Fracture reduction surgical navigation system and method

Abstract

The embodiment of the invention provides a fracture reduction surgical navigation system and method. Comprising a reset assembly which comprises a first fixing piece, a second fixing piece and an auxiliary reset device; wherein the first fixing piece and the second fixing piece are fixedly connected with a first bone and a second bone respectively, and the auxiliary repositor is movably connected between the first fixing piece and the second fixing piece and can move in a 360-degree space along with the first fixing piece and the second fixing piece; the intraoperative positioning device obtains position data of the first bone, the second bone, the first fixing piece and the second fixing piece; the three-dimensional model acquisition module acquires a three-dimensional model of the patient tissue and a three-dimensional model of the reduction assembly, and according to the position data, the fixing piece model is fixed to the corresponding bone model through the simulation fixing module, and the second bone model is connected with the first bone model, so that the reduction parameters of the auxiliary repositor model are obtained to guide actual reduction; therefore, bone restoration can be quickly and accurately realized.

Description

Technical Field

[0001] The present application relates to the field of medical assistance technology, and in particular to a fracture reduction surgery navigation system and method. Background Art

[0002] When surgical treatment of femoral neck fracture is required, any of the following surgical procedures may be selected based on factors such as the fracture site, displacement, and patient age. These include closed reduction and internal fixation, open reduction and internal fixation, closed / open reduction and external fixation, and total hip replacement.

[0003] During the medical care process, the bones need to be fixed and repositioned. The existing repositioning methods rely on the doctor's experience and judgment. After each adjustment and repositioning during the operation, an X-ray is required for verification. If the effect is not good, repeated repositioning and X-rays are required.

[0004] The above method has low surgical efficiency and is prone to postoperative fracture nonunion and even femoral head necrosis due to poor intraoperative reduction. In addition, in complex situations such as fracture rotation and excessive displacement, the surgical operation is complicated and difficult to accurately reduce. Summary of the invention

[0005] The embodiments of the present application provide a fracture reduction surgical navigation system and method, which are used to solve the problem in the prior art that it is difficult for doctors to quickly and accurately achieve bone reduction involved in fractures.

[0006] In a first aspect, an embodiment of the present application provides a fracture reduction surgical navigation system, comprising: a reduction assembly, comprising a first fixing member, a second fixing member and an auxiliary reduction device; wherein the first fixing member is fixedly connected to the first bone, the second fixing member is fixedly connected to the second bone, and the first bone and the second bone are at least partially separated; the auxiliary reduction device is movably connected between the first fixing member and the second fixing member, and the auxiliary reduction device comprises a plurality of movably connected components; the sum of the degrees of freedom of the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components is at least 6; wherein the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components can provide at least 3 rotational degrees of freedom, so that at least part of the components can rotate around the first axis, the second axis and the third axis, and the auxiliary reduction device can follow the first fixing member and the second fixing member to move in a 360° space, and the first axis, the second axis and the third axis are perpendicular to each other; The intraoperative positioning device is used to obtain the position data of the first bone, the position data of the second bone, the position data of the first fixing part and the position data of the second fixing part; the three-dimensional model acquisition module is used to obtain the three-dimensional model of the patient's tissue and the three-dimensional model of the reduction component; the three-dimensional model of the patient's tissue includes a first bone model corresponding to the first bone and a second bone model corresponding to the second bone; the three-dimensional model of the reduction component includes a first fixing part model corresponding to the first fixing part, a second fixing part model corresponding to the second fixing part and an auxiliary reduction device model corresponding to the auxiliary reduction device; the simulation fixation module is used to fix the first fixing part model to the first bone model and the second fixing part model to the second bone model according to the position data obtained by the intraoperative positioning device; the simulation reduction module is used to connect the second bone model with the first bone model to realize virtual reduction, and obtain the reduction parameters of the auxiliary reduction device model to guide the actual reduction.

[0007] In a possible implementation, at least one of the plurality of components may be movable along at least one of the first axis, the second axis, and the third axis to provide at least one translational degree of freedom.

[0008] In a possible implementation, the three-dimensional model of the patient's tissue includes at least one of a preoperative three-dimensional tissue model and an intraoperative three-dimensional tissue model.

[0009] In a possible embodiment, when the three-dimensional model of the patient's tissue is a preoperative three-dimensional tissue model, the fracture reduction surgical navigation system also includes: a pre-reset module, used to determine the virtual reduction position between the first bone model and the second bone model based on the preoperative three-dimensional tissue model; and a simulation reduction module, used to achieve virtual reduction based on the virtual reduction position.

[0010] In a possible embodiment, the intraoperative positioning device includes at least one of a medical imaging device and a medical positioning device; the medical imaging device is used to obtain intraoperative imaging data of the first bone, intraoperative imaging data of the second bone, intraoperative imaging data of the first fixture, and intraoperative imaging data of the second fixture; the medical positioning device is used to obtain intraoperative position data of the first bone, intraoperative position data of the second bone, intraoperative position data of the first fixture, and intraoperative position data of the second fixture.

[0011] In a possible implementation, the intraoperative image data includes at least two transmission images at different angles.

[0012] In a possible implementation, the intraoperative image data includes a coronal plane transmission image and a sagittal plane transmission image.

[0013] In a possible embodiment, a plurality of movably connected components include: a first connecting member, rotatably connected to a first fixed member; a second connecting member, rotatably connected to a second fixed member so as to rotate around a first axis; an intermediate connecting member, movably connected between the first connecting member and the second connecting member, and capable of rotating relative to the first connecting member around a second axis and rotating relative to the second connecting member around a third axis; wherein the first connecting member slides along the first fixed member and / or the second connecting member slides along the second fixed member; the intermediate connecting member moves axially along the second axis and / or the intermediate connecting member moves axially along the third axis.

[0014] In a possible embodiment, the first connecting member, the second connecting member and the intermediate connecting member are all provided with angle scale lines, at least one of the first fixing member and the second fixing member is provided with length scale lines, and at least one of the first connecting member, the second connecting member and the intermediate connecting member is provided with length scale lines.

[0015] In a possible embodiment, the first connecting member includes a main body portion and a connecting portion that are connected, the main body portion is rotatably connected to the first fixing member, and the connecting portion is rotatably connected to the intermediate connecting member; the second connecting member includes a rotating portion and a guide portion that are connected, the rotating portion is rotatably connected to the second fixing member, and the guide portion extends in a direction away from the second fixing member; the intermediate connecting member includes a guide sleeve and a guide shaft that are connected, the guide sleeve is sleeved on the guide portion, and the guide shaft is rotatably connected to the connecting portion.

[0016] In a possible implementation, the rotating portion is a semi-arc plate, and the semi-arc plate is attached to the outer wall surface of the second fixing member.

[0017] In a possible implementation manner, the first connecting member, the second connecting member and the middle connecting member are all provided with locking portions.

[0018] In a second aspect, an embodiment of the present application provides a fracture reduction surgical navigation method, which is applied to a fracture reduction surgical navigation system as described in the first aspect and / or various possible embodiments of the first aspect, including: obtaining intraoperative positioning data, the intraoperative positioning data including position data of the first bone, position data of the second bone, position data of the first fixing device and position data of the second fixing device; obtaining a three-dimensional model of the patient's tissue and a three-dimensional model of the reduction component; the three-dimensional model of the patient's tissue includes a first bone model corresponding to the first bone and a second bone model corresponding to the second bone; the three-dimensional model of the reduction component includes a first fixing device model corresponding to the first fixing device, a second fixing device model corresponding to the second fixing device and an auxiliary reducing device model corresponding to the auxiliary reducing device; according to the position data obtained by the intraoperative positioning device, fixing the first fixing device model to the first bone model and fixing the second fixing device model to the second bone model; joining the first bone model with the second bone model to achieve virtual reduction, and obtaining the reduction parameters of the auxiliary reducing device model; adjusting the orthopedic parameters corresponding to the auxiliary reducing device in the actual operation according to the reduction parameters.

[0019] In a possible embodiment, when the position data acquired by the intraoperative positioning device includes a first bone image, a second bone image, a first fixture image and a second fixture image acquired based on a medical imaging device, the first fixture model is fixed to the first bone model and the second fixture model is fixed to the second bone model, including: aligning the first bone model with the first bone image, aligning the second bone model with the second bone image, aligning the first fixture model with the first fixture image, and aligning the second fixture model with the second fixture image; fixing the aligned first fixture model on the first bone model, and fixing the aligned second fixture model on the second bone model.

[0020] In a possible embodiment, when the position data acquired by the intraoperative positioning device includes the intraoperative position of the first bone, the intraoperative position of the second bone, the intraoperative position of the first fixture and the intraoperative position of the second fixture acquired based on the medical positioning device, the first fixture model is fixed to the first bone model and the second fixture model is fixed to the second bone model, including: positioning the first bone model at a position corresponding to the first bone intraoperative position, positioning the second bone model at a position corresponding to the second bone intraoperative position, and positioning the first fixture model at a position corresponding to the first fixture intraoperative position, positioning the second fixture model at a position corresponding to the second fixture intraoperative position; fixing the positioned first fixture model on the first bone model, and fixing the positioned second fixture model on the second bone model.

