Calibration apparatus and navigation device data processing method

Abstract

The embodiment of the present application provides a calibration device and a navigation device data processing method, the calibration device comprises: an upper frame body used for containing a navigation device, the navigation device comprises a reference device and a measurer; a lower frame body connected with the upper frame body and used for supporting the upper frame body, and a plurality of supporting surfaces are formed at the bottom of the lower frame body, and the angle positions of the plurality of supporting surfaces are different relative to the upper frame body. The calibration device provided by the present application is used for assisting the navigation device to perform data checking, and effectively improves the accuracy of force line measurement and evaluation in knee joint surgery.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the field of orthopedic medical devices, in particular to a calibration device and a navigation device data processing method. BACKGROUND

[0002] In knee replacement surgery, restoring the normal force line of the knee joint is crucial to ensure the success of the surgery. The force line of the knee joint generally refers to a straight line from the center of the hip joint to the center of the ankle joint, which should pass through the center of the knee joint. If the force line deviates from the normal position, it may cause excessive wear of the joint, uneven load distribution when the knee joint moves, cause the patient's knee joint to be painful, and produce joint dysfunction, thereby leading to surgical failure.

[0003] Traditional knee replacement surgery usually relies on the surgeon's vision and experience to judge the osteotomy position and the prosthesis placement position, so the overall error is large. Due to individual anatomical differences and potential errors during the operation, the operator cannot guarantee that the normal force line of the knee joint is accurately restored in each operation. This uncertainty will greatly affect the postoperative alignment of the femur and tibia, or with the prosthesis, and will long-term affect the surgical results.

[0004] At present, low-cost MEMS attitude sensors are used for navigation in replacement surgery to determine the force line of the knee joint, but the navigation error of the knee joint based on a single sensor in the navigation device is large, and the navigation based on double sensors can improve the accuracy, but the double-sensor navigation involves mutual correction between the two sensors. The general double-machine navigation verification method has many error chain links and cannot eliminate the errors in the double-machine navigation of knee replacement, including the installation error of the two sensors and the correction of the angle output distortion caused by the cross-axis coupling problem. SUMMARY

[0005] The present application provides a calibration device and a navigation device data processing method for navigation device data verification and processing, which can effectively improve the accuracy of force line measurement and evaluation in knee surgery.

[0006] In order to solve the above technical problems, the embodiment of the present application provides a calibration device, which comprises:

[0007] An upper shelf body for containing a navigation device, the navigation device comprising a reference device and a measuring device;

[0008] A lower shelf body connected to the upper shelf body for supporting the upper shelf body, the bottom of the lower shelf body forming a plurality of support surfaces, and the plurality of support surfaces having different angles and orientations relative to the upper shelf body.

[0009] In some embodiments, the upper shelf body is a rectangular cuboid.

[0010] In some embodiments, the lower frame body is a cuboid with a longitudinal section in the shape of an isosceles trapezoid, a bottom surface with a larger size of the lower frame body is connected with the upper frame body, and the included angle between the inclined surface on both sides of the lower frame body and the plane where the upper frame body is located is 45°.

[0011] Another embodiment of the present application simultaneously provides a navigation device data processing method, comprising:

[0012] Obtaining attitude data of a reference device and a measuring device in the navigation device in different orientations, the reference device and the measuring device are simultaneously placed in the calibration tool according to any one of the above embodiments, and the attitude data is obtained by the reference device and the measuring device when the calibration tool simultaneously places the reference device and the measuring device in different orientations;

[0013] Calculating the angular deviation between the measuring device and the reference device in each orientation based on the attitude data;

[0014] Determining target deviation values of the reference device and the measuring device on the x-axis, the y-axis and the z-axis based on the angular deviation corresponding to different orientations;

[0015] Obtaining force line data measured by the reference device;

[0016] Combining the target deviation values to perform error compensation and vector transfer on the force line data, and obtaining force line data in the coordinates of the measuring device.

[0017] In some embodiments, the obtaining of the attitude data of the reference device and the measuring device in the navigation device in different orientations comprises:

[0018] Obtaining attitude data of the reference device and the measuring device in a horizontal orientation, a vertical orientation and an orientation at an angle of 45° with the horizontal plane, and the attitude data at least includes acceleration variable data of the x-axis, the y-axis and the z-axis.

