Reference frame system for orthopedic surgery and orthopedic surgery navigation method

Abstract

The invention provides a reference frame system for orthopedic surgery and an orthopedic surgery navigation method, the system comprises: a reference frame main body, one side of the reference frame main body is provided with a bonding surface for fitting the human skin surface, and the reference frame main body is provided with an ultrasonic probe and a reflective ball assembly; the auxiliary imaging assembly is matched with the reflective ball assembly; the processor is electrically connected with the ultrasonic probe and used for controlling the ultrasonic probe to generate ultrasonic waves when the reference frame body is attached to the surface of the human skin and constructing a first image of the surgical site according to reflection echoes; the processor is further electrically connected with the auxiliary imaging assembly and used for constructing a second image of the surgical site through the auxiliary imaging assembly and the light reflecting ball assembly when the reference frame body is attached to the human skin surface. The processor is further configured to register the first image and the second image to obtain a third image for surgical navigation. According to the scheme, noninvasive fixation of the reference frame can be achieved, accurate positioning of a surgical site can be guaranteed, and influence on surgical accuracy is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical navigation, and in particular to a reference frame system for orthopedic surgery and an orthopedic surgery navigation method. Background Art

[0002] Surgical navigation is widely used in surgical positioning such as spinal surgery, trauma orthopedics, joint replacement and neurosurgery because it can accurately guide the positioning of the surgery during the operation. A reference frame is required in surgical navigation. The reference frame usually needs to be rigidly connected to the human skeleton, and then the positioning and acquisition of the surgical site image information are achieved through the reflective ball set on the reference frame, as well as the CT imaging system or binocular vision system. However, the rigid connection between the reference frame and the human skeleton requires an additional window to be opened in the healthy area of ​​the human body to fix the reference frame; in other cases, such as in areas such as the pelvis, it is difficult to find a fixed position for the reference frame, and the skin surface adhesive method will be used, or the skin surface adhesive method will be used directly at the surgical site. Although there is no incision and no additional damage to the healthy area of ​​the human body, due to the softness and elasticity of the human skin, the fixation will be unstable, affecting the positioning and surgical accuracy. Therefore, there is an urgent need for a non-invasive and accurately positioned surgical navigation method. Summary of the invention

[0003] The purpose of the present invention is to provide a reference frame system for orthopedic surgery and an orthopedic surgery navigation method, so as to realize non-invasive fixation of the reference frame and ensure accurate positioning of the surgical site to avoid affecting the surgical accuracy.

[0004] The technical solution provided by the present invention is as follows: In a first aspect, the present application provides a reference frame system for orthopedic surgery, comprising: A reference frame body, one side of which is provided with an adhesive surface for adhering to the surface of human skin, and the reference frame body is provided with an ultrasonic probe and a reflective ball assembly; An auxiliary imaging component, adapted to the reflective ball component; a processor, the processor being electrically connected to the ultrasound probe and configured to control the ultrasound probe to generate ultrasound waves when the reference frame body is attached to a human skin surface, and to construct a first image of the surgical site according to the reflected echo; The processor is also electrically connected to the auxiliary imaging component, and is used to construct a second image of the surgical site through the auxiliary imaging component and the reflective ball component when the reference frame body is attached to the surface of human skin; The processor is further used to register the first image and the second image to obtain a third image for surgical navigation.

[0005] This solution sets an ultrasonic probe and a reflective ball assembly on the reference frame, and can construct a first image of the surgical site through ultrasonic imaging on the basis of conventionally constructing a second image of the surgical site through the imaging assembly and the reflective ball assembly. By aligning the first image and the second image, an accurate third image for surgical navigation can be obtained. This solution eliminates the need for a rigid connection between the reference frame and the human skeleton, and can achieve non-invasive fixation of the reference frame and ensure accurate positioning of the surgical site. Even if the reference frame is unstable due to adhesion to the human skin, an accurate navigation image can be obtained through the alignment of the first image and the second image to avoid affecting the surgical accuracy.

