Orthopedic surgery navigation method, device, system, electronic device and storage medium

Abstract

The present invention provides an orthopedic surgical navigation method, device, system, electronic device, and storage medium, relating to the field of computer technology. The method comprises: generating a three-dimensional bone model of an affected bone based on a first image and a second image; obtaining surgical parameters corresponding to the affected bone based on the three-dimensional bone model and the bony landmarks on the three-dimensional bone model; registering the affected bone with the three-dimensional bone model based on the correspondence between the bony landmarks on the three-dimensional bone model and the bony landmarks on the affected bone; establishing a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image; and performing surgical navigation based on the surgical parameters corresponding to the affected bone and the above-mentioned mapping relationship. The orthopedic surgical navigation method, device, system, electronic device, and storage medium provided by the present invention can achieve more objective and quantitative preoperative surgical planning when a patient's affected bone has bone defects and / or morphological abnormalities, and can achieve more accurate spatial positioning of the affected bone during orthopedic surgery.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to an orthopedic surgery navigation method, device, system, electronic equipment and storage medium. Background Art

[0002] Surgical navigation is a visual, image-guided surgical technique developed using medical imaging data such as ultrasound, X-rays, CT (computed tomography), and MRI (magnetic resonance imaging) with the help of computers, precision instruments, and image processing technology. By digitizing patient lesions in three dimensions and tracking the position of surgical instruments in real time, surgical navigation enables visualization and automation of surgical procedures, assisting doctors or robots in completing surgeries more quickly, accurately, and safely.

[0003] However, in orthopedic surgery, traditional surgical navigation methods in related technologies are difficult to achieve objective and quantitative preoperative surgical planning when the patient's affected bone has bone defects and / or morphological abnormalities, resulting in unstable surgical results, increased surgical risks, and affecting the patient's postoperative recovery and ultimate therapeutic effect.

[0004] Furthermore, traditional surgical navigation methods in related technologies have difficulty accurately spatially locating the affected bone when it has bone defects or morphological abnormalities, which in turn makes it difficult to accurately calibrate and guide the patient during surgery. Therefore, how to achieve more objective and quantitative preoperative surgical planning and more accurate spatial positioning of the affected bone during orthopedic surgery when the patient has bone defects and / or morphological abnormalities is a technical problem that needs to be solved in this field. Summary of the Invention

[0005] The present invention provides an orthopedic surgery navigation method, device, system, electronic device and storage medium, which are used to solve the defects in the prior art that it is difficult to achieve objective and quantitative preoperative surgical planning when the patient's affected bone has bone defects and / or morphological abnormalities, and it is difficult to achieve accurate spatial positioning of the affected bone during orthopedic surgery. The present invention achieves more objective and quantitative preoperative surgical planning when the patient's affected bone has bone defects and / or morphological abnormalities, and achieves more accurate spatial positioning of the affected bone during orthopedic surgery.

[0006] The present invention provides an orthopedic surgery navigation method, comprising:

[0007] generating a three-dimensional bone model of the affected bone based on a first image and a second image, wherein the first image includes a medical image of the affected bone before orthopedic surgery, and the second image includes a medical image of a healthy bone corresponding to the affected bone, wherein the affected bone and the healthy bone corresponding to the affected bone are a pair of human bones symmetrically distributed about the spine as the midline;

[0008] Determining a plurality of bony landmarks on the three-dimensional bone model, and obtaining surgical parameters corresponding to the affected bone based on the three-dimensional bone model and each of the bony landmarks on the three-dimensional bone model, the surgical parameters including at least one of an osteotomy position, an osteotomy size, a prosthesis model, a prosthesis size, and a prosthesis installation position;

[0009] Based on the correspondence between each of the bony landmarks on the three-dimensional bone model and each of the bony landmarks on the affected bone, registering the affected bone with the three-dimensional bone model, and establishing a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image;

[0010] Surgical navigation is performed based on surgical parameters corresponding to the affected bone and a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0011] The present invention also provides an orthopedic surgery navigation device, comprising the following modules:

[0012] a data acquisition module configured to generate a three-dimensional bone model of the affected bone based on a first image and a second image, wherein the first image comprises a medical image of the affected bone before orthopedic surgery, and the second image comprises a medical image of a healthy bone corresponding to the affected bone, wherein the affected bone and the healthy bone corresponding to the affected bone are a pair of human bones symmetrically distributed about the spine as the midline;

[0013] a preoperative planning module, configured to determine a plurality of bony landmarks on the three-dimensional bone model, and obtain surgical parameters corresponding to the affected bone based on the three-dimensional bone model and the bony landmarks on the three-dimensional bone model, the surgical parameters including at least one of osteotomy position, osteotomy size, prosthesis model, prosthesis size, and prosthesis installation position;

[0014] an intraoperative registration module, configured to register the affected bone with the three-dimensional bone model based on the correspondence between each of the bony landmarks on the three-dimensional bone model and each of the bony landmarks on the affected bone, and establish a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image;

[0015] An intraoperative execution module is used to perform surgical navigation based on surgical parameters corresponding to the affected bone and a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0016] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any of the above-described orthopedic surgery navigation methods is implemented.

[0017] The present invention further provides an orthopedic surgical navigation system, comprising: the electronic device as described above and a surgical navigation device; the electronic device is communicatively connected to the surgical navigation device.

[0018] An orthopedic surgery navigation system provided according to the present invention further includes: a human-computer interaction device; the human-computer interaction device is communicatively connected to the electronic device.

[0019] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the orthopedic surgery navigation method described above is implemented.

[0020] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned orthopedic surgery navigation methods.

[0021] The orthopedic surgery navigation method, device, system, electronic device, and storage medium provided by the present invention generate a three-dimensional bone model of the affected bone by combining preoperative medical images of the affected bone with medical images of the corresponding healthy bone of the affected bone. This can more accurately reflect the healthy morphology of the affected bone even when the affected bone has bone defects and / or morphological abnormalities. Furthermore, surgical parameters corresponding to the affected bone can be obtained based on the three-dimensional bone model, making preoperative surgical planning more objective and quantitative. During orthopedic surgery on the affected bone, a precise mapping relationship between the affected bone and the three-dimensional bone model can be established by aligning bony landmarks on the three-dimensional bone model with actual bony landmarks on the affected bone, thereby achieving accurate spatial positioning of the affected bone during surgery. Based on the corresponding surgical parameters of the affected bone and the mapping relationship with the three-dimensional bone model, the condition of the affected bone can be displayed in real time during surgery, achieving more accurate spatial positioning of the affected bone during orthopedic surgery. This can provide intuitive visual guidance for the surgeon, helping the surgeon make more informed decisions during surgery, thereby reducing surgical complications and postoperative recovery time, significantly improving the accuracy and reliability of orthopedic surgery, effectively reducing surgical risks, and achieving more stable surgical results. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a flowchart of the orthopedic surgery navigation method provided by the present invention.

[0024] Figure 2It is a structural schematic diagram of the orthopedic surgery navigation device provided by the present invention.

[0025] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention.

[0026] Figure 4 This is one of the structural diagrams of the orthopedic surgery navigation system provided by the present invention.

[0027] Figure 5 This is the second structural diagram of the orthopedic surgery navigation system provided by the present invention. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] In the description of the invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0030] In the description of this application, the terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, in the description of this application, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0031] It should be noted that orthopedic surgery is a surgical treatment for skeletal system diseases and covers a variety of surgical types. The general process of orthopedic surgery usually includes preoperative examination, surgical approach selection, surgical operation, and postoperative care.

[0032] In the related art, before performing orthopedic surgery, doctors can only plan the surgical plan based on subjective experience according to the CT images of the patient's affected bone taken before the operation. When doctors plan the surgical plan based on subjective experience, they are also limited to qualitatively analyzing whether the patient's affected bone is suitable for surgery, and it is difficult to achieve quantitative planning of the surgical plan. For example, it is difficult to quantitatively plan the size of the osteotomy, the size of the implanted prosthesis, and the optimal position of the prosthesis. Accordingly, in the process of performing orthopedic surgery in the related art, doctors lack objective and quantitative preoperative surgical planning, which leads to doctors relying on subjective experience to complete orthopedic surgery, resulting in unstable surgical results, increased surgical risks, and affecting the patient's postoperative recovery and ultimate therapeutic effect.

[0033] In addition, there are muscles, blood vessels, nerves and other tissue structures around the bones, and it is difficult for doctors to accurately judge the entire shape of the affected bones with the naked eye. When the patient's affected bones have bone defects or abnormal morphology, it is also difficult for doctors to accurately judge the extent of the bone defects or abnormal bone morphology through naked eye observation. This may lead to errors in surgical operations and affect the accuracy and safety of the operation.

[0034] For example, shoulder replacement surgery is an orthopedic procedure used to treat severe shoulder pain and dysfunction. Shoulder replacement surgery is often performed on patients who experience persistent pain and limited function due to shoulder arthritis, shoulder fractures, rotator cuff injuries, or other conditions that destroy the shoulder joint.