[0019] In some embodiments, the calculating of the angular deviation between the measuring device and the reference device in each orientation based on the attitude data comprises:

[0020] Calculating the angular deviation between the measuring device and the reference device on each axis in the horizontal orientation and the vertical orientation based on the acceleration variable data of the x-axis, the y-axis and the z-axis;

[0021] Wherein, the angular deviation between the measuring device and the reference device on each axis in the horizontal orientation and the vertical orientation is calculated based on the following formula:

[0022] Each axis angular deviation = 57.3 * arcsin (reference device x / y-axis data - measuring device x / y-axis data).

[0023] In some embodiments, the determining the target deviation value of the reference device and the measuring device on the x-axis, the y-axis and the z-axis based on the angle deviation corresponding to different orientations comprises:

[0024] selecting a candidate angle deviation on each axis from the angle deviations of the measuring device and the reference device on each axis in the horizontal orientation and the vertical orientation;

[0025] constructing a first conversion matrix based on the candidate angle deviation, the first conversion matrix being used to convert data collected by the measuring device in its coordinate system to the coordinate system of the reference device;

[0026] verifying the candidate angle deviation based on the first conversion matrix and acceleration variable data collected by the measuring device in an orientation of 45° to the horizontal plane, and if the verification is passed, determining the candidate angle deviation as the target deviation value.

[0027] In some embodiments, the verifying the candidate angle deviation based on the first conversion matrix and acceleration variable data collected by the measuring device in an orientation of 45° to the horizontal plane comprises:

[0028] performing coordinate system conversion on the acceleration variable data collected by the measuring device in an orientation of 45° to the horizontal plane based on the first conversion matrix;

[0029] calculating the angle deviation between the converted acceleration variable data of the measuring device and acceleration variable data collected by the reference device in an orientation of 45° to the horizontal plane;

[0030] if the angle deviation is within a preset range, it is indicated that the verification is passed.

[0031] In some embodiments, the error compensation and vector transfer of the force line data in combination with the target deviation value to obtain force line data in the coordinate of the measuring device comprises:

[0032] obtaining the pitch angle and the roll angle collected by the reference device, and calculating a first attitude matrix of the reference device based on the pitch angle and the roll angle collected by the reference device;

[0033] obtaining the pitch angle and the roll angle collected by the measuring device, and calculating a second attitude matrix of the measuring device based on the pitch angle and the roll angle collected by the measuring device;

[0034] calculating and determining the output error compensation of the z-axis of the reference device based on the pitch angle and the roll angle collected by the reference device, the pitch angle and the roll angle collected by the measuring device, and the target deviation value corresponding to the z-axis;

[0035] Compensate for the x-axis and y-axis output errors of the reference device based on the z-axis output error compensation, the first attitude matrix, the second attitude matrix, the target deviation values of the corresponding x-axis and y-axis, and the first conversion matrix, and calculate the included angle between the projection of the force line data on the x-axis and the x-axis, and the included angle between the projection of the force line data on the y-axis and the y-axis.

[0036] Vector shift the force line data based on the included angles.

[0037] In some embodiments, the vector shift of the force line data based on the included angles comprises:

[0038] Constructing a second conversion matrix based on the included angles.

[0039] Vector shifting the force line data based on the second conversion matrix.

[0040] Another embodiment of the present application also provides an electronic device, comprising:

[0041] One or more processors;

[0042] Memory configured to store one or more programs;

[0043] When the one or more programs are executed by the one or more processors, the one or more processors implement the navigator data processing method according to any one of the above embodiments.

[0044] Based on the disclosure of the above embodiments, the embodiment of the present application has the beneficial effect that the proposed method can simultaneously realize the calibration of the double sensors in the knee joint navigator and the vector shift of the force line data, so that the system calculates the anteversion and retroversion angle and the varus and valgus angle between the osteotomy surface and the force line based on the calibrated force line data, significantly improves the processing precision, reduces the error chain link in the double-machine navigation process, improves the accuracy of intraoperative force line measurement and evaluation, helps the doctor to adjust the alignment of the knee joint and the alignment of the prosthesis, ensures the functional recovery and correctness of the force line of the patient after the operation, prolongs the service life of the prosthesis, and reduces the postoperative complications.

[0045] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and achieved by the structure particularly pointed out in the written description, claims, and drawings.

[0046] The technical solutions of the present application will be further described in detail below with the help of the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given to the drawings required in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0048] Figure 1 The structure schematic diagram of the calibration apparatus in the embodiment of the present application.