[0021] In a third aspect, an embodiment of the present application provides a computer device, comprising: a memory and a processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory, so that the processor executes the aforementioned fracture reduction surgical navigation method.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement the aforementioned fracture reduction surgical navigation method.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which is executed by a processor to perform the aforementioned fracture reduction surgical navigation method.

[0024] The fracture reduction surgical navigation system and method provided in the embodiment of the present application, the fracture reduction surgical navigation system includes a reduction component, an intraoperative positioning device, a three-dimensional model acquisition module, a simulation fixation module and a simulation reduction module. Among them, the reduction component includes a first fixing member and a second fixing member fixedly connected to the first bone and the second bone respectively, and an auxiliary reduction device movably connected between the first fixing member and the second fixing member. In addition, the auxiliary reduction device includes a plurality of movably connected components, and the sum of the degrees of freedom of the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components is at least 6. Among them, the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components can provide at least 3 rotational degrees of freedom, so that at least some of the components can rotate around the first axis, the second axis and the third axis that are perpendicular to each other, so that the auxiliary reduction device can follow the first fixing member and the second fixing member to move in a 360° space.

[0025] The three-dimensional model acquisition module can acquire the three-dimensional model of the patient's tissue and the three-dimensional model of the above-mentioned reduction component. Among them, the three-dimensional model of the patient's tissue includes the first bone model and the second bone model involved in the fracture site. The simulation fixation module can fix the first fixture model to the first bone model and the second fixture model to the second bone model according to the position data of the first bone, the second bone, the first fixator, and the second fixator obtained by the intraoperative positioning device, so as to clearly reflect the characteristics of the first bone and the second bone, and at the same time, enable the virtual model to accurately reflect the relative position relationship between the first bone and the first fixture and the relative position relationship between the second bone and the second fixture during the operation.

[0026] The simulation reduction module can adjust the relative position between the first bone model and the second bone model so that the first bone model and the second bone model can be joined along the fracture and achieve virtual reduction. In the process of adjusting the first bone model to join with the second bone model, the auxiliary reduction device model movably connected to the first fixing member and the second fixing member can freely adjust the position and posture following the movement of the first bone model and the second bone model, so that the actual surgical reduction process can be guided by the obtained reduction parameters of the auxiliary reduction device model.

[0027] With such a setting, the relative position relationship between the first fixing device and the first bone, and the relative position relationship between the second fixing device and the second bone during the operation are restored to the virtual model, and the virtual model is adjusted to virtually connect the first bone and the second bone, and the actual surgical reduction process is guided based on the reduction parameters obtained from the simulated reduction. This solves the problem in the prior art that it is difficult for doctors to quickly and accurately achieve the reduction of the first bone and the second bone involved in the fracture, eliminates the tedious process of repeated reduction operations and taking X-rays for verification one by one in actual surgery, and also improves the accuracy of fracture reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A schematic diagram of a fracture reduction surgery navigation system provided in an embodiment of the present application;

[0030] Figure 2 A schematic diagram of intraoperative imaging data provided by an embodiment of the present application;

[0031] Figure 3 A schematic diagram of another fracture reduction surgical navigation system provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of a state in which an alignment unit provided in an embodiment of the present application aligns a first bone model and a second bone model according to intraoperative image data;

[0033] Figure 5 A schematic diagram of a state in which a fixing unit provided in an embodiment of the present application fixes a first fixing member model and a second fixing member to a first bone model and a second bone model according to intraoperative imaging data;

[0034] Figure 6 A schematic diagram of another fracture reduction surgery navigation system provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of another fracture reduction surgery navigation system provided in an embodiment of the present application;

[0036] Figure 8 A schematic diagram of the structure of a reset component provided in an embodiment of the present application;

[0037] Fig. 9 for Figure 8 A partial enlarged view of the auxiliary reducer;

[0038] Fig.10 A schematic diagram of a state in which an analog reset module is engaged provided in an embodiment of the present application;

[0039] Fig.11 A schematic diagram of another state of engagement of the analog reset module provided in an embodiment of the present application;

[0040] Fig.12 A flowchart of a fracture reduction surgery navigation method provided in an embodiment of the present application.

[0041] Description of reference numerals:

[0042] 101a-first bone image; 102a-second bone image; 101b-first bone model; 102b-second bone model;

[0043] 200-reset assembly; 210-first fixing member; 220-second fixing member; 230-auxiliary reducer; 210a-first fixing member image; 220a-second fixing member image; 210b-first fixing member model; 220b-second fixing member model; 230b-auxiliary reducer model;

[0044] 231-first connecting member; 2311-main body; 2312-connecting portion; 2313-first locking portion; 232-second connecting member; 2321-rotating portion; 2322-guide portion; 233-intermediate connecting member; 2331-guide sleeve; 2332-guide shaft; 2333-third locking portion;

[0045] 300 - intraoperative positioning device; 400 - three-dimensional model acquisition module; 500 - simulation fixation module; 510 - alignment unit; 520 - fixation unit; 530 - positioning unit; 600 - simulation reset module; 610 - parameter acquisition unit; 620 - reset unit; 700 - pre-reset module. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are 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 ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] The present application provides a fracture reduction surgical navigation system and method, which are used to assist fracture surgery. The fracture surgery that can be assisted can cover common fracture types, such as forearm fracture, upper arm fracture, thigh fracture, femoral neck fracture and wrist fracture.

[0048] The following uses femoral neck fracture as an example to explain the relevant background. Femoral neck fracture refers to a fracture that occurs at the neck of the thigh bone. The femoral neck is located near the hip joint and is the part that connects the femoral head and the femoral shaft. Femoral neck fractures are common in the elderly, especially those with osteoporosis, because their bones are relatively fragile and can easily break in a fall or under the action of slight external force.

[0049] Femoral neck fractures can be divided into different types based on the location and extent of the fracture, such as medial fractures, lateral fractures, and complete fractures. The treatment method depends on the type of fracture, the age and health of the patient. Common treatment methods include:

[0050] (1) Non-surgical treatment: Suitable for fractures with less instability, usually including bed rest, traction and physical therapy.

[0051] (2) Surgical treatment: For most femoral neck fractures, especially displaced fractures, surgery is the preferred treatment method. Surgical methods include internal fixation (fixing the fracture with screws, plates, etc.) and joint replacement (partial or total hip replacement).

[0052] As described in the background technology, in surgical treatment, existing reduction methods mostly rely on the doctor's experience and judgment. After each adjustment and reduction during the operation, a temporary X-ray film must be taken to verify the reduction effect. If the effect is not good, repeated reduction and filming are required. The operation is time-consuming and inefficient. It is also easy to cause problems such as postoperative fracture nonunion and even femoral head necrosis due to poor reduction during the operation. In addition, in complex situations such as fracture rotation and excessive displacement, the surgical operation is complicated and it is difficult to achieve accurate reduction based on experience.

[0053] In view of this, an embodiment of the present application provides a fracture reduction surgical navigation system and method, including a reduction component, an intraoperative positioning device, a three-dimensional model acquisition module, a simulation fixation module and a simulation reduction module. Among them, the reduction component includes a first fixing member and a second fixing member fixedly connected to the first bone and the second bone respectively, and an auxiliary reduction device movably connected between the first fixing member and the second fixing member. In addition, the auxiliary reduction device includes a plurality of movably connected components, and the sum of the degrees of freedom of the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components is at least 6. Among them, the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components can provide at least 3 rotational degrees of freedom, so that at least some of the components can rotate around the first axis, the second axis and the third axis that are perpendicular to each other, so that the auxiliary reduction device can follow the first fixing member and the second fixing member to move in a 360° space.

[0054] The three-dimensional model acquisition module can acquire the three-dimensional model of the patient's tissue and the three-dimensional model of the above-mentioned reduction component. Among them, the three-dimensional model of the patient's tissue includes the first bone model and the second bone model involved in the fracture site. The simulation fixation module can fix the first fixture model to the first bone model and the second fixture model to the second bone model according to the position data of the first bone, the second bone, the first fixture, and the second fixture obtained by the intraoperative positioning device, so as to clearly reflect the characteristics of the first bone and the second bone, and at the same time, enable the virtual model to accurately reflect the relative position relationship between the first bone and the first fixture and the relative position relationship between the second bone and the second fixture during the operation.

[0055] The simulation reduction module can adjust the relative position between the first bone model and the second bone model so that the first bone model and the second bone model can be joined along the fracture and achieve virtual reduction. In the process of adjusting the first bone model to join with the second bone model, the auxiliary reduction device model movably connected to the first fixing member and the second fixing member can freely adjust the position and posture following the movement of the first bone model and the second bone model, so that the actual surgical reduction process can be guided by the obtained reduction parameters of the auxiliary reduction device model.

[0056] With such a setting, the relative position relationship between the first fixing device and the first bone, and the relative position relationship between the second fixing device and the second bone during the operation are restored to the virtual model, and the virtual model is adjusted to virtually connect the first bone and the second bone, and the actual surgical reduction process is guided based on the reduction parameters obtained from the simulated reduction. This solves the problem in the prior art that it is difficult for doctors to quickly and accurately achieve the reduction of the first bone and the second bone involved in the fracture, eliminates the tedious process of repeated reduction operations and taking X-rays for verification one by one in actual surgery, and also improves the accuracy of fracture reduction.

[0057] The fracture reduction surgical navigation system and method provided in the embodiments of the present application are described in detail below.

