position during a surgery provided in an embodiment of the present application;

[0035] Figure 8b A schematic diagram of an ideal nail insertion direction during a surgery provided in an embodiment of the present application;

[0036] Fig. 9 A schematic diagram of a complete process flow for navigation during a surgical procedure provided in an embodiment of the present application;

[0037] Fig.10a A schematic diagram of the effect of prompting the boot progress provided by an embodiment of the present application;

[0038] Fig.10b A schematic diagram of the effect of prompting a restart after a startup failure provided in an embodiment of the present application;

[0039] Fig.11a A schematic diagram of the effect of the zeroing interface to which the reference module provided in an embodiment of the present application jumps;

[0040] Fig.11b A schematic diagram of the effect of the reset interface to which the real-time module according to an embodiment of the present application jumps;

[0041] Fig.12 A schematic diagram of the effect of placing the real-time module and the imaging positioning component provided in the embodiment of the present application on the patient's part after being assembled;

[0042] Fig.13a A schematic diagram of the effect of successful zeroing of the real-time module provided in the embodiment of the present application;

[0043] Fig.13b A schematic diagram of the effect of the real-time module zeroing failure and prompt provided in the embodiment of the present application;

[0044] Fig.14 A schematic diagram of the effect of the reference module automatically jumping to the zero reference record completion interface provided in an embodiment of the present application;

[0045] Fig.15 A schematic diagram of the effect of assembling a real-time module and an electric drill equipped with a guide pin used in an intramedullary nail surgery according to an embodiment of the present application;

[0046] Fig.16 A schematic diagram of the range of angle values ​​displayed on the real-time module navigation interface provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0048] It should be understood that the terms used in the description of various described embodiments in this article are only for the purpose of describing specific embodiments, and are not intended to be limited. As used in the description of various described embodiments and in the appended claims, the singular forms "one" and "the / said" are intended to also include plural forms, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" used herein refers to and encompasses any and all possible combinations of one or more items in the associated listed items. It will also be understood that the term "including" when used in this specification refers to the presence of stated features, steps, operations, elements and / or parts, but does not exclude the presence or addition of one or more other features, steps, operations, elements and / or parts.

[0049] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0050] The medical navigation device and the medical navigation equipment in the embodiments of the present application will be described in detail below. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0051] refer to Figure 1 As shown, in some embodiments of the present application, a medical navigation system is provided. Specifically, the medical navigation system 100 includes a first medical navigation device 110 and a second medical navigation device 120 .

[0052] In this embodiment, the first medical navigation device 110 is connected in communication with the second medical navigation device 120, that is, usually, the first medical navigation device 110 and the second medical navigation device 120 include a communication module with a communication function, such as a Bluetooth module, etc. The communication connection may refer to a direct communication connection between the first medical navigation device 110 and the second medical navigation device 120, for example, the first medical navigation device 110 and the second medical navigation device 120 directly receive and send data according to the agreed communication protocol, such as directly receiving and sending data through the Bluetooth protocol of the Bluetooth module. Of course, the communication connection may also refer to an indirect communication connection between the first medical navigation device 110 and the second medical navigation device 120, for example, the first medical navigation device 110 and the second medical navigation device 120 may communicate with an additionally provided intermediate server, so that the intermediate server can forward the communication data to the other in real time after receiving the communication data sent by one of the first medical navigation device 110 and the second medical navigation device 120. In this embodiment, the communication connection between the first medical navigation device 110 and the second medical navigation device 120 is described by taking direct communication connection, such as direct communication connection through the Bluetooth protocol, as an example.

[0053] In addition, in order to realize the navigation of the insertion position of the surgical instrument, for example, taking the insertion of the intramedullary nail as an example, the first medical navigation device 110 and the second medical navigation device 120 have the function of measuring the position information of each in the corresponding world coordinate system, for example, the first medical navigation device 110 can measure the position information of the first medical navigation device 110 in the first world coordinate system, and the second medical navigation device 120 can measure the position information of the second medical navigation device 120 in the second world coordinate system. Specifically, as a feasible implementation scheme, the first medical navigation device 110 and the second medical navigation device 120 are configured with sensors, such as six-degree-of-freedom inertial sensors to sense the position information of the medical navigation device in the current corresponding world coordinate system. Among them, it should be noted that, under normal circumstances, since the medical navigation device can work continuously and can continuously measure the position information, the real-time position information mentioned in the subsequent application can be understood as the position information measured by the medical navigation device in real time at a given stage, a given time or a given state described in the previous and next texts, and should not be understood as a fixed and specific position information measured by the medical navigation device at a fixed stage, a fixed time or a fixed state.

[0054] Further, in one embodiment, the position information measured by the first medical navigation device 110 and the second medical navigation device 120 can generally be described by three angle values ​​(r, p, y) of the medical navigation device relative to the horizontal plane. Specifically, for ease of understanding, the following will be combined with Figure 2 The world coordinate system Ψ in which the medical navigation device is shown is used as an example for explanation. To simplify the description, the first medical navigation device 110 and the second medical navigation device 120 are collectively referred to as medical navigation devices.

[0055] For each medical navigation device, the origin of the coordinate system is located at the center of the bottom surface of the medical navigation device, and the XOY plane coincides with the bottom surface of the medical navigation device.

[0056] The angle value r represents the roll angle of the medical navigation device, that is, the bottom surface of the medical navigation device is in the horizontal plane in the initial state. At this time, the medical navigation device rotates around the X-axis direction by a certain angle, and the rotation angle is r. The positive and negative values ​​of the angle value r follow the right-hand rule, which indicates the degree of inclination of the medical navigation device in the lateral direction relative to the horizontal plane.

[0057] The angle value p represents the pitch angle of the medical navigation device, that is, the bottom surface of the medical navigation device is on the horizontal plane in the initial state. At this time, the medical navigation device rotates around the Y-axis by a certain angle, and the rotation angle is p. The positive and negative values ​​of the angle value p also follow the right-hand rule, indicating the longitudinal inclination of the medical navigation device relative to the horizontal plane.

[0058] The angle value y represents the yaw angle of the medical navigation device, that is, the bottom surface of the medical navigation device is in the horizontal plane in the initial state, and then the medical navigation device rotates a certain angle around the Z axis, and the rotation angle is y. The positive and negative value of the angle value y also follows the right-hand rule, indicating the degree of rotation of the medical navigation device in the horizontal plane.

[0059] In addition, it should be noted that the three angle values ​​(r, p, y) measured by the medical navigation device are independent of each other and uncoupled. Any posture of each medical navigation device in three-dimensional space can be uniquely represented by these three angle values. Among them, the roll angle r and the pitch angle p are generally absolute, that is, the roll angle and pitch angle of the medical navigation device at this time relative to the horizontal plane can be accurately measured and are unique, while the yaw angle y is relative, and usually the X-axis or Y-axis reference needs to be determined to accurately measure the value of the yaw angle y.

[0060] On the basis of the above, the first medical navigation device 110 can also be used to prompt navigation information, wherein the navigation information is used to assist in guiding the orthopedic surgical tool fixed to the first medical navigation device 110 to move to the target surgical position, wherein the orthopedic surgical tool here can generally be understood as a tool for assisting the insertion of surgical instruments, such as an electric drill used in the intramedullary nail surgery process, etc. For the convenience of description, the orthopedic surgical tool is an electric drill as an example for description. Furthermore, in order to ensure the accuracy of the prompted navigation information, in the process of the first medical navigation device 110 assisting in guiding the orthopedic surgical tool, it is usually required that multiple direction axes of the first world coordinate system are parallel to multiple direction axes of the second world coordinate system, that is, the first medical navigation device 110 and the second medical navigation device 120 have the same reference direction or the first medical navigation device 110 and the second medical navigation device 120 use the same direction as the reference direction, for example, the yaw angle y is 0 degrees in the same direction, such as 0 degrees in the due north. The following will describe in detail how to make multiple direction axes of the first medical navigation device 110 in the first world coordinate system parallel to multiple direction axes of the second medical navigation device 120 in the second world coordinate system before the first medical navigation device 110 performs navigation. Please refer to the following description for details.

[0061] The provision of navigation information is usually determined by the first medical navigation device 110 during its movement based on the given first reference position information and the real-time position information measured by the first medical navigation device 110, that is, the navigation information is provided based on the real-time position information measured by the first medical navigation device 110 relative to the given first reference position information. For example, the first reference position can be determined as a position related to the patient's surgical site in the surgical scene, and the navigation information provided at this time can be used to assist in inserting the intramedullary nail using orthopedic surgical tools at the location of the patient's surgical site in a selected more optimal insertion direction. The real-time position information measured by the first medical navigation device 110 here usually refers to the position information measured in real time in the process of assisting in guiding the orthopedic surgical tools after determining the first reference position information.

[0062] Considering that the first medical navigation device 110 is subjected to erroneous operations such as violent shaking or violent back and forth rotation during use, for example, the instantaneous angular velocity exceeds 2000° / s or a certain custom angular velocity threshold, the first medical navigation device 110 may often fail to locate due to the sensitivity of the internal sensor of the first medical navigation device 110, and cannot find the reference direction, that is, cannot find the zero reference of the yaw angle y of the first medical navigation device 110, resulting in failure to provide accurate yaw angle y for navigation. Therefore, in this embodiment, it is often necessary to rely on other available information to restore the zero reference of the yaw angle y of the first medical navigation device 110, that is, to enable the first medical navigation device 110 to re-determine the first reference position information when it is located at the first reference position.