[0049] Figure 2 The application structure schematic diagram of the calibration apparatus in the embodiment of the present application.

[0050] Figure 3 The flow schematic diagram of the navigation device processing method in the embodiment of the present application. DETAILED DESCRIPTION

[0051] In the following, specific embodiments of the present application will be described in detail with reference to the accompanying drawings, but not as a limitation of the present application.

[0052] It should be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the following description should not be considered to be limiting, but merely an example of embodiments. Those skilled in the art will think of other modifications within the scope of the present disclosure.

[0053] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0054] These and other characteristics of the present application will become more apparent from the following description of the preferred forms given, by way of non-limiting example, with reference to the attached drawings.

[0055] It should also be understood that, although the present application has been described with reference to some specific examples, a person skilled in the art can certainly implement many other equivalent forms of the present application, which have the characteristics as claimed and thus all fall within the protection scope defined thereby.

[0056] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, which should be construed in a illustrative, but not restrictive sense.

[0057] Specific embodiments of the present disclosure are described herein with reference to the accompanying drawings. However, it should be understood that the disclosed embodiments are merely examples of implementing the present disclosure and that a person of ordinary skill in the art can implement the present disclosure in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present disclosure. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but are merely used as a basis for the claims and a representative basis for teaching those skilled in the art to diversely use the present disclosure in substantially any appropriate detailed structure.

[0058] The specification can use phrases such as "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", which can refer to one or more of the same or different embodiments under the present disclosure.

[0059] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0060] As shown in Figure 1 and Figure 2 The present embodiment provides a calibration device, comprising:

[0061] An upper shelf body 1 is used to accommodate a navigator, and the navigator comprises a reference device 3 and a measuring device 4.

[0062] A lower shelf body 2 is connected with the upper shelf body and is used to support the upper shelf body 1. The lower shelf body 2 has a plurality of support surfaces 5 formed at the bottom, and the plurality of support surfaces 5 have different angles and orientations relative to the upper shelf body 1.

[0063] In the present embodiment, the upper shelf body 1 is a cuboid with a rectangular cross section. The upper shelf body 1 can be a box with a closed periphery, or a frame body with an open periphery. The lower shelf body 2 is a cuboid with an isosceles trapezoidal longitudinal cross section. The bottom surface of the lower shelf body 2, which corresponds to the lower base of the trapezoid, is connected with the bottom of the upper shelf body 1. The included angle between the inclined surfaces on both sides of the lower shelf body 2 and the plane on which the upper shelf body 1 is located is 45°. Of course, it can also be other angles, which can be flexibly configured, and the scheme is indefinite. In the present embodiment, 45° is taken as an example for illustration.

[0064] In an embodiment, the calibration device needs to meet the following conditions:

[0065] Two sensors, such as the measuring device 4 and the reference device 3, can be simultaneously accommodated, and the positions of the two sensors are fixed relative to the calibration device, that is, the two sensors can be stably accommodated, and the positions of the two sensors remain relatively fixed in the case that the calibration device is placed in the horizontal support surface (the navigator is placed horizontally), the inclined surface (the navigator is placed at an angle of 45° with the horizontal surface), and the vertical surface based on the upper frame body 1 (the navigator is placed vertically), that is, after the positions of the sensors are fixed when placed horizontally, the positions of the sensors remain unchanged relative to the calibration device regardless of how the calibration device is placed.

[0066] Restoring the knee force line is one of the core goals of total knee arthroplasty (TKA), and good force line alignment directly affects the postoperative function and the service life of the prosthesis. However, due to individual anatomical differences, image limitations and other factors, it is difficult to accurately determine the lower limb force line of the patient during the operation. To solve this problem, a navigator is usually used to assist in determining the force line, and the navigator usually includes a MEMS attitude sensor, which specifically includes a gyroscope, an accelerometer, an electronic compass, etc. When using double-machine (double-sensor) navigation, the reference device obtains the femoral head center coordinates by shaking the femur using the MEMS attitude sensor, and determines the force line accordingly. The data processing device or the measuring device can calculate the varus and valgus angles and the anteversion and retroversion angles of the bone cut according to the angle between the position of the measuring device and the force line. In order to ensure the accuracy of the angle output, it is necessary to analyze the error components that may occur and eliminate them. In addition to the calculation error caused by the navigation algorithm, the error components at least include: the output error of the low-cost MEMS attitude sensor, the angle error of the IMU installed on the circuit board, and the angle error of the circuit board installed on the navigator shell.