[0006] In some embodiments, the processor is further configured to obtain three-dimensional parameters of the reference frame body, position parameters of the ultrasound probe on the reference frame body, and position parameters of the reflective ball assembly on the reference frame body; The processor obtains a first offset relationship of the first image according to the three-dimensional parameters of the reference frame body and the position parameters of the reflective ball assembly on the reference frame body; The processor obtains a second offset relationship of the second image according to the three-dimensional parameters of the reference frame body and the position parameters of the ultrasound probe on the reference frame body; The processor obtains the positional relationship between the ultrasound probe and the reflective ball assembly based on the position parameters of the ultrasound probe on the reference frame body and the position parameters of the reflective ball assembly on the reference frame body, and aligns the first image and the second image based on the positional relationship, the first offset relationship, and the second offset relationship to obtain the third image for surgical navigation.

[0007] In some embodiments, the bonding surface is a curved surface conforming to the morphology of the human body, and / or the bonding surface is an elastic surface.

[0008] In some embodiments, the auxiliary imaging component includes a CT scanning component; The CT scanning assembly includes an X-ray tube for generating an X-ray beam, a detector for receiving the X-ray beam, and a rotating gantry for fixing the X-ray tube and the detector.

[0009] In some embodiments, the processor is electrically connected to the X-ray tube, the detector, and the rotating gantry, respectively. When the reference frame body is in contact with the human skin surface, the processor controls the X-ray tube to emit an X-ray beam toward the reference frame body, controls the detector to receive the X-ray beam, and controls the rotating frame to rotate at least one circle at a preset angular velocity to obtain the second image.

[0010] In some embodiments, the auxiliary imaging component includes a binocular locator, and the processor is electrically connected to the binocular locator. The processor controls the binocular positioning instrument to shoot toward the reference frame body when the reference frame body is attached to the human skin surface, so as to obtain two images of the surgical site at different shooting angles. The processor determines valid matching points of the two images according to the positions of the reflective ball components in the two images respectively, and constructs the second image according to the valid matching points.

[0011] In some embodiments, the processor is further configured to perform geometric correction on the two images after obtaining the two images so that display viewing angles of the two images are on the same plane.

[0012] In some embodiments, the reflective ball assembly includes a mounting bracket, and four reflective balls fixed to the mounting bracket, and the four reflective balls are located at four vertices of a tetrahedron.

[0013] In a second aspect, the present application provides an orthopedic surgery navigation method, comprising the steps of: When the reference frame body is attached to the surface of human skin, the ultrasonic probe is controlled to generate ultrasonic waves, and a first image of the surgical site is constructed according to the reflected echo, wherein one side of the reference frame body is provided with an adhesive surface for attaching to the surface of human skin, and the ultrasonic probe and the reflective ball assembly are provided on the reference frame body; Constructing a second image of the surgical site by using an auxiliary imaging component adapted to the reflective ball component and the reflective ball component; The first image and the second image are registered to obtain a third image used for surgical navigation.

[0014] In some embodiments, it further comprises: Acquire the three-dimensional parameters of the reference frame body, the position parameters of the ultrasound probe on the reference frame body, and the position parameters of the reflective ball assembly on the reference frame body; Obtaining a first offset relationship of the first image according to three-dimensional parameters of the reference frame body and position parameters of the reflective ball assembly on the reference frame body; The processor obtains a second offset relationship of the second image according to the three-dimensional parameters of the reference frame body and the position parameters of the ultrasound probe on the reference frame body; Obtaining a positional relationship between the ultrasonic probe and the reflective ball assembly according to a position parameter of the ultrasonic probe on the reference frame body and a position parameter of the reflective ball assembly on the reference frame body; The registering the first image and the second image comprises: The first image and the second image are registered according to the positional relationship, the first offset relationship, and the second offset relationship to obtain the third image used for surgical navigation.

[0015] According to a reference frame system for orthopedic surgery and an orthopedic surgery navigation method provided by the present invention, the reference frame no longer needs to be rigidly connected to the human skeleton, and non-invasive fixation of the reference frame can be achieved, and accurate positioning of the surgical site can be guaranteed. Even if the reference frame is unstable when attached to the human skin, an accurate navigation image can be obtained by aligning the first image and the second image, thereby avoiding affecting the surgical accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present solution.