[0063] Specifically, there are multiple implementation schemes for enabling the first medical navigation device 110 to re-determine the first reference position information when it is located at the first reference position by relying on other obtainable information, which will be described below respectively.

[0064] In a feasible implementation scheme, the first medical navigation device 110 is used to respond to the position retrieval instruction, obtain the second reference position information of the second medical navigation device 120 when it is located at the second reference position (including three angle values ​​when the second medical navigation device 120 is located at the second reference position and the reference direction in the second medical navigation device 120), and determine the first reference position information of the first medical navigation device 110 when it is located at the first reference position (including three angle values ​​and the reference direction when the first medical navigation device 110 is located at the first reference position) based on the relative position relationship between the first reference position and the second reference position; wherein the second reference position is a designated position in the surgical scene, for example, the second reference position can be the side of the operating bed, the side of the wall of the operating room, or any fixed position on a fixed device in the operating room. This application does not limit the second reference position.

[0065] The second reference position information when the second medical navigation device 120 is located at the second reference position may be recorded and saved when the second medical navigation device 120 is located at the second reference position, so that the first medical navigation device 110 responds to the position retrieval instruction and obtains the second reference position information saved by the second medical navigation device 120 through information communication with the second medical navigation device 120. Alternatively, in another feasible implementation scheme, the first medical navigation device 110 is also used to respond to the position retrieval instruction and directly obtain the real-time position information measured by the second medical navigation device 120 when the second medical navigation device 120 is at the second reference position, and use the obtained real-time position information as the second reference position information. The second medical navigation device 120 being in the second reference position may mean that during the operation, the second medical navigation device 120 is always fixed at the second reference position, for example, the second medical navigation device 120 is placed at a position such as the side of the operating table during the operation, and the second medical navigation device 120 is kept at the position unchanged. Since the second medical navigation device 120 is kept at the second reference position unchanged during the operation, the real-time position information obtained is the second reference position information; of course, the second medical navigation device 120 may also have left the second reference position during the operation, but when the position retrieval instruction is triggered, the second medical navigation device 120 needs to be reset to the second reference position. The real-time position information measured by the second medical navigation device 120 here can be understood as the position information measured in real time when the second medical navigation device 120 is at the second reference position.

[0066] The relative position relationship between the first reference position and the second reference position can be stored in the first medical navigation device 110. For example, the relative position relationship can be sent to the first medical navigation device 110 for storage after the second medical navigation device 120 determines the relative position relationship, or it can be directly stored in the first medical navigation device 110 after the first medical navigation device 110 determines the relative position relationship. The relative position relationship between the first reference position and the second reference position can also be stored in the second medical navigation device 120. For example, the relative position relationship can be saved after the second medical navigation device 120 determines the relative position relationship, and this is used as an example for explanation in this application; or the relative position relationship can be sent to the second medical navigation device 120 for storage after the first medical navigation device 110 determines the relative position relationship. The method for determining the relative position relationship between the first reference position and the second reference position will be described in detail later, and please refer to the description later for details.

[0067] Of course, in addition to determining the first reference position information of the first medical navigation device 110 when it is located at the first reference position based on the second reference position information when the second medical navigation device 120 is located at the second reference position and the relative position relationship between the first reference position and the second reference position, as another feasible implementation scheme of the present application, considering that multiple direction axes of the first world coordinate system adopted by the first medical navigation device 110 are respectively parallel to multiple direction axes of the second world coordinate system adopted by the second medical navigation device 120, at this time, the first medical navigation device 110 can also be used to respond to the position retrieval instruction, obtain the first reference position value of the first medical navigation device 110 when it is at the first reference position, and the reference directions of multiple direction axes of the second medical navigation device 120 when it is at the second reference position; determine the first reference position information of the first medical navigation device at the first reference position according to the first reference position value and the reference direction.

[0068] Among them, if the first medical navigation device 110 records the corresponding first reference position information when it is at the first reference position, the first reference position information can be understood as the relative position information recorded by the first medical navigation device 110 at the first reference position relative to the reference direction in the world coordinate system. Due to the erroneous operation of the first medical navigation device 110 during use, such as violent shaking or violent rotation back and forth, the inertial sensor positioning inside the first medical navigation device 110 fails, making the reference direction in the first medical navigation device 110 invalid, so that only the first reference position value in the first reference position information, that is, the three angle values ​​of r, p, and y, can be obtained, but there is no reference direction. At this time, based on the same reference direction of multiple direction axes recorded by the second medical navigation device 120, the first reference position value of the first medical navigation device 110 at the first reference position can be used to restore the first reference position information of the first medical navigation device 110 at the first reference position. If the first reference position value of the first medical navigation device 110 at the first reference position, i.e., the three angle values ​​of r, p, and y, is saved in the second medical navigation device 120, then the reference direction in the second medical navigation device 120 is also acquired, so as to determine the first reference position information of the first medical navigation device 110 at the first reference position according to the first reference position value and the reference direction. As in the above-mentioned embodiment, the second reference position here is also a designated position in the surgical scene, such as the side of the surgical bed, the side of the wall of the operating room, or any fixed position on a fixed device in the operating room.

[0069] Through any of the aforementioned methods, the first medical navigation device 110 can re-determine the first reference position information at the first reference position based on the obtainable information, so that the first medical navigation device 110 can determine and prompt navigation information based on the first reference position information and the real-time position information measured by the first medical navigation device 110 in the process of assisting in guiding the orthopedic surgical tool during subsequent movement, so as to more accurately assist in guiding the orthopedic surgical tool fixed to the first medical navigation device 110 to move to the target surgical position, wherein the target surgical position is the position where the intramedullary nail is inserted during the operation.

[0070] Of course, it should be noted that in order for the medical navigation system provided above to ensure the accuracy of the navigation information as much as possible, it is usually required that multiple direction axes in the first world coordinate system are parallel to multiple direction axes in the second world coordinate system, that is, it is often necessary to calibrate the position information of the first medical navigation device 110 or the second medical navigation device 120 in a preliminary calibration stage so that the multiple direction axes of the first medical navigation device 110 in the first world coordinate system are parallel to the multiple direction axes in the second world coordinate system.

[0071] The reason for calibration is that the directions of corresponding yaw angles in multiple medical navigation devices are usually different. If the directions of the yaw angles are different, when the inertial sensor positioning inside the first medical navigation device 110 fails, it is difficult to retrieve the first reference position information corresponding to the first reference position of the first medical navigation device 110. Therefore, before the first medical navigation device 110 performs navigation, the first medical navigation device 110 and the second medical navigation device 120 are calibrated so that multiple direction axes of the first medical navigation device 110 in the first world coordinate system are parallel to multiple direction axes in the second world coordinate system, that is, the reference directions of the yaw angles of the first medical navigation device 110 and the second medical navigation device 120 are the same.

[0072] Specifically, in one embodiment, during the calibration phase, the first medical navigation device 110 is further used to respond to the first setting instruction, obtain the second real-time position information of the second medical navigation device 120 in the second world coordinate system (including three angle values ​​of the second medical navigation device 120 in the current state), and calibrate the first medical navigation device 110 based on the second real-time position information, so that the multiple direction axes of the first medical navigation device 110 in the first world coordinate system are respectively parallel to the multiple direction axes in the second world coordinate system. The second real-time position information here can be understood as the position information collected when the first medical navigation device 110 responds to the first setting instruction.

[0073] In the process of calibrating the first medical navigation device 110, the first medical navigation device 110 may be calibrated based on the second real-time position information at the time of responding to the first setting instruction. At this time, the first setting instruction is usually required to be triggered when the first medical navigation device 110 and the second medical navigation device 120 are in the same posture. At this time, when the first medical navigation device 110 is calibrated, that is, when the multiple direction axes of the first medical navigation device 110 in the first world coordinate system are parallel to the multiple direction axes in the second world coordinate system, the first real-time position information measured in real time by the first medical navigation device 110 in this posture will be the same as the second real-time position information measured in real time by the second medical navigation device 120 in this posture. It should be noted that the first real-time position information and the second real-time position information both include three angle values ​​in this posture.

[0074] It is understandable that during the calibration process, the first medical navigation device 110 and the second medical navigation device 120 may not be in the same posture, as long as the multiple direction axes of the first medical navigation device 110 in the first world coordinate system and the multiple direction axes of the second medical navigation device 120 in the second world coordinate system are respectively parallel.

[0075] Specifically, in the process of calibrating the first medical navigation device 110 using the second real-time position information at the moment of triggering the first setting instruction, calibration can also be performed relying on the first real-time position information of the first medical navigation device 110 (the three angle values ​​of the first medical navigation device 110 in the current state at the same moment). That is, the first medical navigation device 110 is also used to obtain the first real-time position information of the first medical navigation device 110 while obtaining the second real-time position information of the second medical navigation device 120 in the second world coordinate system, so as to calibrate the first medical navigation device 110 based on the second real-time position information and the first real-time position information collected at the moment of triggering the first setting instruction, so that multiple direction axes of the first medical navigation device 110 in the first world coordinate system are respectively parallel to multiple direction axes in the second world coordinate system. For example, in the same posture, the first real-time position information of the first medical navigation device 110 is obtained based on the second real-time position information, and the difference between the first real-time position information and the second real-time position information is determined, so that the first medical navigation device 110 adds the difference when measuring the corresponding position information, thereby making the multiple direction axes of the first medical navigation device 110 in the first world coordinate system parallel to the multiple direction axes in the second world coordinate system.