[0058] It is understandable that the fracture site may cause the original bone to split into two or two bones to be adhered. Hereinafter, the two bones involved in the fracture site are referred to as the first bone and the second bone, and the first bone is at least partially separated from the second bone.

[0059] Figure 1 This is a schematic diagram of a fracture reduction surgery navigation system provided by an embodiment of the present application. Figure 1 As shown, the fracture reduction surgical navigation system provided by the embodiment of the present application includes a reduction assembly 200, an intraoperative positioning device 300, a three-dimensional model acquisition module 400, a simulated fixation module 500, and a simulated reduction module 600. The intraoperative positioning device 300, the three-dimensional model acquisition module 400, the simulated fixation module 500, and the simulated reduction module 600 are electrically connected.

[0060] The reduction component 200 is connected to the first bone and the second bone, and can provide support for the stable connection of the first bone and the second bone, and the reduction component 200 can also move with the movement of the first bone and the second bone. At the same time, the intraoperative positioning device 300 can obtain the intraoperative positioning data of the first bone, the second bone and at least part of the reduction component 200, and the three-dimensional model acquisition module 400 can obtain the three-dimensional model of the reduction component 200, and use it for the subsequent simulation reduction module 600 to perform virtual reduction, and finally obtain the reduction parameters of the reduction component 200 of the first bone and the second bone when the virtual reduction is completed, so as to guide the actual surgical reduction and fixation.

[0061] The reset assembly 200 includes a first fixing member 210, a second fixing member 220 and an auxiliary resetter 230 (see Figure 8 , Fig.10 , Fig.11 ). The first fixing member 210 is fixedly connected to the first bone, the second fixing member 220 is fixedly connected to the second bone, and the auxiliary reduction device 230 is movably connected between the first fixing member 210 and the second fixing member 220. The auxiliary reduction device 230 includes a plurality of movably connected components. The total degree of freedom of the kinematic pair formed by the first fixing member 210, the second fixing member 220 and the plurality of components is at least 6.

[0062] Among them, the kinematic pairs formed between the first fixing member 210, the second fixing member 220 and the multiple components can provide at least three degrees of rotational freedom, so that at least part of the components can rotate around the first axis, the second axis and the third axis, and the auxiliary resetter 230 can follow the first fixing member 210 and the second fixing member 220 to move in a 360° space, and the first axis, the second axis and the third axis are perpendicular to each other. The first axis can be along the x-axis direction of the coordinate system, the second axis can be along the y-axis direction of the coordinate system, and the third axis can be along the z-direction of the coordinate system. It can be understood that the first axis, the second axis and the third axis here can establish any mutually perpendicular spatial coordinate system as needed. They are marked in the drawings for explanation only and are not specifically limited to them. At least part of the components can rotate around the first axis, the second axis and the third axis, which can be rotated around the first axis, the second axis and the third axis themselves, or relatively rotated around the first axis, the second axis and the third axis, which are not specifically limited to them.

[0063] In order to improve the connection stability between the multiple components in the auxiliary resetter 230 or to achieve further obstacle avoidance in complex environments and increase its flexibility, the total degree of freedom of the kinematic pairs formed by the first fixing member 210, the second fixing member 220 and the multiple components can also be greater than 6. For example, the position and posture adjustment of the auxiliary resetter 230 can be achieved by combining multiple relatively rotating joints, such as a seven-axis robotic arm. It should be noted that the kinematic pairs formed by the first fixing member 210, the second fixing member 220 and the multiple components can be any form of a rotating pair, a spherical pair, a cylindrical pair, a translation pair, a plane pair, a helical pair or any combination thereof, and are not specifically limited here.

[0064] In this way, the auxiliary repositioner 230 can move according to the relative position change of the first bone and the second bone, adjust its position and spatial posture, and flexibly realize its supporting function. It is understandable that the specific structure of the auxiliary repositioner 230 can be designed according to actual conditions, and this embodiment does not impose specific restrictions on this.

[0065] As an embodiment, at least one of the first fixing member 210 and the second fixing member 220 may include only one fixing nail to reduce possible damage to bone tissue during surgery. For example, the first fixing member 210 and the second fixing member 220 each include only one fixing nail.

[0066] As another embodiment, at least one of the first fixing member 210 and the second fixing member 220 may include at least two fixing nails and a connecting block. For example, the first fixing member 210 includes two fixing nails and a connecting block. Both fixing nails are fixedly connected to the connecting block, for example, they may be fixed by threaded connection, welding, clamping, etc., which are not specifically limited here. In addition, the two fixing nails are used to be fixed to the first bone 101, and the two fixing nails are connected to the auxiliary reducer 230 through the connecting block. At this time, the connecting block is one of the rotation references of the auxiliary reducer 230.

[0067] During fracture reduction surgery, the doctor will first fix the first fixing member 210 to the first bone and the second fixing member 220 to the second bone to provide a support basis, and then continuously adjust the relative position between the first bone and the second bone to achieve the connection between the first bone and the second bone, and complete the support reduction through the reduction assembly 200. Therefore, the fracture reduction navigation system provided in the embodiment of the present application needs to obtain the position data of the first bone, the position data of the second bone, the position data of the first fixing member 210, and the position data of the second fixing member 220 through the intraoperative positioning device 300.

[0068] As an embodiment, the intraoperative positioning device 300 may include at least one of a medical imaging device and a medical positioning device. The medical imaging device may obtain intraoperative imaging data of the first bone, intraoperative imaging data of the second bone, intraoperative imaging data of the first fixture 210, and intraoperative imaging data of the second fixture 220. The medical positioning device may obtain intraoperative position data of the first bone, intraoperative position data of the second bone, intraoperative position data of the first fixture 210, and intraoperative position data of the second fixture 220.

[0069] The intraoperative positioning device 300 can be connected to the three-dimensional model acquisition module 400 and the simulation fixation module 500 through a data interface. The data interface can be a hardware interface, such as a Universal Serial Bus (USB) interface, a network interface, etc., or a software interface, such as an Application Programming Interface (API), a Web Service, etc.

[0070] For example, it can be connected to a medical imaging device or a medical positioning device through a network interface to obtain intraoperative positioning data from the medical imaging device or the medical positioning device. This setting can enable high-speed transmission of intraoperative positioning data, and the connection is stable and highly secure. Alternatively, it can be connected to a storage device through a USB interface, where the storage device stores intraoperative imaging data or intraoperative position data, to obtain the corresponding intraoperative positioning data. This setting is plug-and-play and has strong compatibility.

[0071] As an embodiment, the intraoperative positioning device 300 may be a medical imaging device, which may be an X-ray machine. Specifically, the intraoperative imaging data may be X-ray imaging data. In some embodiments, the intraoperative imaging data includes at least two transmission images at different angles. By providing a plurality of X-ray transmission images at different angles, the relative positional relationship between the first bone, the second bone, the first fixture 210, and the second fixture 220 may be obtained more accurately, thereby improving the system simulation reset accuracy.

[0072] Figure 2 Schematic diagram of intraoperative image data provided by an embodiment of the present application. Exemplarily, the intraoperative image data may include a coronal plane transmission image (see Figure 2 (a)) and sagittal radiographs (see Figure 2(b)). Among them, the coronal plane transmission image refers to the X-ray image obtained on the coronal plane (also called the frontal plane). The coronal plane is a vertical plane that divides the human body into two parts, front and back, so the coronal plane transmission image can provide information about the front-to-back relationship of the bone structure. The sagittal plane transmission image refers to the X-ray image obtained on the sagittal plane. The sagittal plane is a vertical plane that divides the human body into left and right parts, so that the left-right relationship of the bone structure can be observed, providing detailed information about the internal structure of the bone.

[0073] The two transmission images at different angles can spatially determine the relative positional relationship between the first bone and the first fixture 210, and the relative positional relationship between the second bone and the second fixture 220. Thus, the actual position of the first fixture 210 and the first bone, and the actual position of the second fixture 220 and the second bone during the operation can be accurately reflected on the corresponding virtual model.

[0074] As another embodiment, the intraoperative positioning device 300 can also be a medical positioning device. Generally, the medical positioning device includes a positioning instrument and a sensor. Among them, the sensor can be used to detect and measure the position, angle, distance and other parameters of the part to be positioned. The positioning instrument can determine the specific position of the detected object by receiving satellite signals or other positioning signals. Exemplarily, the sensor can be fixed on the tissue of the patient to be positioned or on the surgical tool. After the sensor collects the physical parameters of the patient's tissue or the surgical tool, the collected data can be transmitted to the positioning instrument or computer system for real-time processing and display. It should be noted that the sensor can be an optical sensor, a magnetic sensor, an inertial sensor, etc., and this embodiment does not specifically limit it.

[0075] Specifically, the sensor may include multiple sensors, and the multiple sensors may be fixed on the first bone, the second bone, the first fixture 210, and the second fixture 220, respectively. The data transmitted by the sensor may be processed by the positioning device to obtain the spatial coordinates of the first bone, the spatial coordinates of the second bone, the spatial coordinates of the first fixture 210, and the spatial coordinates of the second fixture 220. The spatial coordinates of the first bone, the spatial coordinates of the second bone, the spatial coordinates of the first fixture 210, and the spatial coordinates of the second fixture 220 may be represented as the position data of the first bone, the position data of the second bone, the position data of the first fixture 210, and the position data of the second fixture 220. Thus, the corresponding intraoperative positioning data may be provided for the simulation fixation module 500.