[0017] Figure 1 is a structural schematic diagram of a reference frame body according to an embodiment of the present invention; Figure 2 is a schematic diagram of processor control according to an embodiment of the present invention; Figure 3 is a schematic diagram of processor control according to another embodiment of the present invention; Figure 4 is a processor control schematic diagram of yet another embodiment of the present invention; Figure 5 is a flow chart of an embodiment of the present invention; Figure 6 It is a flow chart of another embodiment of the present invention.

[0018] Numbers in the figure: 10 - reference frame body; 11 - ultrasonic probe; 12 - reflective ball assembly; 13 - bonding surface; 20 - processor; 30 - auxiliary imaging assembly; 31 - CT scanning assembly; 32 - binocular positioning instrument. DETAILED DESCRIPTION

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0020] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0021] Surgical navigation is widely used in surgical positioning such as spinal surgery, trauma orthopedics, joint replacement and neurosurgery because it can accurately guide the positioning of the surgery during the operation. A reference frame is required in surgical navigation. The existing reference frame is usually a frame with several reflective balls set on it. When in use, the reference frame usually needs to be rigidly connected to the human skeleton, that is, it is necessary to open an additional window in the healthy area of ​​the human body (including skin and bones) to mechanically connect the reference frame to the skeleton; then the reflective balls set on the reference frame, as well as the CT imaging system or binocular vision system, are used to realize the positioning and acquisition of the image information of the surgical site.

[0022] However, the rigid connection between the reference frame and the human skeleton requires opening an additional window in the healthy area of ​​the human body to fix the reference frame, which will cause additional trauma to the patient; in other cases, such as in areas such as the pelvis, it is difficult to find a fixed position for the reference frame, so the skin surface adhesive method is used, or the skin surface adhesive method is used directly at the surgical site. Although it is non-invasive and does not damage the healthy area of ​​the human body, due to the softness and elasticity of the human skin, the reference frame fixation will be unstable, resulting in deviations between the imaging and the actual situation, affecting the positioning accuracy and surgical accuracy. Therefore, a non-invasive and precise positioning surgical navigation method is urgently needed.

[0023] This solution takes into account that in addition to CT scanning imaging, ultrasonic imaging can also be used when realizing non-invasive imaging. Ultrasonic imaging is a technology that uses the propagation and reflection characteristics of ultrasonic waves inside an object to obtain its internal structure information. The core principle of ultrasonic imaging is to use the propagation and reflection characteristics of high-frequency ultrasonic waves in different media. Ultrasonic waves are a mechanical wave with a frequency usually higher than 20,000 Hz. When ultrasonic waves pass through the human body or other objects, they will produce reflections, scattering and attenuation at the interface of tissues with different densities or acoustic impedances. These reflected signals are transmitted and received by the ultrasonic probe, and after signal processing and computer reconstruction, a two-dimensional or three-dimensional image can be formed. Therefore, non-invasive fixation of the reference frame can be achieved through ultrasonic imaging. For the case where the fixation of the reference frame is unstable, this application can use two image registration methods for precise positioning. Ultrasonic imaging is added to the existing surgical site image acquisition scheme, and the two images are registered using the fixed position relationship of the reference frame, ultrasonic probe and reflective ball. Even if the reference frame is unstable to avoid sticking to the human skin, accurate surgical navigation images can be obtained through image registration. The following is a detailed description of this solution in conjunction with the accompanying drawings: In one embodiment, the present application provides a reference frame system for orthopedic surgery, including a reference frame body, an auxiliary imaging component, and a processor.