[0067] The marble platform leveling method is usually used to eliminate the installation error, that is, the measuring device and the reference device are placed on a marble platform, and the marble platform has been leveled with a level. At this time, the measurement angles BX and BY in two directions are recorded, and the original angles are subtracted from BX and BY in the subsequent algorithm calculation, thereby completing the error calibration process. However, this method is suitable for measuring in the approximate horizontal direction, and the double-machine in the knee replacement is installed at the distal end of the patient's knee joint, and the angle reaches 45°, which may cause cross-axis coupling. Therefore, the existing method cannot eliminate the error in the knee replacement double-machine navigation. In order to solve this technical problem, as shown in Figure 3 The navigation device data processing method provided by the present application comprises the following steps:

[0068] S1: Obtain the attitude data collected by the reference device and the measuring device in the navigation device in different directions, wherein the reference device and the measuring device are placed in the calibration device as described above, and the attitude data is collected by the reference device and the measuring device when the reference device and the measuring device are placed in different directions based on the calibration device;

[0069] S2: calculating the angle deviation between the measurer and the reference device in each orientation based on the attitude data;

[0070] S3: determining the target deviation values of the reference device and the measurer on the x-axis, y-axis and z-axis based on the angle deviation corresponding to different orientations;

[0071] S4: obtaining the force line data measured by the reference device;

[0072] S5: combining the force line data with the target deviation values to perform error compensation and vector transfer, and obtaining the force line data in the coordinates of the measurer.

[0073] The obtained attitude data of the reference device and the measurer in the navigation device in different orientations includes:

[0074] S6: obtaining the attitude data of the reference device and the measurer collected in the horizontal orientation, the vertical orientation and the orientation of 45° with the horizontal plane, and the attitude data at least includes the acceleration variable data of the x-axis, y-axis and z-axis.

[0075] That is, three sets of data corresponding to the reference device and the measurer are obtained, and the data collected by the reference device is denoted as M{X, Y, Z}, and the data collected by the measurer is denoted as S{X, Y, Z}. The indices of M{X, Y, Z} and S{X, Y, Z} are different corresponding to different groups. For example, the data collected by the reference device and the measurer in the horizontal orientation is denoted as M1{X, Y, Z} and S1{X, Y, Z}, the data collected by the reference device and the measurer in the vertical orientation is denoted as M2{X, Y, Z} and S2{X, Y, Z}, and the data collected by the reference device and the measurer in the 45° orientation is denoted as M3{X, Y, Z} and S3{X, Y, Z}.

[0076] The angle deviation between the measurer and the reference device in each orientation based on the attitude data includes:

[0077] S7: calculating the angle deviation of the measurer and the reference device on each axis in the horizontal orientation and the vertical orientation based on the acceleration variable data of the x-axis, y-axis and z-axis;

[0078] The angle deviation of the measurer and the reference device on each axis in the horizontal orientation and the vertical orientation is calculated based on the following formula:

[0079] S8: each axis angle deviation = 57.3 arcsin (reference device x / y axis data - measurer x / y axis data).

[0080] For example, in the horizontal orientation (X-axis is placed horizontally), a first set of deviation angles is calculated based on M1{X, Y, Z}, S1{X, Y, Z} as follows:

[0081] aX= 57.3 arcsin (M1X-S1X)

[0082] aY= 57.3 arcsin (M1Y-S1Y)

[0083] aZ= 57.3 arcsin (M1Z-S1Z)

[0084] In the vertical orientation (X-axis is placed vertically), a second set of deviation angles is calculated based on M2{X, Y, Z}, S2{X, Y, Z} as follows:

[0085] bX = 57.3 arcsin (M2X-S2X)

[0086] bY = 57.3 arcsin (M2Y-S2Y)

[0087] bZ= 57.3 arcsin (M2Z-S2Z)

[0088] A third set of data M3{X, Y, Z}, S3{X, Y, Z}, i.e. the data corresponding to the 45° angle orientation, is used to verify the above six deviation angles and determine the actual deviation angle, i.e. the target deviation value.