[0076] The three-dimensional model acquisition module 400 can acquire the three-dimensional model of the patient's tissue and the three-dimensional model of the reduction component 200. Specifically, the three-dimensional model of the patient's tissue includes a first bone model corresponding to the first bone and a second bone model corresponding to the second bone. The three-dimensional model of the reduction component 200 includes a first fixing member model 210b corresponding to the first fixing member 210, a second fixing member model 220b corresponding to the second fixing member 220, and an auxiliary reduction device model 230b corresponding to the auxiliary reduction device. Specifically, the auxiliary reduction device model 230b may include a first connector model, a second connector model, and an intermediate connector model.

[0077] The three-dimensional model of the patient's tissue can be obtained through three-dimensional reconstruction. Among them, the three-dimensional reconstruction first needs to obtain the tomographic image slices of the patient's tissue to be modeled through a medical imaging device. It should be noted that the medical imaging device here can also be a computer tomography (Computed Tomography, CT) device or a magnetic resonance imaging (Magnetic Resonance Imaging, MRI) device, etc., which is not specifically limited here. After obtaining the tomographic image slices, one or more image processing processes such as filtering, denoising, sharpening, binarization, and edge extraction can be performed on them to enhance the quality of the layer image slices and extract useful information, thereby realizing the three-dimensional model reconstruction of the tissue to be modeled and obtaining the three-dimensional model of the patient's tissue.

[0078] It should be noted that the three-dimensional model reconstruction can be automatic reconstruction or semi-automatic reconstruction, and this embodiment does not impose specific restrictions on this. Automatic reconstruction can be achieved through an artificial intelligence (AI) modeling algorithm. Specifically, the AI ​​modeling algorithm can be a modeling algorithm based on a neural network algorithm, a deep learning algorithm, or a machine learning algorithm. To help the operator complete the reconstruction of the three-dimensional model more efficiently. Alternatively, the three-dimensional model reconstruction can also be semi-automatic reconstruction, that is, it is achieved by manual operation of the user combined with an algorithm to adapt to changes in specific operational requirements.

[0079] The patient tissue 3D model may include at least one of a preoperative tissue 3D model and an intraoperative tissue 3D model, which is not specifically limited in this embodiment. The preoperative tissue 3D model refers to a tissue 3D model that has been reconstructed before the patient undergoes surgery, and the intraoperative tissue 3D model refers to a tissue 3D model that is temporarily reconstructed when the patient undergoes surgery.

[0080] Generally, the more slices there are in the tomographic images, the higher the accuracy of the reconstructed three-dimensional model will be, but the imaging examination time required will also be longer, and the time required to reconstruct the three-dimensional model will also increase accordingly.

[0081] As an implementation method, the patient tissue 3D model can be a preoperative tissue 3D model, that is, a medical image scan is performed on the patient before the operation, and a 3D model of the patient's tissue is reconstructed before the operation. This setting can avoid spending a long time on medical image scanning and temporarily reconstructing the tissue 3D model during the operation, thereby shortening the operation time and reducing the surgical risks that may be caused by long operation time and the need for doctors to leave the operating room for image scanning.

[0082] As another embodiment, the patient tissue 3D model can be an intraoperative tissue 3D model, that is, a medical image scan is performed on the patient during the operation and the patient tissue 3D model is reconstructed during the operation. This arrangement avoids the difference between the preoperative tissue 3D model and the patient's actual intraoperative tissue state caused by changes in the patient's position, posture or physical state that may occur during the operation, thereby ensuring that the reconstructed tissue 3D model is completely consistent with the patient's intraoperative tissue state, thereby improving the accuracy of surgical navigation.

[0083] The three-dimensional model of the reset component 200 can be obtained by modeling with a three-dimensional design tool, or by scanning the reset component 200 with a three-dimensional scanner and performing three-dimensional reconstruction, which is not specifically limited in this embodiment.

[0084] Similarly, the 3D model acquisition module 400 can be connected to the medical imaging device, the 3D design tool storage device, and the 3D scanner through a data interface. The data interface can be a hardware interface, such as a USB interface, a network interface, etc., or a software interface, such as an API, a Web Service, etc. Exemplarily, the 3D model acquisition module 400 can access the 3D model storage address through an API interface to obtain the 3D model.

[0085] The simulation fixation module 500 can fix the first fixture model 210b to the first bone model 101b and the second fixture model 220b to the second bone model 102b according to the position data obtained by the intraoperative positioning device 300, so that the first fixture model 210b can move following the movement of the first bone model 101b, and the second fixture model 220b can move following the movement of the second bone model 102b.

[0086] The simulation reduction module 600 is used to connect the second bone model 102b with the first bone model 101b to achieve virtual reduction, and can obtain the reduction parameters of the auxiliary reduction device model 230b to guide the actual reduction.

[0087] Figure 3 A schematic diagram of another fracture reduction surgical navigation system provided in an embodiment of the present application. Figure 4 A schematic diagram of a state in which an alignment unit provided in an embodiment of the present application aligns a first bone model and a second bone model according to intraoperative imaging data. Figure 5 A schematic diagram of a state in which a fixing unit provided in an embodiment of the present application fixes a first fixing member model and a second fixing member to a first bone model and a second bone model according to intraoperative imaging data. Figure 6 A schematic diagram of another fracture reduction surgical navigation system provided in an embodiment of the present application.

[0088] Reference Figure 3 As shown, as an embodiment, the simulation fixation module 500 includes an alignment unit 510 and a fixation unit 520. At this time, the intraoperative positioning device 300 is a medical imaging device, and the first bone image 101a, the second bone image 102a, the first fixation member image 210a and the second fixation member image 220a can be obtained through the medical imaging device. Among them, the alignment unit 510 is used to align the first bone model 101b and the second bone model 102b with the first bone image 101a and the second bone image 102a in the intraoperative imaging data (see Figure 4 As shown, Figure 4 (a) is the coronal transmission image. Figure 4 (b) in the figure is a sagittal plane transmission image), and aligns the first fixture model 210b and the second fixture model 220b with the first fixture image 210a and the second fixture image 220a in the intraoperative image data. The fixing unit 520 is used to fix the aligned first fixture model 210b on the first bone model 101b, and fix the aligned second fixture model 220b on the second bone model 102b (see Figure 5 As shown, Figure 5 (a) is the fixed state under the coronal transmission angle. Figure 5 (b) in the figure is the fixed state under the sagittal plane transmission angle).

[0089] Such a setting can ensure that the three-dimensional model can accurately reflect the relative positions between the first fixture 210 and the first bone and the second fixture 220 and the second bone during the operation, and the first fixture model 210b and the second fixture model 220b will move with the movement of the first bone model 101b and the second bone model 102b.

[0090] It should be understood that when the first fixing member 210 in the reduction assembly 200 includes at least two fixing pins and a connecting block, when the two fixing pin models are aligned with the images in the intraoperative image data, the axial rotation angle of the connecting block model fixedly connected to the two fixing pin models is consistent with the axial rotation angle of the connecting block. This arrangement can further enhance the stability of the connection while adapting to more surgical needs and achieving accurate alignment in operation.

[0091] Reference Figure 6As shown, as another embodiment, the simulation fixation module 500 may further include a positioning unit 530 and a fixing unit 520. At this time, the intraoperative positioning device 300 is a medical positioning device, and according to the spatial coordinates of the first bone, the spatial coordinates of the second bone, the spatial coordinates of the first fixing member 210, and the spatial coordinates of the second fixing member 220 acquired by the medical positioning device, the first bone model 101b and the second bone model 102b may be positioned at positions corresponding to the spatial coordinates of the first bone and the spatial coordinates of the second bone, and the first fixing member model 210b and the second fixing member model 220b may be positioned at positions corresponding to the spatial coordinates of the first fixing member 210 and the spatial coordinates of the second fixing member 220.

[0092] The fixing unit 520 is used to fix the positioned first fixing part model 210b on the first bone model 101b, and to fix the positioned second fixing part model 220b on the second bone model 102b, so that the first fixing part model 210b and the second fixing part model 220b can move along with the movement of the first bone model 101b and the second bone model 102b.

[0093] Continue to refer to Figure 3 and Figure 6 , the simulation reset module 600 may include a reset unit 620. The reset unit 620 is used to make the second bone model 102b engage with the first bone model 101b to achieve virtual reset. Virtual reset refers to changing the relative position of the first bone model 101b and the second bone model 102b so that the at least partially separated first bone model 101b and the second bone model 102b return to a normal engaged state. Specifically, the feature points of the first bone model 101b and the second bone model 102b at the fracture can be extracted, and the edge curves of the first bone and the second bone at the fracture end can be fitted. By repeatedly adjusting the connection between the first bone model 101b and the second bone model 102b, the edge curves are engaged, and finally the virtual reset is achieved.

[0094] The simulation reset module 600 further includes a parameter acquisition unit 610. The parameter acquisition unit 610 is used to acquire reset parameters corresponding to the kinematic pair formed by the three-dimensional model of the reset assembly 200 between the first fixing member 210, the second fixing member 220 and the plurality of components of the auxiliary resetter 230. Specifically, the reset parameters may at least include a rotation angle along the first axis, a rotation angle along the second axis and a rotation angle along the third axis.