[0024] Please refer to the instruction manual Figure 1 , an adhesive surface 13 for fitting to the surface of human skin is provided on one side of the reference frame body 10, the adhesive surface 13 is an arc surface conforming to the human body shape and structure, and / or, the adhesive surface 13 is an elastic surface made of elastic material, so that the reference frame can be closely attached to the surface of human skin. And an ultrasonic probe 11 and a reflective ball assembly 12 are provided on the reference frame body 10. The ultrasonic probe 11 is the core component of the ultrasonic imaging system, and its performance directly affects the imaging quality and diagnostic effect. The working principle of the ultrasonic probe 11 is based on the piezoelectric effect, which mainly includes the positive piezoelectric effect and the inverse piezoelectric effect: the inverse piezoelectric effect, when a high-frequency voltage is applied to a piezoelectric chip (such as lead zirconate titanate PZT), the chip will vibrate mechanically under the action of the electric field force, thereby generating ultrasonic waves; the positive piezoelectric effect, when the ultrasonic wave is reflected back to the probe, the piezoelectric chip will convert the mechanical vibration into electrical signals, which are transmitted to the ultrasonic host (processor) for processing, and finally form a two-dimensional or three-dimensional image. The reflective ball assembly 12 is composed of a bracket and a plurality of reflective balls. The reflective balls are usually infrared reflective balls. The reflective balls are usually made of high reflectivity materials and can reflect light of a specific wavelength (such as infrared light). The auxiliary imaging assembly 30 is adapted to the reflective ball assembly 12. When the auxiliary imaging assembly 30 acquires an image, it is set toward the reflective ball assembly 12. The reflective ball assembly 12 can locate the image acquired by the auxiliary imaging assembly 30. When the auxiliary imaging assembly 30 is an imaging assembly based on a different principle, the reflective ball assembly 12 will be adjusted accordingly.

[0025] Please refer to the instruction manual Figure 2 The processor 20 is electrically connected to the ultrasonic probe 11, and is used to control the ultrasonic probe 11 to generate ultrasonic waves when the reference frame body 10 is in contact with the surface of human skin, and to construct a first image of the surgical site based on the reflected echo; the processor 20 is also electrically connected to the auxiliary imaging component 30, and is used to construct a second image of the surgical site through the auxiliary imaging component 30 and the reflective ball component 12 when the reference frame body 10 is in contact with the surface of human skin; the processor 20 is also used to align the first image and the second image to obtain a third image for surgical navigation.

[0026] This solution sets an ultrasonic probe and a reflective ball assembly on the reference frame, and can construct a first image of the surgical site through ultrasonic imaging on the basis of conventionally constructing a second image of the surgical site through the imaging assembly and the reflective ball assembly. By aligning the first image and the second image, an accurate third image for surgical navigation can be obtained. This solution eliminates the need for a rigid connection between the reference frame and the human skeleton, and can achieve non-invasive fixation of the reference frame and ensure accurate positioning of the surgical site. Even if the reference frame is unstable due to adhesion to the human skin, an accurate navigation image can be obtained through the alignment of the first image and the second image to avoid affecting the surgical accuracy.

[0027] When the reference frame is attached to the surface of human skin, due to the elasticity of the skin, the reference frame may shake during the operation. When only one imaging method is used, it will undoubtedly cause image deviation. When two images are aligned, how to achieve alignment is the key to this application. Considering that there is a certain correspondence between the jitter of the reference frame and the deviation of the image, for example, when a binocular vision system is used for imaging, the reflective ball shakes with the reference frame, and the image will also shift. The degree of offset is related to the degree of jitter of the reflective ball. Therefore, the correspondence between the specific position of the reflective ball and the deviation of the visual image can be found. Similarly, when ultrasonic imaging is used, the correspondence between the specific position of the ultrasonic probe and the deviation of the ultrasonic image can also be found. Since there is a fixed positional relationship between the ultrasonic probe and the reflective ball, two alignment schemes for image deviations can be implemented.

[0028] In one embodiment, based on the above-mentioned embodiment, the processor 20 is further used to obtain the three-dimensional parameters of the reference frame body 10, the position parameters of the ultrasonic probe 11 on the reference frame body 10, and the position parameters of the reflective ball assembly 12 on the reference frame body 10. The processor 20 can obtain the first offset relationship of the first image according to the three-dimensional parameters of the reference frame body 10 and the position parameters of the reflective ball assembly 12 on the reference frame body 10. The processor 20 can obtain the second offset relationship of the second image according to the three-dimensional parameters of the reference frame body 10 and the position parameters of the ultrasonic probe 11 on the reference frame body 10. The processor 20 can then obtain the positional relationship between the ultrasonic probe 11 and the reflective ball assembly 12 according to the positional parameters of the ultrasonic probe 11 on the reference frame body 10 and the positional parameters of the reflective ball assembly 12 on the reference frame body 10, and then align the first image and the second image according to the positional relationship between the ultrasonic probe 11 and the reflective ball assembly 12, the first offset relationship of the first image, and the second offset relationship of the second image to obtain a third image for surgical navigation.