[0076] Further, in the process of the first medical navigation device 110 triggering the first setting instruction, it can be specifically realized by selecting a medical navigation device as a trigger of the first medical navigation device 110 or the second medical navigation device 120, that is, the first medical navigation device 110 can be further triggered to trigger the first setting instruction by responding to a certain triggering operation on the first medical navigation device 110 and / or the second medical navigation device 120. That is, the first setting operation on the first medical navigation device 110 is acquired, and the first setting instruction is generated based on the first setting operation, or when the second device operation on the second medical navigation device 120 is acquired, the position information obtained by the real-time measurement of the second medical navigation device 120 is sent to the first medical navigation device 110 as the second real-time position information, so as to trigger the generation of the first setting instruction.

[0077] For example, as a feasible implementation scheme, the first setting operation of the first medical navigation device 110 and the second device operation of the second medical navigation device 120 can be implemented by mechanical controls configured on the medical navigation device, such as mechanical buttons, mechanical knobs, etc. For example, the medical navigation device can be configured with buttons marked with "first device type" and "second device type", so that when the trigger operation of the button of the "first device type" is triggered on the first medical navigation device 110, the first setting instruction is generated, or when the trigger operation of the button of the "second device type" is triggered on the second medical navigation device 120, the position information measured in real time by the second medical navigation device 120 is sent to the first medical navigation device 110 as the second real-time position information, so as to trigger the generation of the first setting instruction.

[0078] Of course, in addition to the aforementioned methods to trigger the generation of the first setting instruction, as another feasible implementation scheme of the present application, a corresponding operation interface may be displayed on the first medical navigation device 110 to trigger the first setting instruction. For example, a first operation interface may be displayed on the first medical navigation device 110, wherein the first operation interface displays a device type, and the device type includes a first device type and a second device type, so that when a first selection operation of selecting the first device type from the device type is obtained, the first setting instruction is generated. Alternatively, a second operation interface may be displayed on the second medical navigation device 120, wherein the second operation interface is similar to the first operation interface, and the first device type and the second device type are also synchronously displayed, so that when a second selection operation of selecting the second device type from the device type is obtained, based on the second selection operation, the second position information of the second medical navigation device 120 in the second world coordinate system is obtained, so that the obtained second position information is sent to the first medical navigation device 110 as the second real-time position information, so as to trigger the generation of the first setting instruction, thereby performing subsequent calibration operations.

[0079] Specifically, to facilitate understanding of the calibration phase, the first setting instruction is generated by triggering a device type selection operation on the operation interface of the medical navigation device. Figure 3 , Figure 3 This is a schematic diagram of a display interface of a medical navigation device provided in an embodiment of the present application.

[0080] In the embodiment of the present application, the first device type and the second device type displayed on the operation interface are specifically "real-time module" and "reference module", wherein "real-time module" can be understood as the first device type, and "reference module" can be understood as the second device type. Specifically, when the selection operation of "real-time module" is triggered on the display interface of a certain medical navigation device, the medical navigation device is configured as the first medical navigation device 110, and the other medical navigation device is correspondingly configured as the second medical navigation device 120, and the second position information of the second medical navigation device 120 in the second world coordinate system is sent to the first medical navigation device 110 as the second real-time position information to trigger the generation of the first setting instruction, or, when the selection operation of "reference module" is triggered on the display interface of a certain medical navigation device, the medical navigation device is configured as the second medical navigation device 120, and the second position information of the second medical navigation device 120 in the second world coordinate system is sent to the other device correspondingly configured as the first medical navigation device 110 as the second real-time position information to trigger the generation of the first setting instruction and perform the subsequent calibration operation.

[0081] Of course, in addition to the aforementioned calibration operation of making the multiple direction axes of the first medical navigation device 110 in the first world coordinate system parallel to the multiple direction axes in the second world coordinate system, it is also necessary to predetermine the relative position relationship between the first reference position and the second reference position. Specifically, that is, in the embodiment of the present application, when the first medical navigation device 110 is in the first reference position and when the second medical navigation device 120 is in the second reference position, the first medical navigation device 110 is also used to respond to the reference setting instruction, obtain the first reference position information of the first medical navigation device 110 when it is in the first reference position, and send the first reference position information to the second medical navigation device 120, so that the second medical navigation device 120 obtains the second reference position information of the second medical navigation device 120 at the second reference position after receiving the first reference position information, so as to determine the relative position relationship between the first reference position and the second reference position according to the first reference position information and the second reference position information, for example, the first reference position information and the second reference position information are subtracted to obtain the relative position relationship between the first reference position and the second reference position.

[0082] Specifically, to facilitate understanding of the above content, the position information collected by the medical navigation device includes the three angle values ​​mentioned above, namely, the roll angle r, the pitch angle p and the yaw angle y. Assume that the first reference position information of the first medical navigation device 110 at the first reference position is (r1, p1, y1), and the second reference position information of the second medical navigation device 120 at the second reference position is (r2, p2, y2). At this time, by subtracting the second reference position information from the first reference position information, the relative position relationship Δ between the first reference position and the second reference position can be obtained. The specific calculation formula of the relative position relationship Δ is as follows:

[0083] Δ=(r2-r1,p2-p1,y2-y1)

[0084] After responding to the reference setting instruction and recording the relative position relationship between the first reference position and the second reference position, the recorded relative position relationship can be further used to subsequently retrieve the first reference position information when the first medical navigation device 110 is located at the first reference position.

[0085] Furthermore, the triggering of the benchmark setting instruction is similar to the first setting instruction in the calibration phase provided above, which can be implemented through a variety of solutions.

[0086] For example, in a feasible embodiment, the first medical navigation device 110 is configured with a mechanical control, such as a mechanical button or a mechanical knob displayed with a "return to zero" mark. At this time, when the first medical navigation device 110 is in the first reference position and the second medical navigation device 120 is in the second reference position, a click operation on the "return to zero" mark displayed on the first medical navigation device 110 can be performed to trigger a reference setting instruction, so that the first medical navigation device 110 sends the first reference position information at the first reference position to the second medical navigation device 120, so that the second medical navigation device 120 records and stores the relative position relationship between the first reference position information and the second reference position.

[0087] Alternatively, in another feasible embodiment, the first medical navigation device 110 may also be used to display a reference setting interface and obtain a setting operation on the reference setting interface to generate the reference setting instruction based on the setting operation. Figure 4In one implementation, the reference device interface may display a "return to zero" control, so that in response to a click operation on the "return to zero" control, the reference setting instruction is triggered to complete the subsequent return to zero operation. Of course, in the process of triggering the reference setting instruction through the reference setting interface displayed by the first medical navigation device 110, the second medical navigation device 120 is usually required to be in the corresponding second reference position. Therefore, prompt information may also be displayed on the display interface of the second medical navigation device 120 to prompt the second medical navigation device 120 to be placed in the second reference position, for example, "Please install this module in a fixed position, and then complete the return to zero according to the prompt of the real-time module" and the like. Of course, it is also feasible to set other prompt information for display, and the present invention does not limit this.

[0088] Furthermore, when the first medical navigation device 110 is at the first reference position to complete the zeroing operation in response to the reference setting instruction, it is usually necessary to connect the first medical navigation device 110 to the development positioning component, for example, by assembling and connecting the development positioning component to the first medical navigation device 110 through magnetic attraction or other relatively fixed methods. The development positioning component is made of a light-transmitting material such as carbon fiber material or other polymer material, that is, it does not develop under X-ray fluoroscopy. The development positioning component is integrated with scale marks similar to the surface scale silk screen and arranged in a fan shape. The scale marks include multiple development wires such as tantalum wires and other metal wires and angle scales. The scale marks can be developed under X-rays. For example, see Figure 5a , which is a schematic diagram of a development positioning component provided in an embodiment of the present application. Since the first medical navigation device 110 is connected to the development positioning component, that is, the position identifiers of the first medical navigation device 110 and the development positioning component have a predetermined relative position relationship, therefore, after successfully completing the "zeroing operation" of the first medical navigation device 110 to record the relative position relationship between the first reference position and the second reference position, it can be indicated that the zeroing reference of the measured yaw angle y of the first medical navigation device 110 is parallel to the X-axis direction of the internal 0° scale line in the development positioning component, so that the angle scale in the development image of the development positioning component in the perspective state is as consistent as possible with the angle size actually represented by the yaw angle y of the first medical navigation device 110. For details, please refer to Figure 5b , Figure 5b The schematic diagram shows the effect of placing the first medical navigation device 110 at the reference position to select the expected entry angle in the perspective state in combination with the angle scale provided by the development positioning component.

[0089] In addition, it should be noted that in the above-mentioned process of returning to zero so that the angle scale in the development image of the development positioning component in the perspective state is as consistent as possible with the actual angle size, that is, requiring the zeroing reference of the yaw angle y of the first medical navigation device 110 to be parallel to the X-axis direction of the internal 0° scale line in the development positioning component, if the development positioning component is excessively tilted relative to the horizontal plane during perspective, the angle between the two development wires in the perspective-taken orthotopic film (the perspective direction is the vertical direction, perpendicular to the horizontal plane) will be larger due to the distortion of the shooting angle, resulting in a large difference from the angle scale value marked in the image, thereby causing a large error in the subsequent navigation. Therefore, as a further feasible implementation scheme of the present application, in the process of triggering the reference setting instruction, the first medical navigation device 110 is also used to prompt the angle of the first medical navigation device 110 relative to the preset plane, so as to respond to the reference setting instruction or output prompt information according to the angle.