[0089] The target deviation value of the reference device and the measuring device on the x-axis, y-axis and z-axis based on the angle deviation calculation corresponding to different orientations comprises:

[0090] S9: selecting a candidate angle deviation on each axis from the angle deviations of the measuring device and the reference device on each axis in the horizontal orientation and the vertical orientation;

[0091] S10: constructing a first conversion matrix based on the candidate angle deviation, the first conversion matrix being used to convert the data collected by the measuring device in its coordinate system to the coordinate system of the reference device;

[0092] S11: verifying the candidate angle deviation based on the first conversion matrix and the acceleration variable data collected by the measuring device in the orientation at an angle of 45° with the horizontal plane, and if the verification is passed, the candidate angle deviation is determined as the target deviation value.

[0093] The candidate angle deviation is verified based on the first conversion matrix and acceleration variable data collected by the measurer in a 45° angle with the horizontal plane, and the verification includes:

[0094] S12: Coordinate system conversion is performed on the acceleration variable data collected by the measurer in a 45° angle with the horizontal plane based on the first conversion matrix;

[0095] S13: An angle deviation between the converted acceleration variable data of the measurer and acceleration variable data collected by the reference in a 45° angle with the horizontal plane is calculated;

[0096] S14: If the angle deviation is within a preset range, the verification is passed.

[0097] For example, six deviation angles can be selected to determine the candidate angle deviation according to spatial analytic geometry and coordinate system selection rules, or the candidate angle deviation can be formed by combination one by one. In this embodiment, the candidate angle deviation is determined based on the x-axis, y-axis horizontal and z-axis downward coordinate system as follows: φ X=βX, φ Y=βZ, φ Z=αY Then, based on the candidate angle deviation, a first conversion matrix for converting data collected by the measurer in its coordinate system to the coordinate system of the reference is constructed, and the conversion matrix is used to convert the data collected by the measurer in a 45° angle, and then the converted data is subtracted from the data collected by the reference in a 45° angle to calculate the deviation values Δα x , Δα y , Δα z of the three coordinate axes. For details, refer to the following formula:

[0098]

[0099] Wherein, are the axis data collected by the measurer ( S ), the reference ( M ) in a 45° angle. After obtaining the deviation values Δα x , Δα y , Δα z , it can be determined whether they are all within the threshold range of (-0.01, 0.01). If so, the candidate angle deviation is the target deviation value, that is, the target angle deviation used for subsequent calibration.

[0100] After the deviation angle is determined, the navigator can be put into use, and through the cooperation of the measuring device and the reference device, the reference device obtains the force line data. The force line data and the attitude data of the reference device and the measuring device collected during the force line measurement process are uploaded at the same time, so that the system (such as a data processing device system) performs error compensation and vector transfer processing on the force line data.

[0101] Specifically, the error compensation and vector transfer of the force line data based on the target deviation value include:

[0102] S15: Obtain the pitch angle and roll angle collected by the reference device, and calculate the first attitude matrix of the reference device based on the pitch angle and roll angle collected by the reference device;

[0103] S16: Obtain the pitch angle and roll angle collected by the measuring device, and calculate the second attitude matrix of the measuring device based on the pitch angle and roll angle collected by the measuring device;

[0104] S17: Calculate and determine the z-axis output error compensation of the reference device based on the pitch angle and roll angle collected by the reference device, the pitch angle and roll angle collected by the measuring device, and the target deviation value corresponding to the z-axis;

[0105] S18: Compensate the x-axis and y-axis output errors of the reference device based on the z-axis output error compensation, the first attitude matrix, the second attitude matrix, the target deviation values corresponding to the x-axis and the y-axis, and the first conversion matrix, and calculate the included angle between the projection of the force line data on the x-axis and the x-axis, and the included angle between the projection of the force line data on the y-axis and the y-axis;

[0106] S19: Perform vector transfer on the force line data based on each of the included angles.

[0107] Wherein, the vector transfer of the force line data based on each of the included angles includes:

[0108] S20: Construct a second conversion matrix based on each of the included angles;

[0109] S21: Perform vector transfer on the force line data based on the second conversion matrix.