[0029] The present application does not limit the specific imaging form of the auxiliary imaging component 30. For example, a binocular vision system or a CT imaging system may be used.

[0030] In one embodiment, please refer to the attached manual Figure 3 On the basis of the above-mentioned embodiment, the auxiliary imaging component 30 includes a CT scanning component 31; the CT scanning component 31 includes an X-ray tube for generating an X-ray beam, a detector for receiving the X-ray beam, and a rotating frame for fixing the X-ray tube and the detector. CT (Computed Tomography) imaging is a medical imaging technology that uses X-rays to penetrate the human body or other objects and generates tomographic images through computer processing. The core principle of CT imaging is to use the attenuation characteristics of X-rays when penetrating an object, collect the attenuated X-ray signals through the detector, and generate tomographic images inside the object using computer reconstruction technology. The X-ray tube in the CT device generates high-energy X-ray beams. When these X-rays penetrate the human body or other objects, they will be attenuated to varying degrees due to the differences in density and atomic number of different tissues or materials; materials with high density or large atomic number (such as bones and metals) have stronger attenuation of X-rays, while materials with low density (such as air and soft tissues) have weaker attenuation. After penetrating the object, the X-rays are received by the detector array. The detector converts the X-ray signal into an electrical signal and records the attenuation information at each angle. By rotating the X-ray tube and the detector, data is collected from multiple angles (usually 360°) to form a set of projection data. The projection data is processed using computer algorithms (such as the filtered back projection method) to reconstruct a tomographic image of the object. Each tomographic image represents the internal structure of the object on a specific plane. A three-dimensional structure can be reconstructed using multiple tomographic images.

[0031] In some embodiments, in order to improve the accuracy of the second image, an infrared camera or the like may be additionally provided. The reflective ball assembly 12 includes a plurality of infrared reflective balls, and reflective titanium beads arranged inside the infrared reflective balls and concentric with the infrared reflective balls. In CT imaging, the application of reflective balls (such as passive infrared reflective balls) is mainly used to assist positioning and image registration. The reflective balls are usually made of high reflectivity materials and can reflect light of a specific wavelength (such as infrared light). In CT imaging, the main function of the reflective balls is to serve as a marking point to help establish the coordinate relationship between the CT image and the optical positioning system. Specifically, a reflective titanium bead is embedded inside the reflective ball, which does not produce diffraction under CT scanning and can generate a clear CT image. At the same time, the reflective titanium bead is concentrically arranged with the reflective ball to ensure that the two have the same three-dimensional position coordinates in space. During CT scanning, a CT scan is performed on the target area to obtain a high-resolution CT image, and the three-dimensional position of the reflective titanium bead in the CT coordinate system is determined by image processing technology. At the same time, an optical locator (such as an infrared camera) is used to obtain the three-dimensional position of the reflective ball in the optical locator coordinate system. The coordinate transformation matrix is ​​established through the position of the reflective ball in the CT coordinate system and the optical locator coordinate system, thereby achieving accurate matching of the CT image and the optical positioning system.

[0032] In a specific implementation, the processor 20 is electrically connected to the X-ray tube, the detector and the rotating frame, respectively. When the reference frame body is in contact with the surface of human skin, the processor 20 controls the X-ray tube to emit an X-ray beam toward the reference frame body, controls the detector to receive the X-ray beam, and controls the rotating frame to rotate at a preset angular velocity for at least one circle to obtain a second image.

[0033] When the system also includes an infrared camera, the processor 20 is also electrically connected to the infrared camera. When the reference frame body 10 is in contact with the surface of human skin, the processor 20 synchronously controls the infrared camera to shoot toward the reference frame body 10 to obtain an infrared image of the surgical site, and aligns it with the CT image obtained by the CT scanning component to obtain a second image.