[0035] Artificial shoulder replacement includes hemi-shoulder replacement, total shoulder replacement and reverse total shoulder replacement. Among them, hemi-shoulder replacement is mainly for arthritis involving the humeral head and osteonecrosis not involving the labrum, and severe proximal humeral fractures. Total shoulder replacement is mainly for osteoarthritis, inflammatory arthritis, osteonecrosis involving the labrum and postmenopausal joint degenerative diseases. Reverse total shoulder replacement is mainly for patients with osteoarthritis and complex humeral fractures. It is different from total shoulder and hemi-shoulder replacement in that the indications are mainly accompanied by severe rotator cuff tear or loss but the biceps function is still complete. Because of its good patient recovery effect and lower revision rate than total shoulder replacement, it is currently the most widely used shoulder replacement.

[0036] Shoulder replacement surgery involves removing the damaged joint surface (osteotomy) and replacing the damaged joint with an artificial prosthesis, thereby reducing pain and restoring joint function. The general process of shoulder surgery includes preoperative examination (e.g., medical imaging), surgical approach, dislocation of the humeral head, osteotomy and medullary canal expansion, prosthesis placement, rotator cuff repair, and postoperative evaluation. The osteotomy and prosthesis placement steps are crucial. Factors such as the amount of osteotomy, the angle of the osteotomy plane, the location of the prosthesis placement holes, and the fit of the prosthesis implant surface directly impact the success of the surgery. Improper prosthesis placement or poor implantation technique can lead to postoperative pain, joint instability, dislocation, or loosening. High-quality osteotomy and prosthesis placement remain a key clinical priority for physicians. Preoperatively developing a personalized surgical plan, selecting the appropriate prosthesis, simulating joint range of motion, and utilizing navigation technology to assist with preoperative planning during osteotomy can improve the accuracy of osteotomy and prosthesis placement, thereby reducing postoperative complications and enhancing surgical quality. In addition, preoperative planning can also predict the accuracy and stability of prosthesis placement, adjust the range of motion of the joint, and plan postoperative rehabilitation, thereby improving surgical expectations.

[0037] However, in traditional shoulder replacement surgery, surgeons can only roughly plan the surgical plan in 2D based on preoperative medical imaging and experience. This plan is limited to a qualitative analysis of the patient's joint suitability for surgery, and lacks quantitative analysis, such as prosthesis size, prosthesis placement orientation, or the amount of osteotomy. This makes it difficult for surgeons to customize surgical plans, and they are unable to simulate the impact of factors such as postoperative range of motion that influence postoperative outcomes. During surgery, the lack of quantitative preoperative planning forces surgeons to rely on experience within the limited time available. For example, in patients with bone defects or abnormal glenoid morphology, they may misjudge the glenoid morphology during surgery, resulting in incorrect placement of the base. In patients with proximal humeral fractures, the lack of clear bony landmarks makes it difficult to determine the height and anteroposterior tilt of the humeral stem, hindering the surgeon's judgment. The lack of precise prosthesis positioning technology can lead to deviations from optimal prosthesis position after surgery, thereby impairing joint function recovery.

[0038] Surgical navigation can achieve visualization and automation of surgical operations through three-dimensional digitization of patient lesion tissue, real-time tracking of the position of surgical instruments, and thus assist doctors or robots in completing surgical tasks more quickly, accurately, and safely.

[0039] However, when the affected bone has bone defects or morphological abnormalities, medical images may not be able to accurately reflect the actual condition of the affected bone, which makes it difficult for traditional surgical navigation methods to achieve objective and quantitative preoperative surgical planning when the patient's affected bone has bone defects and / or morphological abnormalities.

[0040] In addition, bone defects and / or morphological abnormalities in the patient's affected bone may cause changes in the bone's landmark structure, making it difficult for traditional surgical navigation methods to accurately achieve spatial positioning of the affected bone when the patient's affected bone has bone defects or morphological abnormalities, thereby making it difficult to achieve accurate intraoperative calibration and guidance based on traditional surgical navigation methods.

[0041] For example, during reverse shoulder replacement surgery, screws are required to install the base. However, because the glenoid bone is too thin, if the affected bone cannot be accurately calibrated and guided during the operation, the screws may penetrate the glenoid, resulting in surgical failure.

[0042] To address this issue, the present invention provides an orthopedic surgical navigation method. The orthopedic surgical navigation method provided by the present invention can address the technical issues that traditional surgical navigation methods face, such as difficulty achieving objective and quantitative preoperative surgical planning and accurate spatial positioning of the affected bone when the patient's affected bone has bone defects and / or morphological abnormalities, leading to difficulties in achieving accurate intraoperative calibration and guidance based on traditional surgical navigation methods. This method can improve the stability of surgical outcomes and reduce surgical risks and postoperative complications.

[0043] Among them, the preoperative planning part includes completing the reconstruction of the three-dimensional bone model based on the collected preoperative medical images of the patient. The doctor can plan the surgical steps in detail before the operation, including the selection, position and angle adjustment of the scapula and humeral prostheses. At the same time, it can simulate the joint range of motion to predict postoperative joint function, reduce intraoperative decision-making time, and improve the accuracy of the operation.

[0044] The intraoperative registration part includes establishing a correspondence between the patient's affected bone and the three-dimensional bone model through a registration algorithm, achieving accurate matching between the patient's affected bone and the three-dimensional bone model constructed before surgery, and providing an accurate reference for intraoperative navigation.

[0045] The intraoperative navigation system tracks the position of surgical tools and displays this information in real time, ensuring the surgeon has a clear understanding of the surgical progress. It calculates the distance and angular deviation between the surgical tool and the target position, providing the surgeon with precise navigation information. Visual feedback helps the surgeon adjust the position and direction of the surgical tool, ensuring the surgery is carried out precisely as planned.

[0046] The following combination Figure 1 The orthopedic surgery navigation method provided by the present invention is described.

[0047] Figure 1 FIG. 1 is a flow chart of the orthopedic surgery navigation method provided by the present invention, as shown in FIG. Figure 1As shown, the method includes the following: Step 101, generating a three-dimensional bone model of the affected bone based on a first image and a second image, wherein the first image includes a medical image of the affected bone before orthopedic surgery, and the second image includes a medical image of a healthy bone corresponding to the affected bone, wherein the affected bone and the healthy bone corresponding to the affected bone are a pair of human bones symmetrically distributed with the spine as the midline.

[0048] It should be noted that the embodiment of the present invention is implemented by an orthopedic surgery navigation device, which can be configured in electronic devices such as computers or servers.

[0049] Specifically, the orthopedic surgery navigation method provided by the present invention can provide surgical navigation for doctors performing the above-mentioned orthopedic surgery before and during the orthopedic surgery on the patient's affected bone, thereby improving the accuracy, safety and efficiency of the above-mentioned orthopedic surgery.

[0050] Understandably, to maintain balance and stability, the human skeleton is symmetrically arranged around the spine. Typically, the vast majority of bones in the skull, trunk, and limbs are found in pairs, such as the scapula, humerus, ulna, radius, femur, patella, tibia, and fibula, which are located on the left and right sides of the spine.

[0051] In the embodiments of the present invention, the affected bone and the healthy bone are a pair of human bones symmetrically located about the spine. The affected bone is the bone on the operative side that requires orthopedic surgery, and the healthy bone is the bone on the healthy side that corresponds to the affected bone and does not require orthopedic surgery. The operative side is the side of the body that requires orthopedic surgery, and the healthy side is the side of the body that does not require orthopedic surgery.

[0052] If a patient's affected bone has bone defects and / or morphological abnormalities, it is difficult to generate a complete and accurate 3D bone model of the affected bone based solely on images of the affected bone. Therefore, the embodiments of the present invention utilize images of the patient's unaffected bone for mapping, enabling the generation of a complete and accurate 3D bone model and bony landmarks of the affected bone, thereby improving the accuracy of preoperative surgical planning.

[0053] It is understandable that the patient and the affected bone of the patient in the embodiment of the present invention can be determined based on actual needs. The patient and the affected bone of the patient in the embodiment of the present invention are not specifically limited.

[0054] Optionally, the orthopedic surgery performed on the patient's affected bone may be a shoulder replacement surgery, wherein the patient's affected bone may be a scapula, a humerus, or a clavicle.

[0055] Before performing orthopedic surgery on the patient's affected bone, a medical image of the patient's affected bone is obtained as a first image, and a medical image of a healthy bone corresponding to the affected bone is obtained as a second image.

[0056] It should be noted that the medical images of the affected bone and the healthy bone in the embodiment of the present invention may include but are not limited to X-ray images, CT images, MRI images and other medical images of the affected bone and the healthy bone.

