A reference frame system for orthopedic surgery and an orthopedic surgery navigation method

Abstract

The present invention provides a reference frame system and orthopedic surgical navigation method. The system includes: a reference frame body, one side of which is provided with an adhesive surface for contact with the surface of human skin, and an ultrasonic probe and a reflective ball assembly mounted on the reference frame body; an auxiliary imaging assembly adapted to fit the reflective ball assembly; a processor electrically connected to the ultrasonic probe and configured to control the ultrasonic probe to generate ultrasonic waves when the reference frame body is contacted with the surface of human skin, and to construct a first image of the surgical site based on reflected echoes; the processor is also electrically connected to the auxiliary imaging assembly and configured to construct a second image of the surgical site using the auxiliary imaging assembly and the reflective ball assembly when the reference frame body is contacted with the surface of human skin; and the processor is further configured to align the first and second images to obtain a third image for surgical navigation. This solution enables non-invasive fixation of the reference frame and ensures precise positioning of the surgical site, avoiding compromising surgical accuracy.

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 in spinal surgery, trauma orthopedics, joint replacement, and neurosurgery because it can accurately guide surgical positioning during surgery. A reference frame is required for surgical navigation. The reference frame usually needs to be rigidly connected to the human skeleton. The positioning and acquisition of surgical site image information are then achieved through reflective balls set on the reference frame, as well as a CT imaging system or a binocular vision system. However, the rigid connection of the reference frame to the human skeleton requires opening an additional window 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. The method of sticking the reference frame on the skin surface or directly sticking the reference frame on the skin surface at the surgical site is used. Although it is non-invasive and does not damage the healthy area of ​​the human body, the softness and elasticity of the human skin can cause unstable fixation, affecting positioning and surgical accuracy. Therefore, there is an urgent need for a non-invasive and precisely 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, which can achieve non-invasive fixation of the reference frame and ensure accurate positioning of the surgical site to avoid affecting the surgical accuracy.

[0004] The technical solutions provided by the present invention are as follows:

[0005] In a first aspect, the present application provides a reference frame system for orthopedic surgery, comprising:

[0006] A reference frame body, wherein one side of the reference frame body is provided with an adhesive surface for adhering to the surface of human skin, and the reference frame body is provided with an ultrasound probe and a reflective ball assembly;

[0007] An auxiliary imaging component, adapted for the reflective ball component;

[0008] a processor electrically connected to the ultrasound probe, configured to control the ultrasound probe to generate ultrasound waves when the reference frame body is in contact with the surface of human skin, and to construct a first image of the surgical site based on reflected echoes;

[0009] The processor is also electrically connected to the auxiliary imaging assembly, and is used to construct a second image of the surgical site through the auxiliary imaging assembly and the reflective ball assembly when the reference frame body is attached to the surface of human skin;

[0010] The processor is further configured to register the first image and the second image to obtain a third image for surgical navigation.

[0011] This solution sets an ultrasonic probe and a reflective ball assembly on the reference frame. On the basis of conventionally constructing a second image of the surgical site through the imaging assembly and the reflective ball assembly, the first image of the surgical site can be constructed through ultrasonic imaging. 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, enables non-invasive fixation of the reference frame, and ensures 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.

[0012] 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;

[0013] 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;

[0014] 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;

[0015] 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.

[0016] In some embodiments, the adhesive surface is a curved surface that conforms to the morphology of the human body, and / or the adhesive surface is an elastic surface.

[0017] In some embodiments, the auxiliary imaging component includes a CT scanning component;

[0018] 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.

[0019] In some embodiments, the processor is electrically connected to the X-ray tube, the detector, and the rotating gantry, respectively.

[0020] When the reference frame body is in contact with the surface of human skin, 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.

[0021] In some embodiments, the auxiliary imaging component includes a binocular locator, and the processor is electrically connected to the binocular locator.

[0022] When the reference frame body is attached to the human skin surface, the processor controls the binocular positioning instrument to shoot toward the reference frame body to obtain two images of the surgical site at different shooting angles.

[0023] The processor determines valid matching points of the two images according to the positions of the reflective ball components in the two images, and constructs the second image according to the valid matching points.

[0024] In some embodiments, 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.

[0025] In some embodiments, the reflective ball assembly includes a mounting bracket and four reflective balls fixed to the mounting bracket, wherein the four reflective balls are located at four vertices of a tetrahedron.