[0090] For example, in a feasible implementation, the first medical navigation device 110 is also used to prompt the angle of the first medical navigation device 110 relative to a preset plane, and move the first medical navigation device 110 according to the angle until the angle is within a preset angle range, responding to the triggered benchmark setting instruction to perform subsequent benchmark setting operations.

[0091] Alternatively, in another feasible implementation, the first medical navigation device 110 is further configured to obtain an angle of the first medical navigation device 110 relative to a preset plane in response to the reference setting instruction, and to give a prompt when the angle is not within a preset angle range.

[0092] That is to say, through the above method, when a benchmark setting operation is required, that is, after the benchmark setting instruction is triggered, the subsequent benchmark setting operation will be performed only when the angle of the first medical navigation device 110 relative to the preset plane is within the preset angle range, otherwise a corresponding prompt message will be output to prompt the first medical navigation device 110 to be moved until the first medical navigation device 110 is moved to a position that meets the requirements, such as a position where the angle relative to the preset plane is within the preset angle range, and then the subsequent benchmark setting operation is performed in response to the benchmark setting instruction.

[0093] The angle of the first medical navigation device 110 relative to the preset plane includes: the first angle and / or the second angle of the first medical navigation device 110 relative to the preset plane. Specifically, taking the three angle values ​​provided above as an example, the angle of the first medical navigation device 110 relative to the preset plane generally includes a roll angle r and a pitch angle p. For example, the first angle is a roll angle r, and the second angle value is a pitch angle p. Then the angle of the first medical navigation device 110 relative to the preset plane includes at least one of the roll angle r and the pitch angle p. For example, it can be a roll angle r, a pitch angle p, or a roll angle r and a pitch angle p.

[0094] Furthermore, the angle is within the preset angle range, including: the first angle and / or the second angle is within the corresponding first preset angle range, or the sum of the first angle and the second angle is within the second preset angle range. That is, in one embodiment, each angle, such as the roll angle r, or the pitch angle p, may be required to be within its corresponding first preset angle range. For example, the roll angle r is required to be less than 10°, or the pitch angle p is required to be less than 10°. Of course, the preset angle range corresponding to each angle here can be set according to actual needs. The aforementioned "less than 10°" should be understood as a feasible embodiment and should not be understood as a limitation of the technical solution of the present application. Alternatively, in another feasible embodiment, the angle within the preset angle range may also refer to: the sum of the first angle and the second angle is within the second preset angle range. That is, the sum of the roll angle r and the pitch angle p of the first medical navigation device 110 relative to the preset plane is required to be within a second preset range, wherein the second preset range here can also be set based on actual needs. For example, the second preset angle range can be "less than 15°", that is, the sum of the roll angle r and the pitch angle p of the first medical navigation device 110 relative to the preset plane is required to be less than 15°.

[0095] In addition, as a further implementation scheme of the present application, it can be known from the above-mentioned related description that if the first medical navigation device 110 is subjected to erroneous operations such as violent shaking or violent rotation back and forth during use, for example, the instantaneous angular velocity exceeds 2000° / s or a certain customized angular velocity threshold, it may often cause the first medical navigation device 110 to experience an abnormal situation of positioning failure. Therefore, in this case, it is often necessary to rely on a position retrieval instruction so that the first medical navigation device 110 can re-determine the first reference position information when it is at the first reference position.

[0096] Among them, there can usually be multiple triggering methods for the position retrieval instruction. For example, as a feasible implementation scheme, when it is determined that the positioning of the first medical navigation device 110 has failed, a positioning failure prompt message can be prompted, so that the user can trigger the generation of the position retrieval instruction by a trigger operation acting on the positioning failure prompt message. That is, the first medical navigation device 110 is also used to prompt the positioning failure prompt message when it is determined that the positioning of the first medical navigation device 110 has failed during the movement, and obtain the position retrieval instruction in response to the user operation based on the prompt of the positioning failure prompt message.

[0097] Alternatively, as another feasible implementation scheme, when the user determines that the first medical navigation device 110 may have an inaccurate measurement angle, that is, the positioning fails during use, the user can also trigger the position retrieval instruction by acting on the preset operation of the first medical navigation device 110. That is, the first medical navigation device 110 can also respond to the preset operation based on the first medical navigation device 110 to obtain the position retrieval instruction. The preset operation here can be any operation on the interface. Of course, in order to reduce accidental touches on the first medical navigation device 110, the preset operation here can usually be a double-click operation, a long press operation, or a user operation of the reference retrieval control displayed in the first medical navigation device 110.

[0098] Furthermore, there may be multiple schemes for displaying the reference retrieval control in the first medical navigation device 110 , and there may be multiple different user operations corresponding to this, which will be described below respectively.

[0099] For example, in a feasible implementation, the first medical navigation device 110 can be used to display a specific positioning failure interface, and display positioning failure prompt information and a reference retrieval control on the positioning failure interface, that is, when it is determined that the first medical navigation device 110 has failed to position, the first medical navigation device 110 will jump to the positioning failure interface, and prompt the positioning failure prompt information on the positioning failure interface, and provide a reference retrieval control, such as a control displayed with "correction", so that in response to the user operation on the reference retrieval control, the position retrieval instruction is triggered to re-determine the first reference position information of the first reference position of the first medical navigation device 110. Through the above solution, the first medical navigation device 110 can perform self-checking, and when it is determined that the positioning fails, it actively prompts the user to trigger the position retrieval instruction to ensure the accuracy of subsequent navigation.

[0100] Alternatively, in another feasible implementation, the first medical navigation device 110 may also display a navigation interface for displaying navigation information to assist in guiding the orthopedic surgical tools fixed to the first medical navigation device 110 to move to the target surgical position. If the user determines that the navigation information prompted has an inaccurate measurement angle, the user may directly trigger a position retrieval instruction through a preset operation on the navigation interface, such as the aforementioned double-click operation or long-press operation, to re-determine the first reference position information of the first reference position of the first medical navigation device 110. Through the above solution, the user may quickly trigger a position retrieval instruction for the first medical navigation device 110 based on actual needs when actively determining that the first medical navigation device 110 is invalid, so as to ensure subsequent navigation accuracy.

[0101] Alternatively, in another feasible implementation, when the first medical navigation device 110 displays the navigation interface, if a preset operation acting on the navigation interface is detected, it can jump to the positioning failure interface, and display positioning failure prompt information and reference retrieval controls on the positioning failure interface to respond to user operations on the reference retrieval controls to trigger the position retrieval command. Through the above solution, the false trigger rate can be reduced in the process of the user actively issuing the position retrieval command for the first medical navigation device 110, thereby improving the user experience.

[0102] Of course, in addition to the aforementioned correction process of re-determining the first reference position information of the first medical navigation device 110 when it is at the first reference position through the position retrieval instruction, as a further feasible implementation scheme of the present application, a reset module for re-navigation can also be displayed on the positioning failure interface, that is, a "reset" control is displayed. When responding to the triggering operation of the reset module, all information recorded by the first medical navigation device 110 and the second medical navigation device 120 can be cleared, and then the aforementioned process is re-executed to re-prompt the navigation information, for example, the first medical navigation device 110 is calibrated to make multiple direction axes of the first medical navigation device 110 in the first world coordinate system parallel to multiple direction axes in the second world coordinate system, and the reference setting of the first medical navigation device 110 is to record the relative position relationship between the first reference position and the second reference position, etc.

[0103] For more information, please refer to Figure 6a to Figure 6c , which is a schematic diagram of the effects of several interfaces provided by the medical navigation device provided in the embodiment of the present application, is described in detail as follows.

[0104] See also Figure 6a , Figure 6aA schematic diagram of the effect of a navigation interface provided for a medical navigation device, wherein the navigation interface displays a yaw angle y and a pitch angle p. Of course, other information may also be displayed in the navigation interface, such as a roll angle r, power information indicating the remaining power of the medical navigation device, or a flip control for controlling the flipping of the content displayed on the screen of the medical navigation device, etc. The embodiment of the present application does not impose specific restrictions on the content displayed on the navigation interface. Any interface that can prompt navigation information to assist in guiding the orthopedic surgical tool fixed to the first medical navigation device 110 to move to the target surgical position is within the scope of protection claimed by the present application. At this time, by responding to a preset operation on the navigation interface, such as double-clicking or long pressing, a position retrieval instruction may be triggered to re-determine the first reference position information when the first medical navigation device 110 is located at the first reference position, or jump to the positioning failure interface to further confirm the triggering of the position retrieval instruction.

[0105] See also Figure 6b , Figure 6b A schematic diagram of the effect of a positioning failure interface provided for a medical navigation device, wherein a positioning failure prompt message is usually displayed in the positioning failure interface to prompt the user that the positioning of the device has failed. For example, the positioning failure prompt message may be the words "Positioning failed, please correct or reset" as shown in the figure, to prompt the user to click and select subsequent operations.