[0095] When performing virtual reduction, the models corresponding to the multiple components in the auxiliary reduction device 230 in the three-dimensional model of the reduction component 200 can maintain the active connection state with the first fixture model 210b, the active connection state with the second fixture model 220b, and the active connection state between the component models, that is, the models corresponding to the multiple components in the auxiliary reduction device 230 can be adaptively adjusted following the movement of the first fixture model 210b and / or the second fixture model 220b. When the first bone model 101b and the second bone model 102b return to the normal joint state, the parameter acquisition unit 610 can obtain the reduction parameters by recording the rotation and / or translation parameters corresponding to the kinematic pair with a total degree of freedom of at least 6 in the three-dimensional model of the reduction component 200.

[0096] Since the three-dimensional model of the patient tissue in the virtual reduction is obtained by three-dimensional reconstruction of the patient tissue in the actual reduction surgery, and the three-dimensional model of the reduction component is also obtained based on the three-dimensional modeling / three-dimensional scanning of the reduction component 200 used in the actual reduction surgery, the three-dimensional model of the patient tissue in the virtual reduction and the three-dimensional model of the reduction component 200 correspond one-to-one with the actual patient tissue and the reduction component 200. In addition, under the action of the simulation fixation module 500, the relative position of the three-dimensional model of the reduction component 200 with respect to the three-dimensional model of the patient tissue is also an accurate reflection of the actual position during the operation.

[0097] Therefore, when the virtual reduction is completed, that is, the first bone model 101b and the second bone model 102b return to the normal joint state, the reduction parameters obtained by the parameter acquisition unit 610 can guide the adjustment of the orthopedic parameters of the reduction component 200 in the actual reduction operation. In other words, as long as the orthopedic parameters of the reduction component 200 in the actual reduction operation are adjusted to be consistent with the reduction parameters obtained when the virtual reduction is completed, the reduction of the fracture can be achieved quickly and accurately during the operation.

[0098] Figure 7 This is a schematic diagram of another fracture reduction surgical navigation system provided in an embodiment of the present application. Figure 7 As shown, the fracture reduction surgical navigation system also includes a pre-reset module 700. The pre-reset module 700 is used to determine the virtual reset position between the first bone model 101b and the second bone model 102b based on the preoperative tissue three-dimensional model. Wherein, the virtual reset position refers to the spatial position of the first bone model 101b and the second bone model 102b when the first bone model 101b and the second bone model 102b return to the normal joint state. It can be understood that the virtual reset position can be the relative position of the first bone model 101b and the second bone model 102b, or it can be the absolute position of the first bone model 101b and the second bone model 102b, such as the spatial coordinates of the first bone model 101b and the second bone model 102b, and this embodiment does not limit this.

[0099] After the pre-reset module 700 determines the virtual reset position, the simulation fixation module 500 fixes the first fixing part model 210b to the first bone model 101b and the second fixing part model 220b to the second bone 102b model according to the position data obtained by the intraoperative positioning device 300, and the simulation reset module 600 can achieve more efficient virtual reset according to the virtual reset position.

[0100] It is understandable that, since the pre-reset module 700 needs to complete the determination of the virtual reset position before the operation, in this embodiment, the three-dimensional model of the patient's tissue acquired by the three-dimensional model acquisition module 400 is a pre-operative three-dimensional tissue model.

[0101] With this arrangement, the doctor can quickly complete the virtual reduction according to the virtual reduction position obtained in advance, thereby shortening the time required to completely reduce the first bone model 101b and the second bone model 102b to a normal joint state during the virtual reduction process, thereby reducing the time required for actual surgery and reducing the surgical risks caused by long surgery time.

[0102] Figure 8 A schematic diagram of the structure of a reset component provided in an embodiment of the present application. Fig. 9 for Figure 8 A partial enlarged view of the auxiliary reducer.

[0103] The following combination Figure 8 and Fig. 9 The reset component 200 and one specific structure of the three-dimensional model of the reset component 200 are specifically described.

[0104] The reduction assembly 200 includes a first fixing member 210, a second fixing member 220 and an auxiliary reduction device 230. Among them, the first fixing member 210 and the second fixing member 220 can be set in the form of a fixing nail. Specifically, the fixing nail is an axisymmetric component, and one end of the fixing nail is provided with a conical spur end, so that the force point can be concentrated, so as to facilitate the fixing nail to be driven into the first bone and the second bone. In addition, the conical spur end increases the contact area between the fixing nail and the first bone and the second bone, thereby reducing the stress concentration that may be generated when the fixing nail is fixed, and avoiding additional damage to the first bone and the second bone. In addition, a thread can be extended from one end close to the spur end to one end away from the spur end. Such a setting can enhance the connection stability between the fixing nail and the first bone and the second bone, and avoid the influence of subsequent reduction due to the relative position change between the fixing nail and the first bone and the second bone.

[0105] In some embodiments, an alignment mark may be provided on the fixing pin to facilitate visual adjustment and correction during the operation of the simulation fixing module 500, so as to ensure the accuracy of the relative positions between the first fixing member model 210b and the first bone model 101b, and between the second fixing member model 220b and the second bone model 102b. For example, when using a medical imaging device to obtain corresponding image data, when the simulation fixing module 500 fixes the first fixing member model 210b to the first bone model 101b, the alignment mark on the first fixing member model 210b can be made to coincide with the alignment mark on the first fixing member image 210a, so as to align the axial rotation angle of the first fixing member model 210b with the axial rotation angle of the first fixing member image 210a, thereby ensuring that the axial rotation angle of the first fixing member model 210b is consistent with the actual axial rotation angle of the first fixing member 210.

[0106] It is understandable that the alignment mark can be any shape, pattern, or a combination of shape and pattern, and this embodiment does not impose any specific limitation on this, as long as it can be identified in the intraoperative image data.

[0107] In some embodiments, to improve the flexibility of the auxiliary reducer 230 , at least one of the multiple components included in the auxiliary reducer 230 is movable along at least one of the first axis, the second axis, and the third axis to provide at least one translational degree of freedom.

[0108] That is, the degrees of freedom of the kinematic pairs formed by the first fixing member 210, the second fixing member 220 and the plurality of components include at least three degrees of freedom of rotation and at least one degree of freedom of translation. For example, it may be a combination of five rotation pairs and one translation pair, or a combination of four rotation pairs and three translation pairs, or a combination of three rotation pairs and three translation pairs.

[0109] With such arrangement, when the first fixing nail and the second fixing nail deviate from each other by a large distance, the connection between the auxiliary resetter 230 and the first fixing member 210 and the second fixing member 220 can be quickly achieved through the arrangement of the translational freedom.

[0110] Continue to refer to Figure 8 and Fig. 9As shown in the figure, the auxiliary resetter 230 includes a first connecting member 231, a second connecting member 232 and an intermediate connecting member 233. Among them, the first connecting member 231 is rotatably connected to the first fixed member 210 to form a rotation pair and provide one rotational degree of freedom. The second connecting member 232 is rotatably connected to the second fixed member 220 and can rotate around the first axis to form a rotation pair and provide one rotational degree of freedom. The intermediate connecting member 233 is movably connected between the first connecting member 231 and the second connecting member 232, and rotates relative to the first connecting member 231 around the second axis and rotates relative to the second connecting member 232 around the third axis to form two rotational degrees of freedom and provide two rotational degrees of freedom. The first connecting member 231 can slide along the first fixed member 210 and / or the second connecting member 232 can slide along the second fixed member 220, and can form one or two mobile pairs to provide one or two translational degrees of freedom. The intermediate connecting member 233 can move axially along the second axis and / or the intermediate connecting member 233 can move axially along the third axis, and can form one or two moving pairs to provide one or two translational degrees of freedom.

[0111] Exemplarily, the second connecting member 232 can slide along the second fixing member 220. And the intermediate connecting member 233 can move axially along the third axis, realizing a combination of four rotational degrees of freedom and two translational degrees of freedom.

[0112] It can be understood that when the first connecting member 231 is rotatably connected to the first fixed member 210, a rotation pair is formed, and one rotational degree of freedom can be provided. The intermediate connecting member 233 is movably connected between the first connecting member 231 and the second connecting member 232, and rotates relative to the first connecting member 231 around the first connecting axis and rotates relative to the second connecting member 232 around the second connecting axis, forming two rotational degrees of freedom, and providing two rotational degrees of freedom. The first connecting member 231 can slide along the intermediate connecting member 233, forming a mobile pair, and providing one translational degree of freedom. The second connecting member 232 can slide along the second fixed member 220, forming a mobile pair, and providing one translational degree of freedom. The intermediate connecting member 233 can move along the axis perpendicular to the second fixed member 220, forming a mobile pair, and providing one translational degree of freedom. The above arrangement can also realize the flexible movement of the auxiliary resetter 230 following the movement of the first fixed member 210 and the second fixed member 220.

[0113] With such arrangement, the total degree of freedom of the kinematic pairs formed by the first fixing member 210, the second fixing member 220 and the plurality of components can be at least 6 through the combination of the connection structures having the above relative position relationship, and at least 3 rotational degrees of freedom can be provided, and the structure is simple and easy to use.