[0057] It is understood that medical images such as X-rays, CT images, and MRI images follow standardized patient positioning, fixed imaging equipment, image reconstruction and positioning methods, and standardized reporting and labeling. Therefore, the orientation of the affected bone in these medical images is relatively fixed. In embodiments of the present invention, the horizontal direction in these medical images can be determined as the X-axis direction, and the vertical direction in these medical images can be determined as the Y-axis direction.

[0058] In embodiments of the present invention, medical images of the patient's affected bone and the corresponding healthy bone can be obtained before orthopedic surgery is performed on the patient's affected bone in a variety of ways. For example, medical images of the patient's affected bone and the corresponding healthy bone can be obtained through data query; or medical images of the patient's affected bone and the corresponding healthy bone can be obtained based on user input. The specific method for obtaining medical images of the patient's affected bone and the corresponding healthy bone is not limited in embodiments of the present invention.

[0059] After obtaining medical images of the patient's affected bone and the healthy bone corresponding to the affected bone, the medical image of the affected bone can be determined as the first image, and the medical image of the healthy bone corresponding to the affected bone can be determined as the second image. Then, based on the first image and the second image, a three-dimensional bone model of the affected bone can be generated through data calculation, mathematical statistics or deep learning techniques.

[0060] As an optional embodiment, generating a three-dimensional bone model of the affected bone based on the first image and the second image includes: constructing a first three-dimensional point cloud model based on the first image, and constructing a second three-dimensional point cloud model based on the second image.

[0061] Specifically, after obtaining the first image and the second image, numerical calculation, mathematical statistics, and deep learning can be used to construct a first three-dimensional point cloud model based on the first image and a second three-dimensional point cloud model based on the second image.

[0062] As an optional embodiment, constructing a first three-dimensional point cloud model based on the first image includes: when determining that the image quality of the first image meets a preset standard, performing data preprocessing on the first image to obtain the first image after data preprocessing.

[0063] Based on the distribution of bone fragments of the affected bone, the first image after data preprocessing is segmented to obtain a plurality of sub-images corresponding to the first image, each sub-image including only one bone fragment of the affected bone.

[0064] The sub-image of the largest bone block of the affected bone is determined as the target sub-image, and then based on the target sub-image, a three-dimensional point cloud model of the largest bone block of the affected bone is constructed as the first three-dimensional point cloud model.

[0065] It should be noted that, because it is difficult to generate a three-dimensional point cloud model based on the first and second images when the image quality is poor, embodiments of the present invention may set preset standards based on prior knowledge and / or actual conditions, and examine the first and second images based on the preset standards to determine whether the image quality of the first and second images meets the requirements for generating a three-dimensional point cloud model.

[0066] If it is determined that the image quality of the first image and the second image meets the preset standard, it can be determined that the image quality of the first image and the second image can meet the requirements for generating a three-dimensional point cloud model, and then data preprocessing can be performed on the first image to further improve the image quality of the first image. The data preprocessing can include image denoising, contrast enhancement, and image sharpening.

[0067] It should be noted that, considering the possibility of bone fracture in the affected bone, after data preprocessing, the first image may be segmented to obtain multiple sub-images corresponding to the first image. Each sub-image corresponding to the first image includes only one bone fragment of the affected bone.

[0068] After obtaining the sub-images corresponding to the first image, the sub-image including the largest bone block in the affected bone can be determined as the target sub-image, and then a three-dimensional point cloud model of the largest bone block in the affected bone can be generated based on the target sub-image as the first three-dimensional point cloud model.

[0069] It should be noted that in embodiments of the present invention, a Marching Cubes (MC) algorithm can be used to generate a three-dimensional point cloud model of the largest bone block in the affected bone based on the target sub-image, serving as the first three-dimensional point cloud model. In embodiments of the present invention, the Marching Cubes algorithm can also be used to generate a three-dimensional point cloud model of the healthy bone corresponding to the affected bone based on the second image, serving as the second three-dimensional point cloud model.

[0070] The marching cubes algorithm is a well-established algorithm for extracting isosurfaces. Its basic idea is to process the cubes (voxels) in the data field one by one, isolate those that intersect the isosurface, and use interpolation to calculate the intersection points of the isosurface with the cube edges. Based on the relative position of each cube vertex and the isosurface, the intersection points of the isosurface and the cube edge are connected in a certain manner to generate an isosurface, which serves as an approximation of the isosurface within the cube. This is due to a fundamental assumption of the marching cubes algorithm: the data field varies continuously along the edges of the hexahedron. In other words, if two vertices of an edge are respectively greater than or less than the value of the isosurface, then there is one and only one point on that edge that is the intersection point of the edge with the isosurface.

[0071] By preprocessing the first image, the embodiment of the present invention can ensure that the clarity and contrast of the image meet the preset standards for subsequent analysis or modeling, which helps to reduce analysis errors caused by poor image quality. By determining the sub-image containing the largest bone block of the affected bone as the target sub-image and constructing a three-dimensional point cloud model based on the sub-image, it can fully take into account the possible bone fracture of the affected bone and provide a more accurate data basis for generating a three-dimensional bone model of the affected bone.

[0072] The centroids of the first and second three-dimensional point cloud models are extracted, and based on the centroids of the first and second three-dimensional point cloud models, the second three-dimensional point cloud model is mirror-reversed in the horizontal direction to obtain a third three-dimensional point cloud model.

[0073] Specifically, in the embodiment of the present invention, Represents the first 3D point cloud model, using Represents the second 3D point cloud model.

[0074] Construct the first 3D point cloud model and the second 3D point cloud model Afterwards, the first 3D point cloud model can be extracted The center of mass and the second 3D point cloud model The center of mass .

[0075] The position information of the center of mass of the 3D point cloud model can be calculated using the following formula:

[0076]

[0077] in, Represents the location information of the center of mass of the 3D point cloud model; Indicates the first The location information of each point; Indicates the number of points in the 3D point cloud model; Indicates the first The quality of each point, in the embodiment of the present invention The value of is 1; Represents a positive integer greater than zero.

[0078] It should be noted that, in the embodiment of the present invention, the position information of any point in the three-dimensional point cloud model can be represented by coordinate values, and the position information of the centroid of the three-dimensional point cloud model can also be represented by coordinate values.

[0079] Get the first 3D point cloud model The center of mass and the second 3D point cloud model The center of mass Afterwards, based on the second 3D point cloud model The center of mass , the second 3D point cloud model The coordinates of each point in the image are mirrored horizontally to obtain a third 3D point cloud model. .

[0080] 3D point cloud model Middle The location information of each point can be expressed by the following formula:

[0081]

[0082] in, Represents the second 3D point cloud model Middle The location information of each point, Represents the second 3D point cloud model The center of mass location information; Represents the second 3D point cloud model Middle The position information of each point after mirror flipping in the horizontal direction is the third 3D point cloud model. Middle The location information of each point; , Represents the second 3D point cloud model The number of midpoints.

[0083] The first 3D point cloud model and the third 3D point cloud model are aligned based on the centroid of the first 3D point cloud model and the centroid of the third 3D point cloud model.

[0084] Specifically, obtain the third 3D point cloud model Afterwards, you can follow Translate the above third 3D point cloud model , complete the third 3D point cloud model and the first 3D point cloud model alignment.

[0085] A feature descriptor of each point in the third three-dimensional point cloud model is obtained, and then based on the feature descriptor of each point in the third three-dimensional point cloud model, a consistent initial registration algorithm is used to perform point cloud coarse registration on the third three-dimensional point cloud model and the first three-dimensional point cloud model to obtain a fourth three-dimensional point cloud model.

[0086] It should be noted that the SPFH (Simplified Point Feature Histogram) feature vector is a feature representation method used to describe the local geometric relationship of each point in a point cloud. The dimension of the SPFH feature vector is 33. The SPFH feature is generated by calculating the geometric relationship between a point and the points in its neighborhood. The SPFH feature vector consists of three angle histograms: the angle between the normal vector of the point and its neighboring point, the angle between the normal vector of the point and the line connecting the two points, and the angle between the normal vector of the neighboring point and the line connecting the two points.

[0087] FPFH (Fast Point Feature Histograms) feature vector is a feature descriptor widely used in point cloud processing.

[0088] For the third 3D point cloud model The points, the third 3D point cloud model can be obtained by numerical calculation The The SPFH feature vector of the point. Represents a positive integer greater than zero.

[0089] Get the third 3D point cloud model The After the SPFH feature vectors of the points, the third 3D point cloud model can be obtained by weighted accumulation The The SPFH features of the points in the neighborhood of the point are used to obtain the third 3D point cloud model. The The FPFH eigenvector of a point is calculated as follows:

[0090]

[0091] in, Represents a third 3D point cloud model The FPFH feature vector of each point; Represents a third 3D point cloud model The SPFH feature vector of each point; Represents a third 3D point cloud model Middle The first point Neighborhood points; Represents a third 3D point cloud model Middle The first point Neighborhood points SPFH feature vector of; Represents a third 3D point cloud model The Point and Neighborhood points the distance between them; represents a positive integer greater than zero; Represents a third 3D point cloud model Middle The total number of neighboring points of a point.