[0106] Also, see Figure 6c , Figure 6c A schematic diagram of another positioning failure interface provided for a medical navigation device. On top of the positioning failure interface provided above that displays positioning failure prompt information, the positioning failure interface can further continue to display a reference retrieval control for triggering a "position retrieval instruction", or a reset module for completely clearing data to re-navigate. For example, the control shown in the figure displays the word "correction" and the control displayed the word "reset". When the control acting on the word "correction" is detected, the position retrieval instruction is triggered to re-determine the first reference position information when the first medical navigation device 110 is located at the first reference position, and when the control acting on the word "reset" is detected, all information recorded by each medical navigation device is cleared, and then the calibration operation, reference setting operation, etc. involved in the above-mentioned process are re-executed. This application will not repeat the description here.

[0107] An embodiment of the present application provides a medical navigation system, wherein, when the position of the first medical navigation device needs to be retrieved, the second reference position information recorded by the second medical navigation device and the relative position relationship between the first reference position and the second reference position are used to restore the first reference position information of the first medical navigation device, thereby providing the user with accurate navigation information during surgery to assist in accurately inserting the surgical instrument into the designated position.

[0108] On the basis of the medical navigation system provided above, as a further feasible implementation scheme of the present application, the following will specifically describe the medical navigation device in the medical navigation system. Figure 7 , Figure 7 A schematic diagram of the structure of a medical navigation device provided in an embodiment of the present application, specifically comprising: a display component 710, a communication component 720 and a sensor 730.

[0109] In a feasible implementation, the medical navigation device is used to display a first operation interface through the display component 710, wherein the first operation interface displays a device type, and the device type includes a first device type and a second device type. Figure 3 The schematic diagram provided will not be described repeatedly in this embodiment.

[0110] Furthermore, the medical navigation device is also used to obtain a first selection operation of selecting the first device type from the device types, and determine that the medical navigation device is a first medical navigation device based on the first selection operation, so as to obtain second real-time position information of a second medical navigation device in communication connection in a second world coordinate system through the communication component 720, so as to calibrate the first medical navigation device based on the second real-time position information, so that multiple direction axes of the first medical navigation device in the first world coordinate system are respectively parallel to multiple direction axes in the second world coordinate system.

[0111] In addition, the medical navigation device determined as the first medical navigation device is further used to respond to the reference setting instruction, obtain first reference position information of the first medical navigation device when it is in the first reference position through the sensor 730, and send the first reference position information to the second medical navigation device in the second reference position, so that the second medical navigation device determines the relative position relationship between the first reference position and the second reference position according to the first reference position information, wherein the definitions of the first reference position and the second reference position can refer to the content provided above, and this embodiment will not be repeated here.

[0112] In addition, the medical navigation device determined as the first medical navigation device may also display navigation information through the display component 710 to assist in guiding the orthopedic surgical tool fixed to the first medical navigation device to move to the target surgical position. Specifically, during the movement of the first medical navigation device, the navigation information may be determined based on the first reference position information and the real-time position information measured by the first medical navigation device through the sensor 730.

[0113] In addition, the medical navigation device determined as the first medical navigation device can also obtain the second reference position information when the second medical navigation device is located at the second reference position by responding to the position retrieval instruction, and determine the first reference position information when the first medical navigation device is located at the first reference position based on the relative position relationship.

[0114] Alternatively, in another feasible implementation, the medical navigation device is used to display a first operation interface through the display component 710, wherein the first operation interface displays a device type, and the device type includes a first device type and a second device type.

[0115] Furthermore, the medical navigation device is also used to obtain a second selection operation of selecting the second device type from the device types, and determine that the medical navigation device is a second medical navigation device based on the second selection operation, and obtain second real-time position information of the second medical navigation device in a second world coordinate system through a sensor 730, so as to send the second real-time position information to the first medical navigation device in communication connection through a communication component 720, so that the first medical navigation device calibrates the first medical navigation device based on the second real-time position information, so that multiple direction axes of the first medical navigation device in the first world coordinate system are respectively parallel to multiple direction axes in the second world coordinate system.

[0116] In addition, the medical navigation device determined as the second medical navigation device is also used to obtain the second reference position information of the second medical navigation device when it is in the second reference position through the sensor 730 when the first reference position information sent by the first medical navigation device is received through the communication component 720, and the second reference position information is determined according to the first reference position information and the second reference position information. The relative position relationship between the first reference position and the second reference position.

[0117] In addition, the medical navigation device determined as the second medical navigation device is also used to obtain second reference position information and a relative position relationship based on the position retrieval instruction of the first medical navigation device, and send the second reference position information and the relative position relationship to the first medical navigation device through the communication component 720, so that the first medical navigation device determines the first reference position information of the first medical navigation device when it is in the first reference position according to the second reference position information and the relative position relationship, and determines the navigation information based on the first reference position information and the first real-time position information measured by the first medical navigation device.

[0118] Of course, based on the aforementioned medical navigation device, the medical navigation device can also be configured to perform more operations based on the determined device type, as described in detail below.

[0119] For example, in a feasible embodiment, the medical navigation device determined as the first medical navigation device can also be used to respond to a position retrieval instruction to obtain the second reference position information stored by the medical navigation device determined as the second medical navigation device, or, in another feasible embodiment, the first medical navigation device can also respond to the position retrieval instruction to obtain the real-time position information of the medical navigation device determined as the second medical navigation device, so as to use the real-time position information as the second reference position information. Of course, when obtaining the real-time position information measured by the second medical navigation device, the second medical navigation device is required to be in the second reference position. For example, the second medical navigation device can be always fixed at the second reference position during the operation, or the second medical navigation device can leave the second reference position, but when the position retrieval instruction is triggered, the second medical navigation device can be reset to the second reference position.

[0120] Alternatively, in another embodiment, when the first selection operation is triggered to determine the medical navigation device as the first medical navigation device, and the first medical navigation device and the second medical navigation device connected to the communication device are in the same position and posture, or, when the second selection operation is triggered to determine the medical navigation device as the second medical navigation device, when the second medical navigation device and the first medical navigation device connected to the communication device are in the same position and posture, when the first medical navigation device completes calibration, the first real-time position information measured by the first medical navigation device in the position and posture is the same as the second real-time position information measured by the second medical navigation device in the position and posture. For specific operations in the calibration process, such as operations performed by the medical navigation device determined as the second medical navigation device, please refer to the aforementioned related descriptions, and this embodiment will not be repeated here.

[0121] Alternatively, in yet another embodiment, the medical navigation device determined as the first medical navigation device is also used to display a reference device interface, in response to a setting operation on the reference setting interface, to generate a reference setting instruction based on the setting operation, thereby performing subsequent reference setting operations, for example, obtaining first reference position information of the first medical navigation device when it is in the first reference position, and sending the first reference position information to the second medical navigation device in the second reference position, so that the second medical navigation device determines the relative position relationship between the first reference position and the second reference position according to the first reference position information. Of course, the specific operations in the reference setting process, such as the operations performed by the medical navigation device determined as the second medical navigation device, can also be referred to the aforementioned related descriptions, and this embodiment will not be repeated here.

[0122] Alternatively, in another embodiment, the medical navigation device determined as the first medical navigation device may also be used to prompt the positioning failure prompt information when determining that the positioning is invalid during the moving process, so as to respond to the user operation based on the positioning failure prompt information and obtain the position retrieval instruction, or, in response to the preset operation based on the first medical navigation device, obtain the position retrieval instruction, wherein the preset operation includes double-clicking, long pressing, or user operation of the reference retrieval control displayed in the first medical navigation device. Of course, the specific operations in the reference retrieval process, such as the operations performed by the medical navigation device determined as the second medical navigation device, can also refer to the above-mentioned related descriptions, and this embodiment will not be repeated here.

[0123] Furthermore, there may be multiple implementation schemes for the first medical navigation device to specifically trigger the position retrieval instruction. For example, in one implementation scheme, the first medical navigation device is also used to display a positioning failure interface, on which the positioning failure prompt information and the benchmark retrieval control are displayed, and in response to a user operation on the benchmark retrieval control, the position retrieval instruction is acquired; or, in another implementation scheme, the first medical navigation device is also used to display the navigation interface, and in response to a preset operation based on the navigation interface, the position retrieval instruction is acquired; or, in yet another implementation scheme, the first medical navigation device is also used to display the navigation interface, and in response to a preset operation based on the navigation interface, the positioning failure interface is displayed, and the positioning failure prompt information and the benchmark retrieval control are displayed on the positioning failure interface, and in response to a user operation on the benchmark retrieval control, the position retrieval instruction is acquired.

[0124] Since the medical navigation device determined as the first medical navigation device or the second medical navigation device provided in the above embodiment is similar to at least one of the multiple medical navigation devices in the medical navigation system provided above, the specific definition of the above medical navigation device can refer to the specific definition of the multiple medical navigation devices in the medical navigation system, and this embodiment will not be repeated here.

[0125] The medical navigation device provided in the embodiment of the present application is selectively configured as a first medical navigation device or a second medical navigation device. When the position of the first medical navigation device needs to be retrieved, the second reference position information recorded by the second medical navigation device and the relative position relationship between the first reference position and the second reference position are used to restore the first reference position information of the first medical navigation device, thereby providing the user with accurate navigation information during surgery to assist in accurately inserting the surgical instrument into the designated position.