[0114] Specifically, the auxiliary resetter 230 includes a first connecting member 231, an intermediate connecting member 233 and a second connecting member 232 that are movably connected in sequence. The first connecting member 231 includes a main body 2311 and a connecting portion 2312 that are connected, the main body 2311 is rotatably connected to the first fixing member 210, and the connecting portion 2312 and the intermediate connecting member 233 are rotatably connected. Exemplarily, it can be achieved by providing a connecting structure with a connecting hole on one of them, and providing a connecting shaft corresponding to the connecting hole on the other. The second connecting member 232 includes a rotating portion 2321 and a guide portion 2322 that are connected, the rotating portion 2321 is rotatably connected to the second fixing member 220, and the guide portion 2322 extends in a direction away from the second fixing member 220. The intermediate connecting member 233 includes a guide sleeve 2331 and a guide shaft 2332 that are connected, the guide sleeve 2331 is sleeved on the guide portion 2322, and the guide shaft 2332 is rotatably connected to the connecting portion 2312. It should be noted that the main body 2311 and the connecting part 2312, the rotating part 2321 and the guiding part 2322, and the guiding sleeve 2331 and the guiding shaft 2332 mentioned above can be detachably connected or non-detachably connected, and no limitation is made here. Among them, the first connecting member 231 is rotatably connected to the first fixing member 210 to form a rotating pair, which can provide a rotational degree of freedom. The second connecting member 232 is rotatably connected to the second fixing member 220 and can slide along the second fixing member 220 to form a rotating pair and a sliding pair, which can provide a rotational degree of freedom and a translational degree of freedom. The intermediate connecting member 233 itself forms a cylindrical pair, which can provide a rotational degree of freedom and a translational degree of freedom, and the intermediate connecting member 233 can rotate relative to the first connecting member 231, forming a rotating pair, which can provide a rotational degree of freedom. Such a setting can make the multiple components inside the auxiliary reducer 230 flexibly connected and can be adaptively adjusted following the movement of the first bone and the second bone.

[0115] As an embodiment, the rotating part 2321 can be set as a semi-arc plate, which can be attached to the outer wall surface of the second fixing member 220, and can slide and rotate along the outer wall surface of the second fixing member 220. In this way, it can be separated from the second fixing member 220 during the adjustment process, and after the bone position is adjusted, it can be quickly attached to the surface of the second fixing member 220, and drive other connecting parts to adjust accordingly. In addition, the contact area between the semi-arc plate and the second fixing member 220 is small, the contact friction is small, and it is also easy to rotate and slide.

[0116] In some embodiments, the first connector 231, the second connector 232, and the intermediate connector 233 may be provided with angle scales. By providing angle scales, the angles of the rotational connection between the first connector 231 and the first fixing member 210, the rotational connection between the second connector 232 and the second fixing member 220, the relative rotation around the second axis between the intermediate connector 233 and the first connector 231, and the relative rotation around the third axis between the intermediate connector 233 and the second connector 232 can be visualized, so as to facilitate the acquisition of the reset parameters in the subsequent virtual reset and the adjustment of the orthopedic parameters of the reset assembly 200 in the actual surgery.

[0117] For example, an annularly distributed angle scale line may be provided on the end of the connecting portion 2312 of the first connecting member 231 close to the intermediate connecting member 233, so as to determine the rotation angle of the intermediate connecting member 233 relative to the first connecting member 231. An annularly distributed angle scale line may be provided on the intermediate connecting member 233, so as to determine the rotation angle of the intermediate connecting member 233 relative to the second connecting member 232. A linearly distributed length scale line is provided on the guide portion 2322 of the second connecting member 232, so as to determine the translation distance of the intermediate connecting member 233 relative to the second connecting member 232. An annularly distributed angle scale line (not shown) is provided on the rotating portion 2321 of the second connecting member 232, so as to determine the rotation angle of the second connecting member 232 and the second fixing member 220.

[0118] Furthermore, at least one of the first fixing member 210 and the second fixing member 220 is provided with a length scale line, and at least one of the first connecting member 231, the second connecting member 232 and the intermediate connecting member 233 is provided with a length scale line. To achieve a visual display of the translational freedom. For example, when the first connecting member 231 slides along the first fixing member 210, the first fixing member 210 is provided with a length scale line to display the relative sliding distance between the first connecting member 231 and the first fixing member 210. Alternatively, when the second connecting member 232 slides along the second fixing member 220, the second fixing member 220 is provided with a length scale line to display the relative sliding distance between the second connecting member 232 and the second fixing member 220. Similarly, the first connecting member 231, the second connecting member 232 and the intermediate connecting member 233 that can move relative to any other one can also be provided with a length scale line to display the relative sliding distance between the two. Specifically, the other end of the first fixing member 210 away from the stab end may be provided with an angle scale line to facilitate identification and positioning of the rotation angle of the auxiliary reducer 230 relative to the first fixing member 210. The second fixing member 220 may be provided with a length scale line extending along its axial direction to facilitate identification and positioning of the translation displacement of the auxiliary reducer 230 relative to the second fixing member 220.

[0119] It is understandable that the original mark, such as the length scale line, can be used as a reference for determining the angle scale. Indicator marks can also be provided on the first connecting member 231, the second connecting member 232 and the intermediate connecting member 233 to facilitate the determination of the angle scale, which is not specifically limited here. It is understandable that the indicator mark can be any shape, pattern or combination of shape and pattern, as long as it is easy to identify.

[0120] Fig.10 A schematic diagram of a state of engagement of an analog reset module provided in an embodiment of the present application. Fig.11 Another schematic diagram of the state of the analog reset module provided in the embodiment of the present application is combined. Fig.10 and Fig.11 As shown, during simulated resetting, if the deflection angle between the first fixing member 210 and the second fixing member 220 respectively fixed to the first bone and the second bone is too large, the rotating portion 2321 can be separated from the second fixing member 220 first, and after the virtual resetting is completed, the rotating portion 2321 is quickly controlled to fit with the outer wall surface of the second fixing member 220 to achieve stable support.

[0121] In some embodiments, the first connector 231, the second connector 232 and the intermediate connector 233 are all provided with a locking portion. After completing the virtual reset and adjusting the actual orthopedic parameters of the auxiliary reducer 230 according to the reset parameters obtained, the original degree of freedom can be restricted by locking the locking portion provided on the first connector 231, the second connector 232 and the intermediate connector 233, so as to realize the fixed connection of the auxiliary reducer 230, so as to enhance the stability of the first bone and the second bone in the reset and fixation, and make the first bone and the second bone fixedly connected in a normal joint state. The locking portion can make the first connector 231, the second connector 232 and the intermediate connector 233 have two states of loosening or locking. In the loose state, the position and / or angle of the first connector 231, the second connector 232 and the intermediate connector 233 can be adjusted. In the locked state, the position and / or angle of the first connector 231, the second connector 232 and the intermediate connector 233 cannot be adjusted.

[0122] That is to say, when adjusting the auxiliary resetter 230 or the auxiliary resetter model 230b, the locking parts on each connecting member can be adjusted first to make the auxiliary resetter 230 in a loose state, and after the first connecting member 231, the second connecting member 232 and the intermediate connecting member 233 are adjusted to the position indicated by the reset parameter, each connecting member is locked to the corresponding position and / or angle through the locking part. This is to achieve the adjustment and fixation of the parameters of the reset assembly 200. The above-mentioned locking part can be threadedly connected, snap-fitted, pinned, and wedge-shapedly connected with the corresponding connecting member, and this embodiment does not impose specific restrictions on this, as long as the locking and loosening between the two components can be achieved.

[0123] For details, see Fig. 9 As shown, the auxiliary resetter 230 may include a first locking portion 2313, a second locking portion (not shown), a third locking portion 2333 and a fourth locking portion (not shown). The first locking portion 2313 is used to lock the first connecting member 231 to the first fixing member 210 or to loosen the first connecting member 231 from the first fixing member 210. The first locking portion 2313 may be a screw disposed on the first fixing member 210, and the first connecting member 231 may be fixedly / movably connected to the first fixing member by tightening or loosening the screw.

[0124] The second locking part and the third locking part 2333 are both arranged on the intermediate connecting member 233, and the second locking part is used to lock the intermediate connecting member 233 to the first connecting member 231 or to make the intermediate connecting member 233 loose from the first connecting member 231. The second locking part may include an abutting protrusion and a stopper. Specifically, the stopper may be in the form of a screw or a sleeve, as long as the first connecting member 231 and the intermediate connecting member 233 can be fixedly connected, and no specific limitation is made here. Taking the stopper as a screw as an example, the screw is movably connected to the guide shaft 2332, and the abutting protrusion is arranged on the periphery of the guide shaft 2332, and can be used as an indicator mark of the angle scale line. The side of the connecting part 2312 of the first connecting member 231 close to the guide sleeve 2331 abuts against the abutting protrusion. When locking is required, the side of the connecting part 2312 away from the guide sleeve 2331 can be locked by a screw, thereby realizing the fixed / movable connection between the first connecting member 231 and the intermediate connecting member 233. The third locking portion 2333 is used to lock the intermediate connecting member 233 to the second connecting member 232 or to loosen the intermediate connecting member 233 from the second connecting member 232. The third locking portion 2333 may be a screw disposed on the guide sleeve 2331 of the intermediate connecting member 233, and the fixed / movable connection between the intermediate connecting member 233 and the second connecting member 232 may be achieved by tightening or loosening the screw.