[0092] Get the third 3D point cloud model The FPFH feature vector of the point Afterwards, the third 3D point cloud model can be The FPFH feature vector of the point Determined as a third 3D point cloud model The feature descriptors of points.

[0093] Get the third 3D point cloud model The After the feature descriptors of the points are obtained, the embodiment of the present invention can use the Sample Consensus Initial Alignment (SAC-IA) algorithm to align the third 3D point cloud model. and the first 3D point cloud model The point cloud coarse registration includes the following steps: Select sampling points, Represents a positive integer greater than zero.

[0094] It should be noted that in order to ensure that the third 3D point cloud model The sampling points selected have different FPFH features. In the embodiment of the present invention, the third three-dimensional point cloud model is The distance between any two sampling points selected in the .

[0095] For the third 3D point cloud model The sampling points, which can be based on the third 3D point cloud model The Feature descriptor of sampling points , the first 3D point cloud model 3D point cloud model The One or more sampling points with similar FPFH features are determined as the third 3D point cloud model The The similarity points corresponding to the sampling points.

[0096] It should be noted that in the first 3D point cloud model The FPFH feature of any point in the third 3D point cloud model The Feature descriptor of sampling points When the Euclidean distance between them is less than the preset value, the first three-dimensional point cloud model can be determined. Any of the above points in the third 3D point cloud model The The sampling points have similar FPFH characteristics.

[0097] In the third 3D point cloud model The When the number of similar points corresponding to the sampling points is one, the third 3D point cloud model can be The The similar points corresponding to the sampling points are determined as the third 3D point cloud model The The associated points corresponding to the sampling points; the third 3D point cloud model The When the number of similar points corresponding to the sampling points is multiple, the third 3D point cloud model can be The Any one of the similar points corresponding to the sampling points is determined as the third 3D point cloud model The The associated points corresponding to the sampling points.

[0098] Determine the third 3D point cloud model The After the associated points corresponding to the sampling points, the third 3D point cloud model can be calculated The Sampling points and the third 3D point cloud model The The rigid body transformation matrix between the associated points corresponding to the sampling points can then be used to obtain the third 3D point cloud model by solving the distance error and function. The Sampling points and the third 3D point cloud model The The matching degree between the associated points corresponding to the sampling points. The Sampling points and the third 3D point cloud model The The higher the matching degree between the associated points corresponding to the sampling points, the better the 3D point cloud model The Sampling points and the third 3D point cloud model The The higher the matching degree between the associated points corresponding to the sampling points.

[0099] The distance error and function can be expressed using the Huber penalty function, denoted as ,in:

[0100]

[0101] in, represents a predefined threshold; Represents a third 3D point cloud model The Sampling points and the third 3D point cloud model The The distance difference between the diameters of the associated points corresponding to the sampling points.

[0102] By the third 3D point cloud model and the first 3D point cloud model By coarse registration of the point cloud, we can find a set of optimal transformations that minimize the above Huber penalty function. Among them, the optimal transformation It can be solved by a gradient-based optimization algorithm.

[0103] The third 3D point cloud model According to the optimal transformation By transforming, we can obtain the fourth 3D point cloud model .

[0104] The iterative closest point algorithm and singular value decomposition are used to perform precise registration of the fourth three-dimensional point cloud model and the first three-dimensional point cloud model to obtain a three-dimensional bone model of the affected bone.

[0105] Specifically, obtain the fourth three-dimensional point cloud model After that, the Iterative Closest Point (ICP) algorithm can be used to calculate the fourth 3D point cloud model. and the first 3D point cloud model Perform precise point cloud registration. The specific steps include: using initial transformation The fourth 3D point cloud model All points are transformed into the first 3D point cloud model Next, define the following energy function:

[0106]

[0107] in, represents the energy function value; Represents the fourth 3D point cloud model The After the transformation of the point The nearest point in represents the first transformation parameter; represents the second transformation parameter; Represents the fourth 3D point cloud model The points.

[0108] It should be noted that the optimization target of the energy function in the embodiment of the present invention is the energy function value Minimum.

[0109] Use the Singular Value Decomposition (SVD) algorithm to obtain the first transformation parameters and the second transformation parameter The optimal solution of Among them, the first transformation parameter in the embodiment of the present invention is and the second transformation parameter The optimal solution is The first transformation parameter is the smallest when The value of the second transformation parameter Based on the first transformation parameter and the second transformation parameter The optimal solution of The specific method is: transform the upper left corner 3x3 matrix into the first transformation parameter The optimal solution of , the 3x1 on the right is the second transformation parameter The optimal solution is to fill the bottom row with 0, 0, 0, 1 to get the transformation .

[0110] The fourth 3D point cloud model According to the optimal transformation By performing the transformation, a three-dimensional bone model of the affected bone can be obtained.

[0111] Second 3D point cloud model To the first 3D point cloud model Transformation .

[0112] In an embodiment of the present invention, after constructing a first three-dimensional point cloud model based on a first image and a second three-dimensional point cloud model based on a second image, a third three-dimensional point cloud model is obtained by extracting the centroid of the first three-dimensional point cloud model and the second three-dimensional point cloud model and performing a mirror inversion of the second three-dimensional point cloud model in a horizontal direction based on the centroid. This can achieve symmetric processing of the second three-dimensional point cloud model. A fourth three-dimensional point cloud model is obtained by performing a point cloud coarse registration of the first three-dimensional point cloud model and the third three-dimensional point cloud model using a consistent initial registration algorithm. This can quickly find the initial correspondence between the first three-dimensional point cloud model and the third three-dimensional point cloud model, helping to narrow the calculation range of subsequent fine registration and improve registration efficiency. By iteratively optimizing the transformation relationship between the first three-dimensional point cloud model and the fourth three-dimensional point cloud model, the error between the first three-dimensional point cloud model and the fourth three-dimensional point cloud model can be gradually reduced, ultimately achieving accurate registration between the first three-dimensional point cloud model and the second three-dimensional point cloud model, and obtaining a three-dimensional bone model of the affected bone. This can provide a more accurate data basis for subsequent surgical plan planning for the affected bone and intraoperative surgical navigation.

[0113] Step 102: Determine multiple bony landmarks on the three-dimensional bone model, and obtain surgical parameters corresponding to the affected bone based on the three-dimensional bone model and the bony landmarks on the three-dimensional bone model. The surgical parameters include at least one of osteotomy position, osteotomy size, prosthesis model, prosthesis size, and prosthesis installation position.

[0114] Specifically, after obtaining a 3D bone model of the affected bone, multiple bony landmarks can be identified on the 3D bone model. Bone landmarks refer to bones in certain parts of the human body that often form distinct protrusions or depressions and are often used in clinical positioning applications. In embodiments of the present invention, bony landmarks can be identified on the 3D bone model of the affected bone using an interactive picking method.

[0115] As an optional embodiment, multiple bony landmark points are determined on the three-dimensional bone model, including: determining several bony landmark points at the proximal end of the three-dimensional bone model, and determining several bony landmark points at the distal end of the three-dimensional bone model, where the proximal end is the end close to the incision and the distal end is the end away from the incision.

[0116] It should be noted that the multiple bony landmarks on the three-dimensional bone model of the affected bone in the embodiment of the present invention are evenly distributed at one end of the affected bone close to the incision and the other end away from the incision.

[0117] It should be noted that the incision refers to the skin and tissue structure cut open to expose the surgical site and perform surgical operations during orthopedic surgery. The specific location of the incision can be determined based on the first image.

[0118] Based on the 3D bone model of the affected bone and the bony landmarks on the 3D bone model, surgical parameters corresponding to the affected bone can be obtained. For example, based on the 3D bone model of the affected bone and the bony landmarks on the 3D bone model, the prosthesis model can be automatically selected and the initial planning posture of the prosthesis can be set according to the patient's personalized characteristics. Based on the 3D bone model of the affected bone and the bony landmarks on the 3D bone model, the offset between the 3D bone model of the affected bone and the first 3D point cloud model can also be obtained, and the prosthesis planning can be adjusted based on the offset.

[0119] Specifically, based on the three-dimensional bone model of the affected bone and the bony landmarks on the three-dimensional bone model of the affected bone, the surgical parameters corresponding to the affected bone are obtained, and then the specific steps for obtaining the initial prosthesis planning may include: first, according to the coordinates of the bony landmarks, the parameter values ​​such as the width and height of the bone surface, the center position of the bone surface, the anteversion angle, the upward inclination angle, the neck-shaft angle, etc. can be calculated; secondly, the bone surface width, height, etc. are used to find the prosthesis with the closest size in the prosthesis library according to the matching principle as the initial prosthesis; thirdly, the prosthesis is placed at the center position of the bone surface calculated above; finally, according to the different requirements of each part, the prosthesis is spatially rotated according to the anteversion angle, upward inclination angle, etc. to obtain the initial planned posture.