[0126] Based on the above examples, in order to more clearly understand the specific effects of the medical navigation system and medical navigation device provided in the embodiments of the present application in achieving navigation during surgery, the following will take intramedullary nail surgery as an example, combined with the specific surgical process, to provide a specific example of medical navigation based on the medical navigation system. It should be understood that the description of these embodiments is not intended to limit the types of orthopedic surgeries to which the medical navigation system provided by the present application can be applied. The medical navigation system provided by the present application can also be applied to other orthopedic surgeries. In other orthopedic surgeries, the method of medical navigation based on the medical navigation system can be processed similarly.

[0127] Proximal femoral fractures (such as intertrochanteric fractures) or long bone shaft fractures such as the tibia and humerus are often treated with intramedullary nail fixation to facilitate fracture healing. During the entire operation of intramedullary nail fixation, the selection of the intramedullary nail insertion position and direction is crucial. This is because the insertion position and direction will affect the establishment of the later medullary expansion channel and the position and direction of the main intramedullary nail. Improper selection will make it difficult for the main nail to enter the medullary cavity. Even if it can be forcibly knocked into the medullary cavity, it will cause the main nail to be unevenly stressed and deformed in the medullary cavity, which can easily destroy the fracture reduction effect. When the main nail is a long main nail, it is more likely to cause the distal locking nail to be inaccurate. In severe cases, it will also cause delayed healing or even non-healing or malformation of the fracture.

[0128] Taking the entry point of the proximal femoral intramedullary nail as an example, in clinical practice, the ideal entry point is located at the apex of the greater trochanter and close to the axis of the femoral neck. Figure 8a As shown in the figure, the ideal direction of screw insertion is 5° outward from the femoral axis to accommodate the external deviation angle of the main screw. Figure 8b shown.

[0129] Based on the above, please refer to Fig. 9 , using the medical navigation system provided in this application to guide the orthopedic surgical tool to move to the ideal intramedullary nail insertion point, specifically including the following steps:

[0130] Step S910 , multiple medical navigation devices in the medical navigation system are placed on the same platform for setting to determine a real-time module and a reference module.

[0131] Specifically, multiple medical navigation devices in the medical navigation system, such as the first medical navigation device and the second medical navigation device, are placed on the operating table. By long pressing the physical power button or by any other method triggering the power-on command of the first medical navigation device and the second medical navigation device, the medical navigation system can perform a power-on self-test and sensor preheating. The screens of the first medical navigation device and the second medical navigation device will display "Preparing" and the progress percentage until the system preheating is completed. If a fault occurs during the power-on self-test, the screen may prompt "Startup failed, please turn off the power and restart". At this time, you can long press the physical power button or by any other method triggering the shutdown command of the first medical navigation device and the second medical navigation device, and then restart to continue the startup. For example, please refer to Fig.10a and Fig.10b , Fig.10a A schematic diagram showing the effect of the medical navigation device prompting the startup progress. Fig.10b A schematic diagram showing the effect of the medical navigation device prompting a startup failure and requiring restart is shown.

[0132] After the first medical navigation device and the second medical navigation device have completed self-checking and preheating, in the embodiment of the present application, it is necessary to further define the device types of the first medical navigation device and the second medical navigation device so as to perform functions matching the corresponding device types in the subsequent surgical navigation process. Figure 3 The first medical navigation device and the second medical navigation device complete the self-check and preheating and jump to the operation interface as shown in FIG. Figure 3As shown, the operation interface includes a first device type and a second device type, such as a "real-time module" and a "reference module". For example, in a feasible implementation, when the "real-time module" on the first medical navigation device is triggered, or the "reference module" on the second medical navigation device is triggered, the first medical navigation device can be configured as a real-time module, and the second medical navigation device can be configured as a reference module. Alternatively, in another feasible implementation, when the "reference module" on the first medical navigation device is triggered, or the "real-time module" on the second medical navigation device is triggered, the first medical navigation device can be configured as a reference module, and the second medical navigation device can be configured as a real-time module. Of course, in order to simplify the description, in the subsequent process, the first medical navigation device is configured as a real-time module and the second medical navigation device is configured as a reference module. For example, those skilled in the art should know that in the subsequent related descriptions, the first medical navigation device has the same meaning as the real-time module, and the second medical navigation device has the same meaning as the reference module, but it should not be extended to mean that the first medical navigation device is strictly equivalent to the real-time module and the second medical navigation device is strictly equivalent to the reference module.

[0133] Furthermore, after the above-mentioned definition of the first medical navigation device and the second medical navigation device is completed, the real-time module needs to be calibrated so that the multiple direction axes of the real-time module in the first world coordinate system of the first medical navigation device are respectively parallel to the multiple direction axes in the second world coordinate system of the second medical navigation device. For example, in a common feasible implementation scheme, the real-time module can be stacked on the reference module, or the reference module can be stacked on the real-time module, so that the postures of the real-time module and the reference module remain the same, so that in the process of completing the calibration of the real-time module and the reference module, the real-time module and the reference module can each measure the three angle values ​​of the roll angle r, the pitch angle p and the yaw angle y relative to the horizontal plane, and the yaw angle y of the real-time module and the reference module has the same measurement reference, that is, the multiple direction axes of the real-time module in the first world coordinate system of the first medical navigation device are respectively parallel to the multiple direction axes in the second world coordinate system of the second medical navigation device.

[0134] After completing the calibration operation provided above, both the reference module and the real-time module will automatically jump to the waiting zeroing interface. However, since the reference module and the real-time module perform different functions in the subsequent process, the information displayed on the zeroing interface is also different. For example, please refer to Fig.11a and Fig.11b , Fig.11a The effect diagram of the zeroing interface jumped by the reference module is shown in the figure. It can be seen that the zeroing interface jumped by the reference module shows "Please install this module in a fixed position, and then complete the zeroing according to the prompt of the real-time module". Fig.11bIn the zeroing interface of the real-time module provided, the words "Please place the device on the corresponding tool and click zeroing" are displayed. In addition, other information can also be displayed synchronously on the zeroing interface, such as power information, or a flip control to rotate the content displayed on the interface by 180°, etc. This embodiment is not limited here.

[0135] Step S920, installing the reference module at a fixed position.

[0136] In this embodiment, the reference module is fixedly installed, or relatively fixedly installed in a fixed position close to the patient's affected side in the surgical scene, for example, the reference module can be pasted and fixed to the side of the operating bed. At this time, the position where the reference module is installed can be understood as the second reference position, and the three angle values ​​(r, p, y) recorded by the reference module can be understood as the second reference position information of the second reference position.

[0137] It should be noted that, as a feasible implementation scheme, the reference module is usually fixedly set at the second reference position, so as to keep the position of the reference module unchanged during the operation, so as to ensure the accuracy of the navigation information as much as possible. Alternatively, in some cases, the reference module is allowed to leave the second reference position during the operation, but usually, the reference module is required to be reset to the second reference position to avoid affecting the accuracy of the navigation information.

[0138] Step S930, placing the real-time module and the development positioning component at a position in the surgical scene related to the patient's surgical site, and returning them to zero.

[0139] For the specific description of the imaging positioning component, please refer to the aforementioned related content, and this embodiment will not repeat the description. Furthermore, the position in the surgical scene related to the patient's surgical site can be understood as the first reference position. For example, taking intramedullary nail surgery as an example, considering that the patient's common position in proximal femoral intramedullary nail surgery is supine, the real-time module and the imaging positioning component can be assembled by magnetic attraction or other means, and the imaging positioning component assembled with the real-time module can be placed and fixed on the proximal femur of the affected side. For example, please refer to Fig.12 , showing a schematic diagram of the effect of assembling the real-time module and the development positioning component and placing them on the patient's part.

[0140] After completing the above operations, you can click the "Reset to Zero" control on the real-time module. Fig.13aAs shown, the screen of the real-time module displays a check effect and prompts "Zeroing successful", and because the 0° scale line inside the developing and positioning component is parallel to the central axis of the real-time module in the zero position state at this time, that is, the X-axis direction of the real-time module, the "zeroing operation" on the real-time module at this time indicates that the reference of the yaw angle y measured by the sensor inside the real-time module is set to the X-axis direction parallel to the 0° scale line inside the developing and positioning component at this time.

[0141] Of course, in the aforementioned process, in order to avoid the following operations, for example, the imaging positioning assembly is excessively tilted relative to the horizontal plane during perspective, resulting in a large difference between the angle between the two imaging wires in the perspective-taken anteroposterior film and the angle scale value marked in the image, thereby causing a large error in the subsequent navigation. Fig.11b As shown, the roll angle r and pitch angle p measured by the real-time module in real time can also be displayed on the zeroing interface of the real-time module to assist the doctor in adjusting the imaging positioning component to a horizontal state when fixing it. For example, by moving the real-time module, the angle values ​​of the roll angle r and the pitch angle p prompted on the zeroing interface of the real-time module can be adjusted as close to 0 degrees as possible. For example, the angle values ​​of the roll angle r and the pitch angle p can be adjusted to less than 10°, and / or the sum of the angle values ​​of the roll angle r and the pitch angle p can be adjusted to less than 15°, etc. For example, please refer to Fig.13b If the absolute value of one of the measured values ​​of the roll angle r or the pitch angle p of the real-time module exceeds 10° when the "Zero" button is clicked, the real-time module screen will display a prompt message "The tilt angle exceeds 10°, please place the tool horizontally and try again" after clicking, prompting you to adjust the development positioning component until it is roughly horizontal and then re-execute the above-mentioned zeroing operation to ensure that the angle scale in the development image of the development positioning component in the perspective state is as consistent as possible with the angle size it actually represents.