[0034] In one embodiment, please refer to the attached manual Figure 4On the basis of the above-mentioned embodiment, the auxiliary imaging component 30 includes a binocular locator 32, and the processor 20 is electrically connected to the binocular locator 32. The binocular vision system simulates the principle of human binocular vision, obtains images of the same scene from different angles through two cameras, and uses parallax (i.e., the position difference of corresponding points in the two images) to calculate the depth information of the object. Its core steps include: image acquisition: two cameras synchronously acquire images of the same scene; stereo correction: geometric correction of the acquired images to ensure that the two images are on the same plane; stereo matching: find corresponding points in the left and right images through algorithms (such as SGBM, BM, etc.); depth calculation: calculate the depth information of the object according to the parallax formula; three-dimensional reconstruction: reconstruct the three-dimensional structure of the object using depth information.

[0035] In a specific implementation, when the reference frame body 10 is in contact with the human skin surface, the processor 20 controls the binocular positioning device 32 to shoot toward the reference frame body 10 to obtain two images of the surgical site at different shooting angles. The processor 20 determines the effective matching points of the two images according to the positions of the reflective ball assembly 12 in the two images, and constructs a second image based on the effective matching points.

[0036] Preferably, the processor 20 is further used to perform geometric correction on the two images after obtaining the two images (including dedistortion, enhancement, etc. of the acquired images) so that the display viewing angles of the two images are on the same plane.

[0037] In binocular positioning, reflective balls are a commonly used marker point to assist positioning and improve the accuracy of the system. Reflective balls are usually used as passive marker points in binocular vision systems. Their main function is to provide high-reflectivity feature points to facilitate binocular camera detection and matching, thereby achieving high-precision three-dimensional positioning. The high reflectivity of the reflective ball enables it to be clearly imaged under infrared light and can be accurately identified even in complex environments. Preferably, the reflective ball assembly 12 includes a mounting bracket and four reflective balls fixed on the mounting bracket, and the four reflective balls are located at four vertices of a tetrahedron, thereby ensuring the accuracy of binocular visual imaging.

[0038] In one embodiment, please refer to the attached manual Figure 5 The present application provides an orthopedic surgery navigation method, comprising the steps of: S100, when the reference frame body is attached to the surface of human skin, the ultrasonic probe is controlled to generate ultrasonic waves, and a first image of the surgical site is constructed according to the reflected echo, wherein one side of the reference frame body is provided with an adhesive surface for attaching to the surface of human skin, and the reference frame body is provided with an ultrasonic probe and a reflective ball assembly; S200, constructing a second image of the surgical site by using the auxiliary imaging component adapted to the reflective ball component and the reflective ball component; S300 , registering the first image and the second image to obtain a third image for surgical navigation.

[0039] In one embodiment, please refer to the attached manual Figure 6 , the present application provides an orthopedic surgery navigation method, further comprising: S310, acquiring three-dimensional parameters of the reference frame body, position parameters of the ultrasound probe on the reference frame body, and position parameters of the reflective ball assembly on the reference frame body; S320, obtaining a first offset relationship of the first image according to the three-dimensional parameters of the reference frame body and the position parameters of the reflective ball assembly on the reference frame body; S330: The processor obtains a second offset relationship of the second image according to the three-dimensional parameters of the reference frame body and the position parameters of the ultrasound probe on the reference frame body; S340, obtaining a positional relationship between the ultrasonic probe and the reflective ball assembly according to the position parameters of the ultrasonic probe on the reference frame body and the position parameters of the reflective ball assembly on the reference frame body; Registering the first image and the second image includes: S350, registering the first image and the second image according to the position relationship, the first offset relationship, and the second offset relationship to obtain a third image for surgical navigation.

[0040] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. A reference frame system for orthopedic surgery, characterized in that: include: A reference frame body, one side of which is provided with an adhesive surface for adhering to the surface of human skin, and the reference frame body is provided with an ultrasonic probe and a reflective ball assembly; An auxiliary imaging component, adapted to the reflective ball component; a processor, the processor being electrically connected to the ultrasound probe and configured to control the ultrasound probe to generate ultrasound waves when the reference frame body is attached to a human skin surface, and to construct a first image of the surgical site according to the reflected echo; The processor is also electrically connected to the auxiliary imaging component, and is used to construct a second image of the surgical site through the auxiliary imaging component and the reflective ball component when the reference frame body is attached to the surface of human skin; The processor is further used to register the first image and the second image to obtain a third image for surgical navigation.