[0110] For example, the reference device a and the measuring device b obtain the reference device pitch angle , the reference device roll angle , the measuring device pitch angle , and the measuring device roll angle . Then, based on the obtained angle data, the first attitude matrix of the reference device , and the second attitude matrix of the measuring device :

[0111]

[0112] Then, based on the reference device, the angles of the measuring device and the previously obtained target deviation values of the corresponding z-axis, the z-axis output error compensation is calculated by combining the following z-axis error formula:

[0113]

[0114] Then, based on the z-axis output error compensation, the following matrix is constructed , and based on the matrix , the first attitude matrix, the second attitude matrix, the first conversion matrix and the target deviation values of the corresponding x-axis and y-axis, the output compensation of the reference device on the x-axis and y-axis is obtained, and the projection of the error-compensated force line data on the x-axis and the x-axis β , and the projection of the force line data on the y-axis and the y-axis α :

[0115]

[0116] After obtaining the error-compensated angles, a second conversion matrix can be constructed according to the angles, and the second conversion matrix is used to transfer the force line data output by the reference device, i.e. the force line vector to the measuring device, i.e. the force line vector in the coordinate system of the bone cutting surface :

[0117]

[0118] Thus, the error correction and vector transfer of the force line data navigated by the reference device are completed.

[0119] According to the force line vector , the front-back inclination angle and the varus-valgus angle between the current bone cutting surface and the force line can be calculated, and the calculation formula is as follows:

[0120]

[0121] Further, another embodiment of the present application also provides a navigation system, comprising:

[0122] a navigation device comprising a reference device and a measuring device;

[0123] a processing device for executing the navigation device data processing method according to any one of the above embodiments according to the data uploaded by the reference device and the measuring device.

[0124] Further, another embodiment of the present application provides an electronic device, comprising:

[0125] one or more processors;

[0126] a memory configured to store one or more programs;

[0127] when the one or more programs are executed by the one or more processors, cause the one or more processors to implement the navigator data processing method as in any above embodiment.

[0128] Further, an embodiment of the present application also provides a storage medium having stored thereon a computer program, which, when executed by a processor, implements the navigator data processing method as above. It should be understood that each scheme in this embodiment has the corresponding technical effects in the above method embodiments, which will not be described here.

[0129] Further, an embodiment of the present application also provides a computer program product, which is tangibly stored on a computer readable medium and includes computer readable instructions that, when executed, cause at least one processor to perform a navigator data processing method such as in the above embodiments.

[0130] It should be noted that the computer storage media of the present application can be computer-readable signal media or computer-readable storage media or any combination of the two. The computer-readable media can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or apparatus or device, or any suitable combination of the foregoing. More specific examples of the computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, the computer-readable storage media can be any tangible medium that can contain or store the program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, the computer-readable signal media can include a computer-readable program code that can be transmitted or received from a computer-readable storage media over a carrier wave or a bus. Such a computer-readable signal media can take many forms, including but not limited to, a modulated data signal, a carrier wave, a radio frequency (RF) signal, an optical signal, or any suitable combination of the foregoing. The computer-readable signal media can also be any computer-readable medium that can be transitory, including but not limited to, a computer-readable program code that can be transmitted or received from a computer-readable storage media over a carrier wave or a bus. The program code carried by the computer-readable signal media can be transmitted or received using any suitable medium, including but not limited to, wireless, optical, cable, RF, or the like, or any suitable combination of the foregoing.

[0131] In addition, those skilled in the art will appreciate that embodiments of the present application can be provided as a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-readable storage media (including, but not limited to, disk memory and optical memory) having computer usable program code embodied in the medium.

[0132] The present application is described in reference to the flowchart illustrations and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1one or more processes and / or blocks Figure 1 a system of one or more computers in order to direct the system to function in a particular manner,

[0133] Such computer program instructions can also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, or other Figure 1 one or more processes and / or blocks Figure 1 one or more blocks or a function specified in one or more blocks.

[0134] The above embodiments are only exemplary embodiments of the present application, and are not used to limit the present application, and the protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements should also be considered to fall within the protection scope of the present application.

Claims

1. A calibration device for determining the knee joint alignment in knee replacement surgery, characterized in that, include: The upper frame is used to house the navigator, which includes a reference device and a measuring device; The lower frame is connected to the upper frame and is used to support the upper frame. The bottom of the lower frame has multiple support surfaces, and the multiple support surfaces have different angles and orientations relative to the upper frame. The upper frame is a cube with a rectangular cross-section; The lower frame is a cube with an isosceles trapezoidal cross section. The larger bottom surface of the lower frame is connected to the upper frame. The angle between the inclined surfaces on both sides of the lower frame and the plane of the upper frame is 45°.