[0142] In the process of completing the zeroing operation, the sensor of the real-time module can measure its three angle values ​​relative to the horizontal plane, namely the roll angle r1, the pitch angle p1, and the yaw angle y1. At this time, (r1, p1, y1) can be understood as the first reference position information of the first reference position. Since the zeroing operation resets the yaw angle y1 of the real-time module to 0, in order to record the first reference position information, the first reference position information (r1, p1, y1) can be recorded and sent to the reference module, so that the reference module can be used to solve and retrieve the zeroing reference of the real-time module when the real-time module loses the reference.

[0143] For example, in a feasible implementation, the reference module can obtain the relative position information Δ describing the real-time module relative to the reference module at the zeroing moment by subtracting the second reference position information (r2, p2, y2) of the second reference position measured by the sensor from the first reference position information (r1, p1, y1), thereby satisfying:

[0144] Δ=(r2-r1,p2-p1,y2-y1)

[0145] Among them, the relative position information Δ and the second reference position information (r2, p2, y2) are recorded and saved, and the first reference position information (r1, p1, y1) can be solved and restored through the relative position information Δ and the second reference position information (r2, p2, y2). Alternatively, when the reference module always keeps the same position, or when it is necessary to find the zero reference, so that the reference module can be reset to the second reference position, the reference module may not save the second reference position information (r2, p2, y2), so that when the position retrieval instruction is triggered, the real-time position information obtained by real-time measurement of the reference module can be used as the second reference position information to restore the first reference position information (r1, p1, y1).

[0146] After completing the reset operation of the real-time module, Fig.14 As shown, the reference module automatically jumps to the zero reference record completion interface, and as Figure 6a As shown, the real-time module automatically jumps to the navigation interface. At this time, the content displayed on the screen of the real-time module includes the yaw angle, which is used to represent the yaw angle y of the real-time module measured by the internal sensor of the real-time module relative to the aforementioned zero reference, which is 0° at this time. The content displayed on the screen of the real-time module can also include the pitch angle p of the real-time module relative to the horizontal plane, which should be close to 0° at this time.

[0147] S940, perspective and select an angle scale value corresponding to the expected nail insertion direction in the image.

[0148] The proximal femur is photographed by using a C-arm device (C-arm X-ray machine, a medical device). The perspective image obtained by the photographing can be specifically referred to in the aforementioned Figure 5b As shown, at this time, based on the perspective image and the aforementioned Figure 8b The effect schematic diagram of the desired nail feeding direction provided can select a developing wire parallel to the expected nail feeding direction from the developing wires of each scale of the developing positioning assembly, and then determine the angle scale value θ corresponding to the developing wire. Figure 5b The perspective image shown is taken as an example, by comparing Figure 8b The effect schematic diagram of the desired nail feeding direction is compared, where the -10° developing wire is parallel to the desired nail feeding direction, then θ=-10° can be taken.

[0149] After completing the above operations, by removing the real-time module from the imaging positioning assembly and installing it corresponding to the orthopedic surgical tool, the selected angle scale value θ and the navigation information prompted by the real-time module can be used in the subsequent process to assist in guiding the orthopedic surgical tool to move to the target surgical position. For example, see Fig.15 , Fig.15 A schematic diagram of the effect of assembling the real-time module with an electric drill equipped with a guide pin used during intramedullary nail surgery.

[0150] S950, after determining the nail insertion position, adjust the guide needle angle so that the yaw angle displayed by the real-time module is equal to the selected angle scale value.

[0151] During the operation, after completing pretreatment operations such as skin incision, the expected nail insertion position is found, and then the tip of the guide needle is pushed against the expected nail insertion position. While keeping the tip of the guide needle at the expected nail insertion position, the electric drill is adjusted to adjust the guide needle's external deviation angle. At this time, the real-time module measures and displays the value of the yaw angle y in real time, that is, the angle between the current X-axis direction of the real-time module and the projection of the 0° developing wire scale line of the developing plate on the horizontal plane when returning to zero. When the yaw angle y displayed on the real-time module screen is equal to the previously selected developing wire angle scale value θ, that is, -10 degrees, the guide needle insertion direction reaches the expected external deviation angle. The guide needle's anteversion angle can be further determined based on the pitch angle p value displayed by the reference real-time module. In most cases, adjusting the pitch angle p to 0° can ensure that the guide needle has a suitable anteversion angle.

[0152] For further information, see Fig.16 The range of the yaw angle y displayed in the real-time module navigation interface is [-90°, 90°], and the range of the pitch angle p is [-60°, 60°]. If the measured value of one of the two exceeds the range when using the real-time module, the value of the yaw angle y or pitch angle p displayed on the interface will change color and flash as a reminder. The doctor can then turn the real-time module to bring its measured value back within the range.

[0153] In addition, if the real-time module is shaken violently or rotated violently during use, for example, the instantaneous angular velocity of the real-time module exceeds 2000° / s or a certain custom angular velocity threshold, the sensor positioning inside the real-time module fails, and the zero reference of the yaw angle y of the real-time module cannot be found, and the yaw angle measurement value provided by it is no longer accurate. At this time, as mentioned above Figure 6b As shown in the figure, the real-time module will jump to the positioning failure interface and display the prompt message "Positioning failure, please correct or reset". After the click operation on the positioning failure interface is triggered, as shown in the figure, Figure 6cAs shown, the real-time module can be further retrieved or completely reset. Of course, in addition to the real-time module automatically jumping to the positioning failure interface, if the user determines that the real-time module may have an inaccurate yaw angle during use, the above Figure 6a The navigation interface shown in the figure can directly trigger the location retrieval instruction or jump to the location by triggering preset operations such as double-clicking, long pressing, etc. Figure 6c The positioning failure interface shown is used to retrieve the position of the real-time module or completely reset it.

[0154] Among them, since the reference module has completed the storage and recording of the zero reference, the zero reference can be found for the real-time module that has been located to fail based on the (r2, p2, y2) and Δ value stored in the reference module. Figure 6c After operating the "correction" control displayed in the figure, the yaw angle reference set by the real-time module at the zeroing time, that is, the zeroing reference, can be directly determined, so as to jump back to Figure 6a Of course, if the user triggers the "correction" control several times and still determines that the real-time module may have an inaccurate yaw angle, he can also trigger the "correction" control to adjust the yaw angle. Figure 6c The operation of the "Reset" control shown in the figure jumps back to the original module definition interface after one or more possible confirmation operations, that is, restarts the device type selection, calibration, zeroing and other operations.

[0155] S960: Insert the guide needle based on the selected nail insertion position and direction.

[0156] After the above-mentioned solution is adopted, the guide needle is adjusted to the appropriate external deflection angle and anteversion angle according to the angle information prompted by the real-time module, and the guide needle is driven in with an electric drill. Of course, if the insertion position of the guide needle is considered to be unsatisfactory after subsequent fluoroscopic processing, other conventional intramedullary nail surgery solutions can still be used, such as the plum blossom sleeve solution to adjust the insertion position.

[0157] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0158] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0159] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0160] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A medical navigation system, characterized in that: The method comprises a first medical navigation device and a second medical navigation device, wherein the first medical navigation device is communicatively connected with the second medical navigation device, the first medical navigation device can measure the position information of the first medical navigation device in a first world coordinate system, and the second medical navigation device can measure the position information of the second medical navigation device in a second world coordinate system; The first medical navigation device is used to prompt navigation information, and the navigation information is used to assist in guiding an orthopedic surgical tool fixed to the first medical navigation device to move to a target surgical position, and in the process of assisting in guiding the orthopedic surgical tool, multiple direction axes of the first world coordinate system are respectively parallel to multiple direction axes of the second world coordinate system; The first medical navigation device is further used to obtain, in response to a position retrieval instruction, second reference position information when the second medical navigation device is located at a second reference position, and determine, based on a relative positional relationship between the first reference position and the second reference position, first reference position information when the first medical navigation device is located at the first reference position; wherein the second reference position is a designated position in a surgical scene, and the first reference position is a position in the surgical scene related to a part of a patient to be operated on; The first medical navigation device is further used to determine the navigation information based on the first reference position information and the real-time position information measured by the first medical navigation device during the movement.

2. A medical navigation system, characterized in that: The method comprises a first medical navigation device and a second medical navigation device, wherein the first medical navigation device is communicatively connected with the second medical navigation device, the first medical navigation device can measure the position information of the first medical navigation device in a first world coordinate system, and the second medical navigation device can measure the position information of the second medical navigation device in a second world coordinate system; The first medical navigation device is used to prompt navigation information, and the navigation information is used to assist in guiding an orthopedic surgical tool fixed to the first medical navigation device to move to a target surgical position, and in the process of assisting in guiding the orthopedic surgical tool, multiple direction axes of the first world coordinate system are respectively parallel to multiple direction axes of the second world coordinate system; The first medical navigation device is further used to obtain, in response to a position retrieval instruction, a first reference position value of the first medical navigation device when the first medical navigation device is at a first reference position, and reference directions of multiple direction axes of the second medical navigation device when the second medical navigation device is at a second reference position; Determine, according to the first reference position value and the reference direction, first reference position information of the first medical navigation device when it is at the first reference position; wherein the second reference position is a designated position in the surgical scene, and the first reference position is a position in the surgical scene related to a part of the patient to be operated on; The first medical navigation device is further used to determine the navigation information based on the first reference position information and the real-time position information measured by the first medical navigation device during the movement.