[0120] It should be noted that when the orthopedic surgery on the affected bone is a shoulder replacement surgery, based on the three-dimensional bone model of the affected bone and the bony landmarks on the three-dimensional bone model of the affected bone, planning schemes for three different surgical procedures, namely, normal shoulder, half shoulder, and reverse shoulder, can be obtained. The offset of the humerus on the surgical side relative to the preoperative side and relative to the contralateral side can also be provided, and the prosthesis planning can be adjusted according to the offset.

[0121] Step 103: Based on the correspondence between the bony landmarks on the three-dimensional bone model and the bony landmarks on the affected bone, the affected bone and the three-dimensional bone model are registered to establish a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0122] Specifically, after obtaining a three-dimensional bone model of the affected bone and determining a plurality of bony landmarks on the three-dimensional bone model of the affected bone, the three-dimensional bone model of the affected bone and the bony landmarks on the three-dimensional bone model can be displayed in a human-computer interaction device.

[0123] During the process of orthopedic surgery on the affected bone, the doctor can use a probe or other equipment to determine the bony landmark points on the affected bone based on the three-dimensional bone model of the affected bone, the bony landmark points of the three-dimensional bone model, and the prompt information displayed in the human-computer interaction device, thereby establishing a correspondence between the bony landmark points on the three-dimensional bone model of the affected bone and the bony landmark points on the affected bone.

[0124] For example, when the bony landmarks include the medial epicondyle and the lateral epicondyle at the distal end of the humerus, the probe can be used to determine the bony landmarks on the affected bone without piercing the patient's skin.

[0125] After establishing the correspondence between the bony landmark points on the three-dimensional bone model of the affected bone and the bony landmark points on the affected bone, the affected bone and the three-dimensional bone model of the affected bone can be aligned based on the correspondence between the bony landmark points on the three-dimensional bone model of the affected bone and the bony landmark points on the affected bone through numerical calculation, mathematical statistics or deep learning and other technologies to establish an imaging relationship between the affected bone and the three-dimensional bone model of the affected bone and / or the first image.

[0126] As an optional embodiment, based on the correspondence between the bony landmark points on the three-dimensional bone model and the bony landmark points on the affected bone, the affected bone and the three-dimensional bone model are aligned, and a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image is established, including: establishing a first alignment coordinate system corresponding to the affected bone based on the positional relationship between the bony landmark points on the affected bone, and establishing a second alignment coordinate system corresponding to the three-dimensional bone model based on the positional relationship between the bony landmark points on the three-dimensional bone model.

[0127] It should be noted that in related art, when registering two 3D models, a point-pair registration algorithm is used. This involves calculating a registration matrix based on 4-6 corresponding points on the two 3D models. However, when registering the 3D bone models of the affected bones, the identification of bony landmarks on the affected bones is susceptible to influences such as the patient's soft tissue and cartilage, resulting in inaccurate bony landmarks. Furthermore, due to the limited surgical area within the affected bones, the registration of the 3D bone models of the affected bones using this registration algorithm results in significant errors.

[0128] In this regard, an embodiment of the present invention provides an improved registration method. The improved registration method in the embodiment of the present invention performs two registrations on the affected bone and the three-dimensional bone model of the affected bone by establishing a registration coordinate system.

[0129] Specifically, in an embodiment of the present invention, a first registration coordinate system corresponding to the affected bone can be established through mathematical methods based on the positional relationship between the bony landmark points on the affected bone, and a second registration coordinate system corresponding to the three-dimensional bone model can be established through mathematical methods based on the positional relationship between the bony landmark points on the three-dimensional bone model.

[0130] It can be understood that, in the embodiment of the present invention, the method of establishing the first registration coordinate system corresponding to the affected bone and the method of establishing the second registration coordinate system corresponding to the three-dimensional bone model are the same.

[0131] As an optional embodiment, the bony landmark points on the three-dimensional bone model include two bony landmark points located at the inner and outer sides of the proximal end of the three-dimensional bone model and two bony landmark points located at the inner and outer sides of the distal end of the three-dimensional bone model; the bony landmark points on the affected bone include two bony landmark points located at the inner and outer sides of the proximal end of the affected bone and two bony landmark points located at the inner and outer sides of the distal end of the affected bone.

[0132] Based on the positional relationship between the bony landmarks on the affected bone, a first registration coordinate system corresponding to the affected bone is established, and based on the positional relationship between the bony landmarks on the three-dimensional bone model, a second registration coordinate system corresponding to the three-dimensional bone model is established, including: taking the direction from the bony landmark located on the inner side of the proximal end of the affected bone to the bony landmark located on the outer side of the proximal end of the affected bone as the X-axis direction of the first registration coordinate system, taking the midpoint of the line connecting the two bony landmarks located on the inner and outer sides of the distal end of the affected bone as the origin of the first registration coordinate system, and taking the upward direction passing through the origin of the first registration coordinate system and perpendicular to the origin of the first registration coordinate system and the plane where the two bony landmarks located on the inner and outer sides of the proximal end of the affected bone are located as the Y-axis of the first registration coordinate system to obtain the first registration coordinate system.

[0133] The direction from the bony landmark located on the inner side of the proximal end of the three-dimensional bone model to the bony landmark located on the outer side of the proximal end of the three-dimensional bone model is the X-axis direction of the second registration coordinate system, the midpoint of the line connecting the two bony landmarks located on the inner and outer sides of the distal end of the three-dimensional bone model is the origin of the second registration coordinate system, and the upward direction passing through the origin of the second registration coordinate system and perpendicular to the origin of the second registration coordinate system and the plane where the two bony landmarks located on the inner and outer sides of the proximal end of the three-dimensional bone model are located is the Y-axis of the second registration coordinate system to obtain the second registration coordinate system.

[0134] Specifically, taking the affected bone as the humerus as an example, the bony landmarks on the affected bone include bony landmark 1 and bony landmark 2 located on both sides of the proximal end of the humerus, as well as bony landmark A located on the medial epicondyle of the humerus and bony landmark B located on the lateral epicondyle of the humerus.

[0135] The bony landmarks on the three-dimensional bone model of the affected bone include bony landmark 1 and bony landmark 2 located on both sides of the proximal end of the three-dimensional bone model of the humerus, as well as bony landmark A located on the medial epicondyle of the three-dimensional bone model of the humerus and bony landmark B located on the lateral epicondyle of the three-dimensional bone model of the humerus.

[0136] The vector from the bony landmark point A located on the medial epicondyle of the humerus to the bony landmark point B located on the lateral epicondyle of the humerus The X-axis of the first registration coordinate system is taken as the midpoint of the line connecting the bony landmark point 1 and the bony landmark point 2 located on both sides of the proximal end of the humerus as the origin O of the first registration coordinate system. The plane AOB is determined by the origin O of the first registration coordinate system and the bony landmark point A located on the medial epicondyle of the humerus pointing to the bony landmark point B located on the lateral epicondyle of the humerus. The direction passing through the origin O of the first registration coordinate system and perpendicular to the upward direction of the plane AOB is determined as the Y-axis of the first registration coordinate system, and the first registration coordinate system can be obtained.

[0137] Similarly, the vector from the bony landmark point A located at the medial epicondyle of the humeral 3D bone model to the bony landmark point B located at the lateral epicondyle of the humerus is The X-axis of the second registration coordinate system is taken as the midpoint of the line connecting the bony landmark point 1 and the bony landmark point 2 located on both sides of the proximal end of the three-dimensional bone model of the humerus as the origin O of the second registration coordinate system. The plane AOB is determined by the origin O of the second registration coordinate system and the bony landmark point A located on the medial epicondyle of the three-dimensional bone model of the humerus pointing to the bony landmark point B located on the lateral epicondyle of the humerus. The upward direction passing through the origin O of the second registration coordinate system and perpendicular to the plane AOB is determined as the Y-axis of the second registration coordinate system, and the second registration coordinate system can be obtained.

[0138] A representation matrix of the first registration coordinate system and a representation matrix of the second registration coordinate system are established, and a transformation matrix between the representation matrix of the first registration coordinate system and the representation matrix of the second registration coordinate system is calculated as a target change matrix.

[0139] Specifically, the representation matrix of the first registration coordinate system is established by mathematical methods and the representation matrix of the second registration coordinate system Afterwards, the representation matrix of the first registration coordinate system can be calculated and the representation matrix of the second registration coordinate system The change matrix between , the specific calculation formula is as follows:

[0140]

[0141] Based on the target change matrix, each bony landmark point on the affected bone is spatially transformed to obtain a first spatial point set. Based on each bony landmark point on the affected bone, a normal distribution transformation algorithm is used to calculate a first transformation matrix.