2. A navigator data processing method, characterized in that, include: The attitude data is obtained by the reference device and measuring device in the navigator under different orientations. The reference device and measuring device are placed in the calibration apparatus as described in claim 1. The attitude data is obtained by the reference device and measuring device when the reference device and measuring device are placed in different orientations at the same time based on the calibration apparatus. Calculate the angular deviation between the measuring device and the reference device in each orientation based on the attitude data; The target deviation values ​​of the reference device and the measuring device on the x-axis, y-axis and z-axis are determined based on the angle deviations corresponding to different orientations. Obtain the force line data measured by the reference device; By combining the target deviation value with the force line data, error compensation and vector transfer are performed to obtain the force line data in the coordinates of the measuring instrument.

3. The navigator data processing method according to claim 2, characterized in that, The acquisition of attitude data collected by the reference unit and measuring unit in the navigator at different orientations includes: The attitude data collected by the reference device and measuring device in the horizontal, vertical and 45° angles to the horizontal plane are obtained. The attitude data includes at least the acceleration variable data of the x-axis, y-axis and z-axis.

4. The navigator data processing method according to claim 3, characterized in that, The calculation of the angle deviation between the measuring device and the reference device in each orientation based on the attitude data includes: Based on the acceleration variable data of the x-axis, y-axis, and z-axis, calculate the angular deviation between the measuring instrument and the reference instrument in each axis under the horizontal and vertical orientations; The angular deviations between the horizontal and vertical azimuth measuring devices and the reference device in each axis are calculated based on the following formula: The axial angle deviation is 57.3*arcsin (reference x / y axis data - measuring x / y axis data).

5. The navigator data processing method according to claim 3, characterized in that, The step of calculating and determining the target deviation values ​​of the reference device and the measuring device on the x-axis, y-axis, and z-axis based on the angular deviation corresponding to different orientations includes: Candidate angular deviations for each axis are determined by selecting the angular deviations of the measuring device and the reference device in each axis under the horizontal and vertical orientations. A first transformation matrix is ​​constructed based on the candidate angle deviation. The first transformation matrix is ​​used to transform the data collected by the measuring instrument in its coordinate system to the coordinate system of the reference instrument. The candidate angle deviation is verified based on the first transformation matrix and the acceleration variable data collected by the measuring instrument at an angle of 45° to the horizontal plane. If the verification is successful, the candidate angle deviation is determined as the target deviation value.

6. The navigator data processing method according to claim 5, characterized in that, The verification of the candidate angle deviation based on the first transformation matrix and the acceleration variable data collected by the measuring instrument at an angle of 45° to the horizontal plane includes: Based on the first transformation matrix, coordinate system transformation is performed on the acceleration variable data collected by the measuring instrument at an angle of 45° to the horizontal plane; Calculate the angular deviation between the converted acceleration variable data of the measuring instrument and the acceleration variable data acquired by the reference instrument at an angle of 45° to the horizontal plane; If the angle deviation is within the preset range, the verification is successful.

7. The navigator data processing method according to claim 5, characterized in that, The step of combining the target deviation value with the force line data to perform error compensation and vector transfer, to obtain the force line data in the coordinates of the measuring instrument, includes: The pitch angle and roll angle acquired by the reference device are obtained, and the first attitude matrix of the reference device is calculated based on the pitch angle and roll angle acquired by the reference device. The pitch angle and roll angle acquired by the measuring device are obtained, and the second attitude matrix of the measuring device is calculated based on the pitch angle and roll angle acquired by the measuring device. The z-axis output error compensation of the reference device is calculated and determined based on the pitch and roll angles collected by the reference device, the pitch and roll angles collected by the measuring device, and the target deviation value of the corresponding z-axis. Based on the z-axis output error compensation, the first attitude matrix, the second attitude matrix, the target deviation values ​​corresponding to the x-axis and y-axis, and the first transformation matrix, the x-axis and y-axis output errors of the reference device are compensated, and the angle between the projection of the force line data on the x-axis and the x-axis, and the angle between the projection of the force line data on the y-axis and the y-axis are calculated. The force line data is vector-transferred based on each of the included angles.

8. The navigator data processing method according to claim 7, characterized in that, The vector transfer of the force line data based on each of the included angles includes: Construct a second transformation matrix based on each of the aforementioned included angles; The force line data is vector-transformed based on the second transformation matrix.

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