[0026] In a second aspect, the present application provides an orthopedic surgery navigation method, comprising the steps of:

[0027] When the reference frame body is in contact with the surface of human skin, the ultrasonic probe is controlled to generate ultrasonic waves, and a first image of the surgical site is constructed based on the reflected echoes, wherein one side of the reference frame body is provided with an adhesive surface for contacting with the surface of human skin, and the ultrasonic probe and reflective ball assembly are provided on the reference frame body;

[0028] 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;

[0029] The first image and the second image are registered to obtain a third image for surgical navigation.

[0030] In some embodiments, further comprising:

[0031] 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;

[0032] 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;

[0033] 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;

[0034] Obtaining a positional relationship between the ultrasonic probe and the reflective ball assembly according to position parameters of the ultrasonic probe on the reference frame body and position parameters of the reflective ball assembly on the reference frame body;

[0035] The registering the first image and the second image includes:

[0036] 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.

[0037] According to the reference frame system and 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. The precise positioning of the surgical site can also be ensured. 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

[0038] 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 this solution.

[0039] Figure 1 is a schematic structural diagram of a reference frame body according to an embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of processor control according to an embodiment of the present invention;

[0041] Figure 3 is a schematic diagram of processor control according to another embodiment of the present invention;

[0042] Figure 4 is a schematic diagram of processor control according to another embodiment of the present invention;

[0043] Figure 5 It is a flow chart of an embodiment of the present invention;

[0044] Figure 6 It is a flow chart of another embodiment of the present invention.

[0045] Numbers in the figure: 10 - reference frame body; 11 - ultrasound probe; 12 - reflective ball assembly; 13 - bonding surface; 20 - processor; 30 - auxiliary imaging assembly; 31 - CT scanning assembly; 32 - binocular positioning instrument. DETAILED DESCRIPTION

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0047] To simplify the drawings, only the parts relevant to the present invention are schematically shown in each figure. They do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled. As used herein, "one" not only means "only one" but also "more than one."

[0048] Surgical navigation is widely used in spinal surgery, trauma orthopedics, joint replacement, and neurosurgery because it can accurately guide surgical positioning during surgery. Surgical navigation requires a reference frame. Existing reference frames typically consist of a frame with several reflective spheres mounted on it. During use, the reference frame typically requires a rigid connection to the human skeleton. This involves creating additional windows in healthy areas of the body (including skin and bone) to mechanically connect the reference frame to the skeleton. The reflective spheres mounted on the reference frame, along with a CT imaging system or binocular vision system, are then used to locate and capture imaging information about the surgical site.

[0049] However, the rigid connection between the reference frame and the human skeleton requires opening additional windows in the healthy area of ​​the 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, where it is difficult to find a fixed position for the reference frame, a method of sticking the reference frame on the skin surface or directly sticking the reference frame on the skin surface at the surgical site is used. Although this method is non-invasive and does not damage the healthy area of ​​the body, the softness and elasticity of the human skin can cause the reference frame to be unstable, resulting in deviations between the image and the actual situation, affecting the positioning accuracy and surgical precision. Therefore, a non-invasive and precise positioning surgical navigation method is urgently needed.

[0050] This solution considers that, in addition to CT scanning, ultrasound imaging can also be used for noninvasive imaging. Ultrasound imaging is a technology that uses the propagation and reflection properties of ultrasound waves within an object to obtain information about its internal structure. The core principle of ultrasound imaging is to exploit the propagation and reflection properties of high-frequency ultrasound waves in different media. Ultrasound waves are mechanical waves with frequencies typically exceeding 20,000 Hz. When ultrasound waves pass through the human body or other objects, they reflect, scatter, and attenuate at the interfaces of tissues with different densities or acoustic impedances. These reflected signals are transmitted and received by the ultrasound probe, and after signal processing and computer reconstruction, a two-dimensional or three-dimensional image can be formed. Therefore, ultrasound imaging can achieve noninvasive fixation of the reference frame. To address situations where the reference frame is unstable, this application utilizes two image registration methods for precise positioning. Ultrasound imaging is added to existing surgical site imaging solutions, and the two images are registered using the fixed positional relationship between the reference frame, ultrasound probe, and reflective sphere. This allows accurate surgical navigation images to be obtained through image registration even when the reference frame is unstable when attached to the human skin. The following describes this solution in detail with reference to the accompanying figures:

[0051] 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.