2. The reference frame system for orthopedic surgery according to claim 1, characterized in that: The processor is further used to obtain the three-dimensional parameters of the reference frame body, the position parameters of the ultrasound probe on the reference frame body, and the position parameters of the reflective ball assembly on the reference frame body; The processor obtains a first offset relationship of the first image according to the three-dimensional parameters of the reference frame body and the position parameters of the reflective ball assembly on the reference frame body; The processor obtains a second offset relationship of the second image according to the three-dimensional parameters of the reference frame body and the position parameters of the ultrasound probe on the reference frame body; The processor obtains the positional relationship between the ultrasound probe and the reflective ball assembly based on the position parameters of the ultrasound probe on the reference frame body and the position parameters of the reflective ball assembly on the reference frame body, and aligns the first image and the second image based on the positional relationship, the first offset relationship, and the second offset relationship to obtain the third image for surgical navigation.

3. The reference frame system for orthopedic surgery according to claim 1, characterized in that: The bonding surface is a curved surface conforming to the human body shape and structure, and / or the bonding surface is an elastic surface.

4. The reference frame system for orthopedic surgery according to claim 1, characterized in that: The auxiliary imaging component includes a CT scanning component; The CT scanning assembly includes an X-ray tube for generating an X-ray beam, a detector for receiving the X-ray beam, and a rotating gantry for fixing the X-ray tube and the detector.

5. The reference frame system for orthopedic surgery according to claim 4, characterized in that: The processor is electrically connected to the X-ray tube, the detector and the rotating frame respectively. When the reference frame body is in contact with the human skin surface, the processor controls the X-ray tube to emit an X-ray beam toward the reference frame body, controls the detector to receive the X-ray beam, and controls the rotating frame to rotate at least one circle at a preset angular velocity to obtain the second image.

6. The reference frame system for orthopedic surgery according to claim 1, characterized in that: The auxiliary imaging component includes a binocular locator, and the processor is electrically connected to the binocular locator. The processor controls the binocular positioning instrument to shoot toward the reference frame body when the reference frame body is attached to the human skin surface, so as to obtain two images of the surgical site at different shooting angles. The processor determines valid matching points of the two images according to the positions of the reflective ball components in the two images respectively, and constructs the second image according to the valid matching points.

7. The reference frame system for orthopedic surgery according to claim 6, characterized in that: The processor is further configured to perform geometric correction on the two images after obtaining the two images so that the display viewing angles of the two images are on the same plane.

8. The reference frame system for orthopedic surgery according to claim 6, characterized in that: The reflective ball assembly comprises a mounting bracket and four reflective balls fixed on the mounting bracket, wherein the four reflective balls are located at four vertices of a tetrahedron.

9. An orthopedic surgery navigation method, characterized in that: Includes steps: When the reference frame body is attached to the surface of human skin, the ultrasonic probe is controlled to generate ultrasonic waves, and a first image of the surgical site is constructed according to the reflected echo, wherein one side of the reference frame body is provided with an adhesive surface for attaching to the surface of human skin, and the ultrasonic probe and the reflective ball assembly are provided on the reference frame body; Constructing a second image of the surgical site by using an auxiliary imaging component adapted to the reflective ball component and the reflective ball component; The first image and the second image are registered to obtain a third image used for surgical navigation.

10. The orthopedic surgery navigation method according to claim 9, characterized in that: Also includes: Acquire the three-dimensional parameters of the reference frame body, the position parameters of the ultrasound probe on the reference frame body, and the position parameters of the reflective ball assembly on the reference frame body; Obtaining a first offset relationship of the first image according to three-dimensional parameters of the reference frame body and position parameters of the reflective ball assembly on the reference frame body; The processor obtains a second offset relationship of the second image according to the three-dimensional parameters of the reference frame body and the position parameters of the ultrasound probe on the reference frame body; Obtaining a positional relationship between the ultrasonic probe and the reflective ball assembly according to a position parameter of the ultrasonic probe on the reference frame body and a position parameter of the reflective ball assembly on the reference frame body; The registering the first image and the second image comprises: The first image and the second image are registered according to the positional relationship, the first offset relationship, and the second offset relationship to obtain the third image used for surgical navigation.

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