3. The medical navigation system according to claim 1, characterized in that: The first medical navigation device is further configured to obtain the second reference position information stored by the second medical navigation device in response to the position retrieval instruction; or, The first medical navigation device is further used to obtain real-time position information measured by the second medical navigation device in response to the position retrieval instruction, and use the obtained real-time position information as the second reference position information, wherein when obtaining the real-time position information measured by the second medical navigation device, the second medical navigation device is in the second reference position.

4. The medical navigation system according to any one of claims 1 to 3, characterized in that: The first medical navigation device is further used to obtain second real-time position information of the second medical navigation device in the second world coordinate system in response to the first setting instruction, and calibrate the first medical navigation device based on the second real-time position information so that multiple direction axes of the first medical navigation device in the first world coordinate system are respectively parallel to multiple direction axes in the second world coordinate system.

5. The medical navigation system according to claim 4, characterized in that: The first medical navigation device is further used to obtain the second real-time position information and the first real-time position information of the first medical navigation device, and calibrate the first medical navigation device based on the second real-time position information and the first real-time position information.

6. The medical navigation system according to claim 4, characterized in that: The first setting instruction is triggered to be generated when the first medical navigation device and the second medical navigation device are in the same posture; When the first medical navigation device has completed calibration, the first real-time position information measured by the first medical navigation device in the posture is the same as the second real-time position information measured by the second medical navigation device in the posture.

7. The medical navigation system according to claim 4, characterized in that: The first medical navigation device is further used to display a first operation interface, where device types are displayed, and the device types include a first device type and a second device type, and a first selection operation of selecting the first device type from the device types is obtained to generate the first setting instruction; or, The second medical navigation device is further used to display a second operation interface, on which device types are displayed, the device types including a first device type and a second device type, to obtain a second selection operation of selecting the second device type from the device types, and based on the second selection operation, to obtain second position information of the second medical navigation device in the second world coordinate system, and to send the second position information to the first medical navigation device to trigger generation of the first setting instruction.

8. The medical navigation system according to any one of claims 1 to 7, characterized in that: When the first medical navigation device is in the first reference position, the first medical navigation device is connected to the development positioning component, the position identifiers of the first medical navigation device and the development positioning component have a predetermined relative position relationship, and the second medical navigation device is in the second reference position; The first medical navigation device is further configured to, in response to a reference setting instruction, obtain first reference position information of the first medical navigation device when the first medical navigation device is at the first reference position, and send the first reference position information to the second medical navigation device; The second medical navigation device is further configured to obtain second reference position information of the second medical navigation device at the second reference position when receiving the first reference position information, and determine a relative position relationship between the first reference position and the second reference position according to the first reference position information and the second reference position information.

9. The medical navigation system according to claim 8, characterized in that: The first medical navigation device is further used to display a reference setting interface, obtain a setting operation on the reference setting interface, and generate the reference setting instruction based on the setting operation.

10. The medical navigation system according to any one of claims 1 to 9, characterized in that: The first medical navigation device is further configured to, during the moving process, when it is determined that the positioning of the first medical navigation device fails, prompt the positioning failure prompt information, respond to a user operation based on the positioning failure prompt information, and obtain the position retrieval instruction; or The first medical navigation device is further used to obtain the position retrieval instruction in response to a preset operation based on the first medical navigation device, wherein the preset operation includes a double-click operation, a long-press operation, or a user operation of a reference retrieval control displayed in the first medical navigation device.

11. The medical navigation system according to claim 10, characterized in that: The first medical navigation device is further configured to display a positioning failure interface, display the positioning failure prompt information and a reference retrieval control on the positioning failure interface, and obtain the position retrieval instruction in response to a user operation on the reference retrieval control; or The first medical navigation device is further used to display the navigation interface, and to obtain the position retrieval instruction in response to a preset operation based on the navigation interface; or, The first medical navigation device is also used to display the navigation interface, respond to a preset operation based on the navigation interface, display the positioning failure interface, display the positioning failure prompt information and the reference retrieval control on the positioning failure interface, and respond to a user operation on the reference retrieval control to obtain the position retrieval instruction.

12. A medical navigation device, characterized in that: The medical navigation device is used to display a first operation interface, on which device types are displayed, the device types including a first device type and a second device type, obtain a first selection operation of selecting the first device type from the device types, determine that the medical navigation device is the first medical navigation device based on the first selection operation, obtain second real-time position information of a second medical navigation device in communication connection in a second world coordinate system, and calibrate the first medical navigation device based on the second real-time position information so that multiple direction axes of the first medical navigation device in the first world coordinate system are respectively parallel to multiple direction axes in the second world coordinate system; The first medical navigation device is further used to respond to the reference setting instruction, obtain first reference position information of the first medical navigation device when it is in the first reference position, and send the first reference position information to the second medical navigation device in the second reference position, so that the second medical navigation device determines the relative position relationship between the first reference position and the second reference position according to the first reference position information; wherein the second reference position is a designated position in the surgical scene, and the first reference position is a position in the surgical scene related to the patient's surgical site to be operated on; The first medical navigation device is further used to prompt navigation information, and the navigation information is used to assist in guiding the orthopedic surgery tool fixed to the first medical navigation device to move to a target surgery position; The first medical navigation device is further configured to, in response to a position retrieval instruction, obtain the second reference position information when the second medical navigation device is located at the second reference position, and determine the first reference position information when the first medical navigation device is located at the first reference position based on the relative position relationship; The first medical navigation device is further used to determine the navigation information based on the first reference position information and the real-time position information measured by the first medical navigation device during the movement; or, The medical navigation device is used to display a first operation interface, on which device types are displayed, and the device types include a first device type and a second device type; obtain a second selection operation of selecting the second device type from the device types, determine that the medical navigation device is a second medical navigation device based on the second selection operation, and obtain second real-time position information of the second medical navigation device in a second world coordinate system, send the second real-time position information to the first medical navigation device with which it is communicatively connected, so that the first medical navigation device calibrates the first medical navigation device based on the second real-time position information, so that multiple direction axes of the first medical navigation device in the first world coordinate system are respectively parallel to multiple direction axes in the second world coordinate system; The second medical navigation device is further used to, upon receiving the first reference position information sent by the first medical navigation device indicating that the first medical navigation device is in the first reference position, obtain the second reference position information when the second medical navigation device is in the second reference position, and determine the relative position relationship between the first reference position and the second reference position according to the first reference position information and the second reference position information; wherein the second reference position is a designated position in the surgical scene, and the first reference position is a position in the surgical scene related to the patient's part to be operated on; The second medical navigation device is further used to obtain the second reference position information and the relative position relationship based on the position retrieval instruction of the first medical navigation device, and send the second reference position information and the relative position relationship to the first medical navigation device, so that the first medical navigation device determines the first reference position information of the first medical navigation device when it is at the first reference position according to the second reference position information and the relative position relationship, and determines navigation information based on the first reference position information and the first real-time position information measured by the first medical navigation device.

13. The medical navigation device according to claim 12, characterized in that: The first medical navigation device is further configured to obtain the second reference position information stored by the second medical navigation device in response to the position retrieval instruction; or, The first medical navigation device is further used to obtain real-time position information measured by the second medical navigation device in response to the position retrieval instruction, and use the obtained real-time position information as the second reference position information, wherein when obtaining the real-time position information measured by the second medical navigation device, the second medical navigation device is in the second reference position.

14. The medical navigation device according to claim 12 or 13, characterized in that: When the first selection operation is triggered to determine the medical navigation device as the first medical navigation device, the first medical navigation device and the second medical navigation device that is communicatively connected are in the same position and posture; or, when the second selection operation is triggered to determine the medical navigation device as the second medical navigation device, the second medical navigation device and the first medical navigation device that is communicatively connected are in the same position and posture; When the first medical navigation device is calibrated, the first real-time position information measured by the first medical navigation device at the position and posture is the same as the second real-time position information measured by the second medical navigation device at the position and posture.

15. The medical navigation device according to any one of claims 12 to 14, characterized in that: The first medical navigation device is further used to display a reference setting interface, obtain a setting operation on the reference setting interface, and generate the reference setting instruction based on the setting operation.

16. The medical navigation device according to any one of claims 12 to 15, characterized in that: The first medical navigation device is further configured to, during the moving process, when it is determined that the positioning of the first medical navigation device is invalid, prompt the positioning invalid prompt information, respond to the user operation based on the positioning invalid prompt information, and obtain the position retrieval instruction; or The first medical navigation device is further used to obtain the position retrieval instruction in response to a preset operation based on the first medical navigation device, wherein the preset operation includes double-clicking, long pressing, or a user operation of a reference retrieval control displayed in the first medical navigation device.

17. The medical navigation device according to claim 16, characterized in that: The first medical navigation device is further configured to display a positioning failure interface, display the positioning failure prompt information and a reference retrieval control on the positioning failure interface, and obtain the position retrieval instruction in response to a user operation on the reference retrieval control; or The first medical navigation device is further used to display the navigation interface, and to obtain the position retrieval instruction in response to a preset operation based on the navigation interface; or, The first medical navigation device is further used to display the navigation interface, display the positioning failure interface in response to a preset operation based on the navigation interface, display the positioning failure prompt information and the reference retrieval control on the positioning failure interface, and obtain the position retrieval instruction in response to a user operation on the reference retrieval control.

Images