[0142] It should be noted that the representation matrix of the first registration coordinate system is The 3x3 matrix in the upper left corner is the direction vector of the X-axis, Y-axis, and Z-axis in the first registration coordinate system. The 3x1 matrix to the right of the above 3x3 matrix is ​​the origin coordinate of the first registration coordinate system. The 1x3 below the above 3x3 matrix and the 3x1 matrix is ​​{0, 0, 0, 1}.

[0143] The representation matrix of the second registration coordinate system The 3x3 matrix in the upper left corner is the direction vector of the X-axis, Y-axis, and Z-axis in the second registration coordinate system. The 3x1 matrix to the right of the 3x3 matrix is ​​the origin coordinate of the second registration coordinate system. The 1x3 matrix below the 3x3 matrix and the 3x1 matrix is ​​{0, 0, 0, 1}.

[0144] Specifically, in the embodiment of the present invention, Represents the bony landmark point cloud on the affected bone, using A point cloud of bony landmarks on a 3D bone model representing the affected bone.

[0145] Based on the target change matrix Point cloud of bony landmarks on the affected bone Performing spatial transformation, the bony landmark point cloud on the affected bone can be Transform to the second registration coordinate system to obtain the first spatial point set .

[0146] Bone landmark point cloud based on the 3D bone model of the affected bone , the Normal Distribution Transform (NDT) algorithm can be used to calculate the first change matrix The specific calculation steps include: converting the bony landmark point cloud on the 3D bone model Divide into multiple grids and calculate the mean value in each grid. The calculation formula is as follows:

[0147]

[0148] in, represents the mean value in the grid; Indicates the number of bony landmarks in the mesh; Indicates the first The location information of the bony landmarks.

[0149] Calculate the covariance of each grid using the following formula:

[0150]

[0151] in, Indicates transpose.

[0152] Constructing a normal distribution , its probability distribution density It can be expressed as:

[0153]

[0154] Use Initial Transformation Transform the first spatial point set For all points in , establish the following evaluation function :

[0155]

[0156] in, Represents the first spatial point set Middle points; express According to the initial transformation Bone landmark point cloud mapped onto the 3D bone model after transformation The mean value of the grid where the posterior is located; Indicates that the first spatial point set Middle points According to the initial transformation The transformed value.

[0157] According to the Newton optimization method, the above evaluation function is optimized, that is, the evaluation function is found to be The optimal transformation parameter ,The key step of optimization is to solve the Jacobian matrix and the Hessian matrix.

[0158] Repeat the above steps to optimize the evaluation function until the convergence condition is met, and obtain the first change matrix .

[0159] Perform spatial transformation on the first spatial point set based on the first transformation matrix to obtain a second spatial point set.

[0160] Specifically, obtain the first change matrix Afterwards, based on the first change matrix For the first set of spatial points Performing spatial transformation, we can obtain the second spatial point set .

[0161] The iterative closest point algorithm and singular value decomposition are used to align the second spatial point set and the bony landmarks on the three-dimensional bone model to obtain a first registration matrix for describing the mapping relationship between the affected bone and the three-dimensional bone model.

[0162] Specifically, the second spatial point set is obtained Afterwards, the iterative closest point algorithm can be used to calculate the second spatial point set. and bony landmark point cloud on the 3D bone model of the affected bone Perform precise point cloud registration. The specific steps include: using The second space point set All points in the image are transformed into the bone landmark point cloud on the 3D bone model of the affected bone. Next, define the following energy function:

[0163]

[0164] in, represents the energy function value; Represents the second space point set Middle points to bony landmark point cloud the closest point to the middle back; represents the first transformation parameter; represents the second transformation parameter; Represents the second space point set The points.

[0165] It should be noted that the optimization target of the energy function in the embodiment of the present invention is the energy function value Minimum.

[0166] Use the Singular Value Decomposition (SVD) algorithm to obtain the first transformation parameters and the second transformation parameter The optimal solution of Among them, the first transformation parameter in the embodiment of the present invention is and the second transformation parameter The optimal solution is The first transformation parameter is the smallest when The value of the second transformation parameter Based on the first transformation parameter and the second transformation parameter The optimal solution of The specific method is: transform the upper left corner 3x3 matrix into the first transformation parameter The optimal solution of , the 3x1 on the right is the second transformation parameter The optimal solution is to fill the bottom row with 0, 0, 0, 1 to get the second change matrix .

[0167] The first registration matrix used to describe the mapping relationship between the affected bone and the three-dimensional bone model .

[0168] Based on the mapping relationship between the three-dimensional bone model and the first image and the first registration matrix, a second registration matrix for describing the mapping relationship between the affected bone and the first image is obtained.

[0169] Specifically, obtain the first registration matrix Then, based on the mapping relationship between the three-dimensional bone model of the affected bone and the first image and the first registration matrix , through numerical calculation, a second registration matrix for describing the mapping relationship between the affected bone and the first image is obtained.

[0170] In an embodiment of the present invention, a first registration coordinate system corresponding to the affected bone is established based on the positional relationship between the bony landmarks on the affected bone, and a second registration coordinate system corresponding to the three-dimensional bone model is established based on the positional relationship between the bony landmarks on the three-dimensional bone model. Then, a representation matrix of the first registration coordinate system and a representation matrix of the second registration coordinate system are established, and a transformation matrix between the representation matrix of the first registration coordinate system and the representation matrix of the second registration coordinate system is calculated as a target change matrix. Based on the target change matrix, a spatial transformation is performed on the bony landmarks on the affected bone to obtain a first spatial point set. Based on the bony landmarks on the affected bone, a normal distribution transformation algorithm is used to calculate a first transformation matrix. Based on the first transformation matrix, a spatial transformation is performed on the first spatial point set. The method is to transform between the two points to obtain a second spatial point set, and use the iterative closest point algorithm and singular value decomposition to align the second spatial point set with the bony landmarks on the three-dimensional bone model to obtain a first registration matrix for describing the mapping relationship between the affected bone and the three-dimensional bone model. By establishing a registration coordinate system corresponding to the affected bone and the three-dimensional bone model and calculating the transformation matrix between them, the spatial relationship between the affected bone and the three-dimensional bone model can be more accurately described, overcoming the limitations of the traditional point-based registration algorithm, reducing the registration error caused by inaccurate bony landmarks on the affected bone or limited surgical area, and combining the normal distribution transformation algorithm and the iterative closest point algorithm for spatial transformation and registration, which significantly improves the registration accuracy and robustness between the affected bone and the three-dimensional bone model.

[0171] Step 104: Perform surgical navigation based on surgical parameters corresponding to the affected bone and a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0172] Specifically, after obtaining the surgical parameters corresponding to the affected bone and the mapping relationship between the affected bone and the three-dimensional bone model and / or the image of the affected bone, the orthopedic surgical operation on the affected bone can be completed using a surgical navigation device based on the surgical parameters corresponding to the affected bone and the mapping relationship between the affected bone and the three-dimensional bone model and / or the image of the affected bone.

[0173] When the doctor uses a handheld surgical navigation device to perform orthopedic surgery on an affected bone, the human-computer interaction device can display real-time images of the affected bone during the operation and the spatial position and posture of the surgical navigation device. It can also calculate the distance, angle and other deviations between the surgical navigation device and any position on the affected bone to provide visual feedback.

[0174] If bone grinding is required, the 3D bone model can be colored based on the surgical parameters to enhance visual feedback during the grinding process. Over-ground, properly ground, and under-ground areas can be indicated in red, white, and green, respectively. During the grinding process, the coloring information in the 3D bone model can be updated in real time based on the actual grinding progress and the position of the grinding tool, reflecting the grinding progress in real time and ensuring complete grinding of the desired area.

[0175] When it is necessary to grind the center nail, fixed nail or non-fixed nail implanted in the affected bone, the center nail, fixed nail and non-fixed nail can be tracked and displayed in real time, and the distance of the center nail passing through the three-dimensional bone model of the affected bone can be calculated to assist in adjusting the direction of the center nail to ensure that the center nail does not pass through the bone surface of the affected bone. At the same time, the direction of the fixed nail and non-fixed nail can be adjusted according to the patient's bone physiological structure to achieve the most stable base fixation effect.

[0176] When a base needs to be installed for the affected bone, the real-time position and posture of the grinding tool and the installation tool can be obtained through the tracer on the affected bone side and the tracer on the surgical navigation device to calculate the distance angle deviation and depth from the target position of the grinding reamer and the installation tool.

[0177] When the affected bone needs to be reconstructed, different types of osteotomy guides can be adapted, including standard guides, personalized guides, etc., and during the osteotomy process, the humeral tracer and the tracer installed on the guide can be used to calculate and display in real time the error between the guide plane and the planned osteotomy plane.