[0125] The fourth locking portion is used to lock the second connecting member 232 to the second fixing member 220 or to loosen the second connecting member 232 from the second fixing member 220. Specifically, the fourth locking portion can be configured as a screw passing through the rotating portion 2321, and the second connecting member 232 and the second fixing member 220 are fixedly / movably connected by tightening and loosening the screw.

[0126] Continue to refer to Fig.10 and Fig.11As shown, during the simulated resetting, the first fixing member model 210b is fixed to the first bone model 101b, the second fixing member model 220b is fixed to the second bone model 102b, and the three-dimensional model of the first connecting member 231, the three-dimensional model of the second connecting member 232 and the three-dimensional model of the intermediate connecting member 233 are assembled movably. That is, the first locking portion 2313, the second locking portion, the third locking portion 2333 and the fourth locking portion are all in a loose state.

[0127] Specifically, the three-dimensional model of the first connecting member 231 can be axially rotated relative to the first fixing member model 210b. The three-dimensional model of the intermediate connecting member 233 can be axially rotated relative to the three-dimensional model of the first connecting member 231. The three-dimensional model of the guide sleeve 2331 of the intermediate connecting member 233 can be axially translated and rotated along the three-dimensional model of the guide portion 2322 in the second connecting member 232. The three-dimensional model of the rotating portion 2321 of the second connecting member 232 can be axially translated and rotated along the second fixing member model 220b.

[0128] Therefore, when the first bone model 101b or the second bone model 102b is moved to achieve virtual reduction, the position and / or angle of the first connecting member 231, the second connecting member 232 and the intermediate connecting member 233 will change with the change of the position of the first fixing member model 210b and / or the second fixing member model 220b.

[0129] When the first bone model 101b and the second bone model 102b are normally joined, the reset parameters can be obtained according to the relative positions of the three-dimensional model of the first connecting member 231 and the first fixing member model 210b, the three-dimensional model of the second connecting member 232 and the second fixing member model 220b, and the three-dimensional model of the intermediate connecting member 233 and the three-dimensional model of the first connecting member 231 and the three-dimensional model of the second connecting member 232.

[0130] It should be noted that in actual surgery, the adjustment of the auxiliary resetter 230 can be achieved through manual operation or automatic operation. That is, the user can manually adjust the auxiliary resetter 230 according to the reset parameters and the scale line so that the connecting parts are set to the corresponding positions. It can also be achieved through automatic operation of the driving component and the control component, which is not specifically limited here.

[0131] Specifically, in automatic operation, the control component is electrically connected to the driving component, the driving component is mechanically connected to the auxiliary resetter 230, and the control component receives the reset parameters and controls the driving component to adjust the auxiliary resetter 230 according to the reset parameters so that the connecting components of the auxiliary resetter 230 are set at corresponding positions. This arrangement can speed up the adjustment speed of the auxiliary resetter 230 in actual surgery, improve surgical efficiency, and reduce the amount of manual operation as much as possible to avoid mistakes. In addition, this solution does not require additional scale lines.

[0132] As an implementation, the fracture reduction surgical navigation system provided in the embodiment of the present application may further include a display device, which is used to display the reduction parameters, and is easy to use. This embodiment does not impose any specific restrictions on this, as long as the auxiliary reduction device 230 can be adjusted to the position indicated by the reduction parameters according to the reduction parameters.

[0133] In a specific fracture reduction surgery, such as a femoral neck fracture reduction surgery, if the proximal femur is located in the fossa without dislocation, it is only necessary to move the distal femur to engage with the proximal femur. The proximal femur can be used as the first bone 101, the distal femur as the second bone 102, the auxiliary reducer 230 can be adjusted according to the reduction parameters, and one end of the auxiliary reducer 230 is fixed to the first fixing member 210, and then the second fixing member 220 is fixed to the other end of the auxiliary reducer 230 according to the reduction parameters. In this way, it is possible to avoid the traction of the auxiliary reducer 230 during the reduction process, resulting in damage to the auxiliary reducer 230 or wear and change of parameters, thereby reducing the risk of surgery and ensuring the accuracy of surgery. It should be understood that in other fracture reduction surgeries, the auxiliary reducer 230 can also be fixed to the second fixing member 220 first, and then the first fixing member 210 is fixed to the other end of the auxiliary reducer 230 to achieve reduction. The specific selection can be based on the actual situation of the patient, and this embodiment does not make specific restrictions on this.

[0134] Fig.12 A flowchart of a fracture reduction surgical navigation method provided in an embodiment of the present application is shown in FIG. Fig.12 As shown, the embodiment of the present application also provides a fracture reduction surgery navigation method. It is applied to any of the fracture reduction surgery navigation systems described above. The method includes:

[0135] S100, obtaining intraoperative positioning data, where the intraoperative positioning data includes position data of a first bone, position data of a second bone, position data of a first fixing member, and position data of a second fixing member.

[0136] The first bone, the second bone, the first fixture 210, and the second fixture 220 can be spatially positioned by using the position data of the first bone, the position data of the second bone, the position data of the first fixture 210, and the position data of the second fixture 220. Specifically, the intraoperative positioning data can be obtained by an intraoperative positioning device 300, such as a medical imaging device and a medical positioning device.

[0137] S200, obtaining a three-dimensional model of the patient's tissue and a three-dimensional model of the reduction component.

[0138] The three-dimensional model of the patient's tissue includes a first bone model 101b corresponding to the first bone and a second bone model 102b corresponding to the second bone. The three-dimensional model of the reduction assembly 200 includes a first fixture model 210b corresponding to the first fixture 210, a second fixture model 220b corresponding to the second fixture 220, and an auxiliary reducer model 230b corresponding to the auxiliary reducer 230.

[0139] S300, according to the position data obtained by the intraoperative positioning device, the first fixture model is fixed to the first bone model, and the second fixture model is fixed to the second bone model.

[0140] The first fixture model 210b and the second fixture model 220b may be obtained based on a three-dimensional design tool or a three-dimensional scanning device. The first bone model 101b and the second bone model 102b may be obtained based on three-dimensional reconstruction of the patient's bone tissue.

[0141] S400, the first bone model is joined with the second bone model to achieve virtual reduction, and the reduction parameters of the auxiliary reduction device model are obtained.

[0142] Virtual resetting means that the first bone model 101b and the second bone model 102b are restored to their original normal combination state by adjusting the relative positions of the first bone model 101b and the second bone model 102b on the three-dimensional model. At this time, the auxiliary resetting device model 230b with a certain degree of freedom can be adaptively changed to achieve auxiliary support and fixation of the first bone model 101b and the second bone model 102b.

[0143] S500, adjusting the orthopedic parameters corresponding to the auxiliary repositioner in the actual surgery according to the repositioning parameters.

[0144] After the virtual reduction is completed, the corresponding reduction parameters can be used as a reference for the orthopedic parameters adjusted by the auxiliary reduction device 230 in the actual surgery to achieve actual reduction.

[0145] The fracture reduction surgical navigation method provided in the embodiment of the present application, by restoring the relative positional relationship between the first fixing member 210 and the first bone, and the relative positional relationship between the second fixing member 220 and the second bone during the operation to the virtual model, and by adjusting the virtual model to virtually join the first bone and the second bone, eliminates the tedious process of repeated reduction operations and taking X-rays for verification one by one in actual surgery, and also improves the accuracy of fracture reduction. It solves the problem in the prior art that it is difficult for doctors to quickly and accurately achieve the reduction of the first bone and the second bone involved in the fracture.

[0146] The following is a detailed description of the fracture reduction surgical navigation method. In some embodiments, when the position data acquired by the intraoperative positioning device 300 includes the first bone image 101a, the second bone image 102a, the first fixture image 210a, and the second fixture image 220a acquired based on the medical imaging device, the first fixture model 210b is fixed to the first bone model 101b, and the second fixture model 220b is fixed to the second bone model 102b, specifically including:

[0147] The first bone model 101b is aligned with the first bone image 101a, the second bone model 102b is aligned with the second bone image 102a, the first fixture model 210b is aligned with the first fixture image 210a, and the second fixture model 220b is aligned with the second fixture image 220a. The alignment operation can achieve alignment and determination of the position by comprehensive comparison with medical image data from multiple angles.

[0148] Then, the aligned first fixture model 210b is fixed to the first bone model 101b, and the aligned second fixture model 220b is fixed to the second bone model 102b. It should be noted that the fixing operation can be achieved by using the three-dimensional model tool, which will not be described in detail here.

[0149] In other embodiments, when the position data acquired by the intraoperative positioning device 300 includes the intraoperative position of the first bone, the intraoperative position of the second bone, the intraoperative position of the first fixture 210, and the intraoperative position of the second fixture 220 acquired based on the medical positioning device, fixing the first fixture model 210b to the first bone model 101b and fixing the second fixture model 220b to the second bone model 102b specifically includes:

[0150] The first bone model 101b is positioned at a position corresponding to the intraoperative position of the first bone, the second bone model 102b is positioned at a position corresponding to the intraoperative position of the second bone, the first fixture model 210b is positioned at a position corresponding to the intraoperative position of the first fixture 210, and the second fixture model 220b is positioned at a position corresponding to the intraoperative position of the second fixture 220. The positioning operation can convert the spatial coordinates of the intraoperative position of the first bone, the spatial coordinates of the intraoperative position of the second bone, the spatial coordinates of the intraoperative position of the first fixture 210, and the spatial coordinates of the intraoperative position of the second fixture 220 into a three-dimensional model coordinate system, thereby achieving accurate positioning.