[0178] During the installation of the prosthesis of the affected bone, the position of the affected bone and the prosthesis can be obtained in real time through the tracers installed on the prosthesis and the affected bone, and compared with the planned position, and the deviation between the axis of the affected bone and the prosthesis and the anteversion angle and the plan can be provided in real time.

[0179] After the prosthesis is installed, in reverse shoulder replacement, a probe can be used to click on the liner, and the installation position and posture of the humeral stem can be used to further confirm whether the liner is installed in place. In normal shoulder and hemi-shoulder replacement, the tracer on the ball head installer can be used to determine whether the ball head on the humeral stem is installed in place.

[0180] The embodiments of the present invention generate a three-dimensional bone model of the affected bone by combining preoperative medical images of the affected bone with medical images of the corresponding healthy bone of the affected bone. This can more accurately reflect the healthy morphology of the affected bone when the affected bone has bone defects and / or morphological abnormalities. Furthermore, surgical parameters corresponding to the affected bone can be obtained based on the three-dimensional bone model of the affected bone, making preoperative surgical planning more objective and quantitative. During orthopedic surgery on the affected bone, by aligning bony landmarks on the three-dimensional bone model with actual bony landmarks on the affected bone, a precise mapping relationship between the affected bone and the three-dimensional bone model can be established, thereby achieving accurate spatial positioning of the affected bone during surgery. Based on the surgical parameters corresponding to the affected bone and the mapping relationship between the three-dimensional bone model, the condition of the affected bone can be displayed in real time during surgery, achieving more accurate spatial positioning of the affected bone during orthopedic surgery, providing intuitive visual guidance for doctors, helping them make more informed decisions during surgery, thereby reducing surgical complications and postoperative recovery time, significantly improving the accuracy and reliability of orthopedic surgery, effectively reducing surgical risks, and achieving more stable surgical results.

[0181] Figure 2 This is a schematic diagram of the structure of the orthopedic surgery navigation device provided by the present invention. Figure 2 The orthopedic surgery navigation device provided by the present invention is described. The orthopedic surgery navigation device described below and the orthopedic surgery navigation method provided by the present invention described above can be referred to each other. Figure 2 As shown, the device includes: a data acquisition module 201, a preoperative planning module 202, an intraoperative registration module 203 and an intraoperative execution module 204.

[0182] The data acquisition module 201 is used to generate a three-dimensional bone model of the affected bone based on a first image and a second image. The first image includes a medical image of the affected bone before orthopedic surgery, and the second image includes a medical image of the healthy bone corresponding to the affected bone. The affected bone and the healthy bone corresponding to the affected bone are a pair of human bones symmetrically distributed with the spine as the midline.

[0183] The preoperative planning module 202 is used to determine multiple bony landmarks on the three-dimensional bone model, and obtain surgical parameters corresponding to the affected bone based on the three-dimensional bone model and the bony landmarks on the three-dimensional bone model. The surgical parameters include at least one of osteotomy position, osteotomy size, prosthesis model, prosthesis size and prosthesis installation position.

[0184] The intraoperative registration module 203 is used to register the affected bone and the three-dimensional bone model based on the correspondence between the bony landmarks on the three-dimensional bone model and the bony landmarks on the affected bone, and establish a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0185] The intraoperative execution module 204 is configured to perform surgical navigation based on surgical parameters corresponding to the affected bone and a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0186] Specifically, the data acquisition module 201 , the preoperative planning module 202 , the intraoperative registration module 203 and the intraoperative execution module 204 are electrically connected.

[0187] The orthopedic surgical navigation device in an embodiment of the present invention generates a three-dimensional bone model of the affected bone by combining preoperative medical images of the affected bone with medical images of the corresponding healthy bone. This device can more accurately reflect the healthy morphology of the affected bone even when the bone has bone defects and / or morphological abnormalities. Furthermore, surgical parameters corresponding to the affected bone can be obtained based on the three-dimensional bone model, making preoperative surgical planning more objective and quantitative. During orthopedic surgery on the affected bone, a precise mapping relationship between the affected bone and the three-dimensional bone model is established by registering bony landmarks on the three-dimensional bone model with actual bony landmarks on the affected bone. This allows for accurate spatial positioning of the affected bone during surgery. Based on the corresponding surgical parameters and the mapping relationship between the three-dimensional bone model and the affected bone, the condition of the affected bone can be displayed in real time during surgery, enabling more accurate spatial positioning of the affected bone during orthopedic surgery. This device provides intuitive visual guidance for surgeons, helping them make more informed decisions during surgery, thereby reducing surgical complications and postoperative recovery time. This significantly improves the accuracy and reliability of orthopedic surgery, effectively lowers surgical risks, and achieves more stable surgical outcomes.

[0188] Figure 3 An example of a physical structure diagram of an electronic device is shown below. Figure 3As shown, the electronic device 1100 may include: a processor 310 , a communication interface 320 , a memory 330 and a communication bus 340 , wherein the processor 310 , the communication interface 320 and the memory 330 communicate with each other via the communication bus 340 . The processor 310 can call the logic instructions in the memory 330 to execute the orthopedic surgery navigation method, which includes: generating a three-dimensional bone model of the affected bone based on a first image and a second image, the first image including a medical image of the affected bone before the orthopedic surgery, and the second image including a medical image of the healthy bone corresponding to the affected bone, the affected bone and the healthy bone corresponding to the affected bone being a pair of human bones symmetrically distributed with the spine as the midline; determining multiple bony landmarks on the three-dimensional bone model, and obtaining surgical parameters corresponding to the affected bone based on the three-dimensional bone model and the bony landmarks on the three-dimensional bone model, the surgical parameters including at least one of osteotomy position, osteotomy size, prosthesis model, prosthesis size and prosthesis installation position; aligning the affected bone and the three-dimensional bone model based on the correspondence between the bony landmarks on the three-dimensional bone model and the bony landmarks on the affected bone, and establishing a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image; performing surgical navigation based on the surgical parameters corresponding to the affected bone and the mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0189] Furthermore, the logic instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0190] Figure 4 This is one of the structural diagrams of the orthopedic surgery navigation system provided by the present invention. Figure 5 This is the second structural diagram of the orthopedic surgery navigation system provided by the present invention. Figure 4 and Figure 5 As shown, the orthopedic surgery navigation system 1000 includes: the electronic device 1100 as described above and a surgical navigation device 2000; the electronic device is electrically connected to the surgical navigation device.

[0191] As an optional embodiment, the orthopedic surgery navigation system further includes a human-computer interaction device 1200 .

[0192] The human-computer interaction device 1200 is in communication connection with the electronic device 1100 .

[0193] The surgical navigation device 2000 includes a navigation camera 2100 , a patient tracer 2200 , a probe 2300 , and a navigation tool 2400 .

[0194] Specifically, the electronic device can communicate with the surgical navigation device to obtain the actual spatial position of the affected bone and the surgical tools.

[0195] The electronic device 1100 is communicatively connected to the human-computer interaction device 1200 and the navigation camera 2100 respectively, receives information transmitted by the human-computer interaction device 1200 and the navigation camera 2100, and sends relevant information or instructions to the human-computer interaction device 1200 and the navigation camera 2100.

[0196] Navigation camera 2100 receives signals from the patient's tracer 2200, probe 2300, and navigation tool 2400, determining the relative spatial position of the surgical navigation device and the affected bone within the same spatial coordinate system. Once the spatial relationship between the affected bone and the surgical navigation device is determined, navigation camera 2100 receives signals from probe 2300 and completes the acquisition of bony landmarks on the affected bone.

[0197] The orthopedic surgical navigation system provided by the present invention includes electronic equipment, a surgical navigation device and a human-computer interaction device for executing the orthopedic surgical navigation method provided by the present invention. It can improve the accuracy, stability and safety of the operation, while reducing the operation time, reducing the surgical risk and improving the operation efficiency. It can complete the personalized surgical plan of the affected bone before the operation based on the preoperative medical images of the affected bone and the medical images of the healthy bone corresponding to the affected bone. It can use the healthy side data to map and generate the affected side data to treat cases of fractures or severe bone defects. At the same time, it can provide the offset of the humerus on the surgical side relative to the preoperative side and the opposite side, adjust the prosthesis planning according to the offset, use an infrared camera for intraoperative navigation, and provide high-precision real-time navigation while reducing the impact of the environment on the navigation camera. Real-time tool tracking and visual feedback can effectively improve the accuracy and efficiency of prosthesis implantation.