[0151] The positioned first fixture model 210b is fixed to the first bone model 101b, and the positioned second fixture model 220b is fixed to the second bone model 102b.

[0152] The fracture reduction surgical navigation method provided in the above embodiment classifies the features of different intraoperative positioning data and sets different processing units accordingly, thereby expanding the application scenarios of the fracture reduction surgical navigation method.

[0153] The further operation methods of the above steps, the specific structure of the reduction assembly 200 and the beneficial effects corresponding to the embodiments can all refer to the corresponding parts of the above-mentioned fracture reduction surgical navigation system, which will not be described in detail here.

[0154] An embodiment of the present application also provides a computer device, which includes: a processor, a memory, and computer execution instructions stored in the memory and executable on the processor. When the processor executes the computer execution instructions, the above-mentioned fracture reduction surgical navigation method is implemented. To avoid repetition, it is not described here one by one.

[0155] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned fracture reduction surgical navigation method.

[0156] The present application also provides a computer program product, including a computer program, which implements the above-mentioned fracture reduction surgical navigation method when executed by a processor.

[0157] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0158] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A fracture reduction surgical navigation system, characterized in that: include: A reduction assembly, comprising a first fixing member, a second fixing member and an auxiliary reduction device; wherein the first fixing member is fixedly connected to a first bone, the second fixing member is fixedly connected to a second bone, and the first bone and the second bone are at least partially separated; the auxiliary reduction device is movably connected between the first fixing member and the second fixing member, and the auxiliary reduction device comprises a plurality of movably connected components; the total degree of freedom of the kinematic pairs formed by the first fixing member, the second fixing member and the plurality of the components is at least 6; The kinematic pairs formed by the first fixing member, the second fixing member and the plurality of components can provide at least three degrees of rotational freedom, so that at least part of the components can rotate around the first axis, the second axis and the third axis, and the auxiliary resetter can follow the first fixing member and the second fixing member to move in a 360° space, and the first axis, the second axis and the third axis are perpendicular to each other; An intraoperative positioning device, used to obtain the position data of the first bone, the position data of the second bone, the position data of the first fixture, and the position data of the second fixture; a three-dimensional model acquisition module, used to acquire a three-dimensional model of the patient's tissue and a three-dimensional model of the reduction component; the three-dimensional model of the patient's tissue includes a first bone model corresponding to the first bone and a second bone model corresponding to the second bone; the three-dimensional model of the reduction component includes a first fixing member model corresponding to the first fixing member, a second fixing member model corresponding to the second fixing member, and an auxiliary reduction device model corresponding to the auxiliary reduction device; a simulation fixation module, used for fixing the first fixture model to the first bone model and fixing the second fixture model to the second bone model according to the position data acquired by the intraoperative positioning device; The simulation reduction module is used to make the second bone model join with the first bone model to achieve virtual reduction, and obtain the reduction parameters of the auxiliary reduction device model to guide the actual reduction.

2. The fracture reduction surgical navigation system according to claim 1, characterized in that: At least one of the plurality of members is movable along at least one of the first axis, the second axis, and the third axis to provide at least one translational degree of freedom.

3. The fracture reduction surgical navigation system according to claim 1, characterized in that: The three-dimensional model of the patient tissue includes at least one of a preoperative three-dimensional tissue model and an intraoperative three-dimensional tissue model.

4. The fracture reduction surgical navigation system according to claim 3, characterized in that: When the three-dimensional model of the patient tissue is the preoperative three-dimensional model of the tissue, the fracture reduction surgery navigation system further includes: The pre-reset module is used to determine the virtual reset position between the first bone model and the second bone model according to the preoperative three-dimensional tissue model; the simulation reset module is used to realize virtual reset according to the virtual reset position.

5. The fracture reduction surgical navigation system according to any one of claims 1 to 4, characterized in that: The intraoperative positioning device includes at least one of a medical imaging device and a medical positioning device; The medical imaging device is used to obtain intraoperative imaging data of the first bone, intraoperative imaging data of the second bone, intraoperative imaging data of the first fixture, and intraoperative imaging data of the second fixture; The medical positioning device is used to obtain intraoperative position data of the first bone, intraoperative position data of the second bone, intraoperative position data of the first fixture, and intraoperative position data of the second fixture.

6. The fracture reduction surgical navigation system according to claim 5, characterized in that: The intraoperative image data includes transmission images at least two different angles.

7. The fracture reduction surgical navigation system according to claim 6, characterized in that: The intraoperative image data includes a coronal plane transmission image and a sagittal plane transmission image.

8. The fracture reduction surgical navigation system according to any one of claims 1 to 4, characterized in that: The plurality of movable connected components include: a first connecting member, rotatably connected to the first fixing member; A second connecting member, rotatably connected to the second fixing member so as to rotate around the first axis; an intermediate connecting member, movably connected between the first connecting member and the second connecting member, and relatively rotating with the first connecting member around the second axis and relatively rotating with the second connecting member around the third axis; The first connecting member slides along the first fixing member and / or the second connecting member slides along the second fixing member; the intermediate connecting member moves axially along the second axis and / or the intermediate connecting member moves axially along the third axis.

9. The fracture reduction surgical navigation system according to claim 8, characterized in that: The first connecting member, the second connecting member and the intermediate connecting member are all provided with angle scale lines, at least one of the first fixing member and the second fixing member is provided with length scale lines, and at least one of the first connecting member, the second connecting member and the intermediate connecting member is provided with length scale lines.

10. The fracture reduction surgical navigation system according to claim 8, characterized in that: The first connecting member comprises a main body and a connecting portion connected to each other, the main body is rotatably connected to the first fixing member, and the connecting portion is rotatably connected to the intermediate connecting member; The second connecting member includes a rotating portion and a guiding portion connected to each other, the rotating portion is rotatably connected to the second fixing member, and the guiding portion extends in a direction away from the second fixing member; The intermediate connecting member comprises a guide sleeve and a guide shaft connected to each other. The guide sleeve is sleeved on the guide portion, and the guide shaft is rotatably connected to the connecting portion.

11. The fracture reduction surgical navigation system according to claim 10, characterized in that: The rotating part is a semi-arc plate, and the semi-arc plate is attached to the outer wall surface of the second fixing member.

12. The fracture reduction surgical navigation system according to claim 8, characterized in that: The first connecting member, the second connecting member and the middle connecting member are all provided with locking parts.

13. A fracture reduction surgery navigation method, applied to the fracture reduction surgery navigation system according to any one of claims 1 to 12, characterized in that: include: Acquiring intraoperative positioning data, wherein the intraoperative positioning data includes position data of the first bone, position data of the second bone, position data of the first fixture, and position data of the second fixture; Acquire a three-dimensional model of the patient's tissue and a three-dimensional model of the reduction component; the three-dimensional model of the patient's tissue includes a first bone model corresponding to the first bone and a second bone model corresponding to the second bone; the three-dimensional model of the reduction component includes a first fixture model corresponding to the first fixture, a second fixture model corresponding to the second fixture, and an auxiliary reducer model corresponding to the auxiliary reducer; According to the position data acquired by the intraoperative positioning device, the first fixture model is fixed to the first bone model, and the second fixture model is fixed to the second bone model; engaging the first bone model with the second bone model to achieve virtual reduction, and obtaining reduction parameters of the auxiliary reduction device model; The orthopedic parameters corresponding to the auxiliary repositioner in the actual operation are adjusted according to the repositioning parameters.

14. The fracture reduction surgical navigation method according to claim 13, characterized in that: When the position data acquired by the intraoperative positioning device includes a first bone image, a second bone image, a first fixture image, and a second fixture image acquired based on a medical imaging device, fixing the first fixture model to the first bone model and fixing the second fixture model to the second bone model comprises: Aligning the first bone model with the first bone image, aligning the second bone model with the second bone image, aligning the first fixture model with the first fixture image, and aligning the second fixture model with the second fixture image; The aligned first fixture model is fixed on the first bone model, and the aligned second fixture model is fixed on the second bone model.

15. The fracture reduction surgical navigation method according to claim 13, characterized in that: When the position data acquired by the intraoperative positioning device includes the intraoperative position of a first bone, the intraoperative position of a second bone, the intraoperative position of a first fixture, and the intraoperative position of a second fixture acquired based on a medical positioning device, fixing the first fixture model to the first bone model and fixing the second fixture model to the second bone model comprises: Positioning the first bone model at a position corresponding to the first bone intraoperative position, positioning the second bone model at a position corresponding to the second bone intraoperative position, positioning the first fixture model at a position corresponding to the first fixture intraoperative position, positioning the second fixture model at a position corresponding to the second fixture intraoperative position; The positioned first fixture model is fixed to the first bone model, and the positioned second fixture model is fixed to the second bone model.

16. A computer device, characterized in that: include: Memory and processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 13 to 15.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 13 to 15 when executed by a processor.

18. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 13 to 15 when being executed by a processor.

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