[0198] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the orthopedic surgery navigation method provided by the above methods, which includes: generating a three-dimensional bone model of the affected bone based on a first image and a second image, the first image including a medical image of the affected bone before the orthopedic surgery, the second image including a medical image of a healthy bone corresponding to the affected bone, the affected bone and the healthy bone corresponding to the affected bone being a pair of human bones symmetrically distributed with the spine as the midline; in the three-dimensional A plurality of bony landmarks are determined on the bone model, and surgical parameters corresponding to the affected bone are obtained based on the three-dimensional bone model and the bony landmarks on the three-dimensional bone model. The surgical parameters include at least one of osteotomy position, osteotomy size, prosthesis model, prosthesis size, and prosthesis installation position. Based on the correspondence between the bony landmarks on the three-dimensional bone model and the bony landmarks on the affected bone, the affected bone and the three-dimensional bone model are aligned, and a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image is established. Surgical navigation is performed based on the surgical parameters corresponding to the affected bone and the mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0199] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the orthopedic surgery navigation method provided by the above-mentioned methods, the method comprising: generating a three-dimensional bone model of an affected bone based on a first image and a second image, the first image comprising a medical image of the affected bone before orthopedic surgery, the second image comprising a medical image of a healthy bone corresponding to the affected bone, the affected bone and the healthy bone corresponding to the affected bone being a pair of human bones symmetrically distributed with the spine as the midline; determining a plurality of bony landmarks on the three-dimensional bone model, and obtaining surgical parameters corresponding to the affected bone based on the three-dimensional bone model and the bony landmarks on the three-dimensional bone model, the surgical parameters comprising at least one of osteotomy position, osteotomy size, prosthesis model, prosthesis size, and prosthesis installation position; aligning the affected bone and the three-dimensional bone model based on the correspondence between the bony landmarks on the three-dimensional bone model and the bony landmarks on the affected bone, and establishing a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image; and performing surgical navigation based on the surgical parameters corresponding to the affected bone and the mapping relationship between the affected bone and the three-dimensional bone model and / or the first image.

[0200] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art can understand and implement the present invention without inventive effort.

[0201] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or alternatively, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes instructions for enabling a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or portions thereof.

[0202] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An orthopedic surgery navigation device, characterized in that: include: a data acquisition module configured to generate a three-dimensional bone model of the affected bone based on a first image and a second image, wherein the first image comprises a medical image of the affected bone before orthopedic surgery, and the second image comprises a medical image of a healthy bone corresponding to the affected bone, wherein the affected bone and the healthy bone corresponding to the affected bone are a pair of human bones symmetrically distributed about the spine as a midline; a preoperative planning module, configured to determine a plurality of bony landmarks on the three-dimensional bone model, and obtain surgical parameters corresponding to the affected bone based on the three-dimensional bone model and the bony landmarks on the three-dimensional bone model, the surgical parameters including at least one of osteotomy position, osteotomy size, prosthesis model, prosthesis size, and prosthesis installation position; an intraoperative registration module, configured to register the affected bone with the three-dimensional bone model based on the correspondence between each of the bony landmarks on the three-dimensional bone model and each of the bony landmarks on the affected bone, and establish a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image; an intraoperative execution module, configured to perform surgical navigation based on surgical parameters corresponding to the affected bone and a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image; The data acquisition module generates a three-dimensional bone model of the affected bone based on the first image and the second image, including: constructing a first three-dimensional point cloud model based on the first image, and constructing a second three-dimensional point cloud model based on the second image; Extracting the centroids of the first and second three-dimensional point cloud models, and performing a mirror image of the second three-dimensional point cloud model in a horizontal direction based on the centroids of the first and second three-dimensional point cloud models to obtain a third three-dimensional point cloud model; Aligning the first three-dimensional point cloud model and the third three-dimensional point cloud model based on the centroid of the first three-dimensional point cloud model and the centroid of the third three-dimensional point cloud model; Obtaining a feature descriptor for each point in the third three-dimensional point cloud model, and then performing a coarse point cloud registration on the third three-dimensional point cloud model and the first three-dimensional point cloud model using a consistent initial registration algorithm based on the feature descriptors of each point in the third three-dimensional point cloud model to obtain a fourth three-dimensional point cloud model; Using an iterative closest point algorithm and singular value decomposition, performing point cloud precise registration on the fourth three-dimensional point cloud model and the first three-dimensional point cloud model to obtain a three-dimensional bone model of the affected bone; The data acquisition module constructs a first three-dimensional point cloud model based on the first image, including: When it is determined that the image quality of the first image meets a preset standard, performing data preprocessing on the first image to obtain a first image after data preprocessing; performing image segmentation on the first image after data preprocessing based on the distribution of the bone fragments of the affected bone to obtain a plurality of sub-images corresponding to the first image, each of the sub-images including only one bone fragment of the affected bone; The sub-image of the largest bone block of the affected bone is determined as a target sub-image, and then based on the target sub-image, a three-dimensional point cloud model of the largest bone block of the affected bone is constructed as the first three-dimensional point cloud model.

2. The orthopedic surgery navigation device according to claim 1, characterized in that: The intraoperative registration module registers the affected bone with the three-dimensional bone model based on the correspondence between each of the bony landmarks on the three-dimensional bone model and each of the bony landmarks on the affected bone, and establishes a mapping relationship between the affected bone and the three-dimensional bone model and / or the first image, including: Establishing a first registration coordinate system corresponding to the affected bone based on the positional relationship between the bony landmarks on the affected bone, and establishing a second registration coordinate system corresponding to the three-dimensional bone model based on the positional relationship between the bony landmarks on the three-dimensional bone model; Establishing a representation matrix of the first registration coordinate system and a representation matrix of the second registration coordinate system, and calculating a transformation matrix between the representation matrix of the first registration coordinate system and the representation matrix of the second registration coordinate system as a target change matrix; Performing spatial transformation on each of the bony landmarks on the affected bone based on the target change matrix to obtain a first spatial point set, and calculating a first transformation matrix based on each of the bony landmarks on the affected bone using a normal distribution transformation algorithm; Performing spatial transformation on the first spatial point set based on the first transformation matrix to obtain a second spatial point set; Using an iterative closest point algorithm and singular value decomposition, the second spatial point set and each of the bony landmarks on the three-dimensional bone model are registered to obtain a first registration matrix for describing a mapping relationship between the affected bone and the three-dimensional bone model; Based on the mapping relationship between the three-dimensional bone model and the first image and the first registration matrix, a second registration matrix for describing the mapping relationship between the affected bone and the first image is acquired.

3. The orthopedic surgery navigation device according to claim 2, characterized in that: The bony landmarks on the affected bone include two bony landmarks located on the inner side and the outer side of the proximal end of the affected bone, and two bony landmarks located on the inner side and the outer side of the distal end of the affected bone; The step of establishing a first registration coordinate system corresponding to the affected bone based on the positional relationship between the bony landmarks on the affected bone comprises: The first registration coordinate system is obtained by taking the direction from the bony landmark located on the inner side of the proximal end of the affected bone to the bony landmark located on the outer side of the proximal end of the affected bone as the X-axis direction of the first registration coordinate system, taking the midpoint of the line connecting the two bony landmarks located on the inner and outer sides of the distal end of the affected bone as the origin of the first registration coordinate system, and taking the upward direction passing through the origin of the first registration coordinate system and perpendicular to the plane where the origin of the first registration coordinate system and the two bony landmarks located on the inner and outer sides of the proximal end of the affected bone are located as the Y-axis of the first registration coordinate system; Each of the bony landmarks on the three-dimensional bone model includes two bony landmarks located at the inner and outer sides of the proximal end of the three-dimensional bone model, and two bony landmarks located at the inner and outer sides of the distal end of the three-dimensional bone model; Establishing a second registration coordinate system corresponding to the three-dimensional bone model based on the positional relationship between the bony landmarks on the three-dimensional bone model includes: The second registration coordinate system is obtained by taking the direction from the bony landmark located on the inner side of the proximal end of the three-dimensional bone model to the bony landmark located on the outer side of the proximal end of the three-dimensional bone model as the X-axis direction of the second registration coordinate system, taking the midpoint of the line connecting the two bony landmarks located on the inner and outer sides of the distal end of the three-dimensional bone model as the origin of the second registration coordinate system, and taking the upward direction of the plane passing through the origin of the second registration coordinate system and perpendicular to the origin of the second registration coordinate system and the two bony landmarks located on the inner and outer sides of the proximal end of the three-dimensional bone model as the Y-axis of the second registration coordinate system.

4. The orthopedic surgery navigation device according to any one of claims 1 to 3, characterized in that: Determining a plurality of bony landmarks on the three-dimensional bone model includes: Several bony landmarks are determined at the proximal end of the three-dimensional bone model, and several bony landmarks are determined at the distal end of the three-dimensional bone model, wherein the proximal end is the end close to the incision, and the distal end is the end away from the incision.

5. An orthopedic surgery navigation system, characterized in that: include: The orthopedic surgical navigation device and the surgical navigation device according to any one of claims 1 to 4; The orthopedic surgery navigation device is communicatively connected to the surgical navigation device.

6. The orthopedic surgery navigation system according to claim 5, characterized in that: Also includes: A human-computer interaction device; the human-computer interaction device is communicatively connected to the orthopedic surgery navigation device; The surgical navigation device includes a navigation camera, a patient tracer, a probe, and a navigation tool.

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