[0052] Please refer to the instruction manual Figure 1 One side of the reference frame body 10 is provided with an adhesive surface 13 for adhering to the surface of human skin. Adhesive surface 13 is a curved surface that conforms to the human body's morphology and / or is made of an elastic material, allowing the reference frame to adhere tightly to the surface of human skin. Furthermore, an ultrasound probe 11 and a reflective ball assembly 12 are mounted on the reference frame body 10. The ultrasound probe 11 is a core component of the ultrasound imaging system, and its performance directly affects the imaging quality and diagnostic effectiveness. The operating principle of the ultrasound probe 11 is based on the piezoelectric effect, which mainly includes the direct piezoelectric effect and the inverse piezoelectric effect. The inverse piezoelectric effect is that when a high-frequency voltage is applied to a piezoelectric chip (such as lead zirconate titanate PZT), the chip undergoes mechanical vibration under the action of the electric field, thereby generating ultrasound waves. The direct piezoelectric effect is that when ultrasound waves are reflected back to the probe, the piezoelectric chip converts the mechanical vibrations into electrical signals. These signals are transmitted to the ultrasound host (processor) for processing, ultimately forming a two-dimensional or three-dimensional image. The reflective ball assembly 12 consists of a bracket and several reflective balls. The reflective balls are typically infrared reflective balls, typically made of highly reflective materials that reflect specific wavelengths of light (such as infrared light). The auxiliary imaging assembly 30 is adapted to the reflective ball assembly 12. When capturing an image, the auxiliary imaging assembly 30 is positioned toward the reflective ball assembly 12. The reflective ball assembly 12 can position the image captured by the auxiliary imaging assembly 30. If the auxiliary imaging assembly 30 uses a different imaging principle, the reflective ball assembly 12 will adjust accordingly.

[0053] 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.

[0054] This solution sets an ultrasonic probe and a reflective ball assembly on the reference frame. On the basis of conventionally constructing a second image of the surgical site through the imaging assembly and the reflective ball assembly, the first image of the surgical site can be constructed through ultrasonic imaging. 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, enables non-invasive fixation of the reference frame, and ensures 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.

[0055] 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 surgery. When only one imaging method is used, this 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 imaging using a binocular vision system, 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 using ultrasonic imaging, the correspondence between the specific position of the ultrasonic probe and the deviation of the ultrasonic image can also be found. Since the ultrasonic probe and the reflective ball have a fixed positional relationship, a registration scheme for the two image deviations can be implemented.

[0056] In one embodiment, based on the above embodiment, the processor 20 is further configured to obtain three-dimensional parameters of the reference frame body 10, position parameters of the ultrasound probe 11 on the reference frame body 10, and position parameters of the reflective ball assembly 12 on the reference frame body 10. The processor 20 can obtain a first offset relationship for the first image based on 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 also obtain a second offset relationship for the second image based on the three-dimensional parameters of the reference frame body 10 and the position parameters of the ultrasound probe 11 on the reference frame body 10. The processor 20 can then obtain a positional relationship between the ultrasound probe 11 and the reflective ball assembly 12 based on the position parameters of the ultrasound 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 then registers the first image and the second image based on the positional relationship between the ultrasound probe 11 and the reflective ball assembly 12, the first offset relationship for the first image, and the second offset relationship for the second image, to obtain a third image for surgical navigation.

[0057] 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.

[0058] In one embodiment, please refer to the attached instructions. Figure 3 Based on the previous embodiment, the auxiliary imaging assembly 30 includes a CT scanning assembly 31. The CT scanning assembly 31 includes an X-ray tube for generating X-ray beams, a detector for receiving the X-ray beams, and a rotating gantry for securing the X-ray tube and detector. CT (Computed Tomography) imaging is a medical imaging technology that uses X-rays to penetrate the human body or other objects and generate cross-sectional images through computer processing. The core principle of CT imaging is to exploit the attenuation characteristics of X-rays when they penetrate an object, collect the attenuated X-ray signals via a detector, and use computer reconstruction technology to generate cross-sectional images of the object's interior. The X-ray tube in the CT device generates a high-energy X-ray beam. When these X-rays penetrate the human body or other objects, they experience varying degrees of attenuation due to differences in density and atomic number of different tissues or materials. Materials with high density or high atomic number (such as bone and metal) attenuate X-rays more strongly, while materials with low density (such as air and soft tissue) experience less 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, recording the attenuation information at each angle. By rotating the X-ray tube and detector, data is collected from multiple angles (usually 360°), forming a set of projection data. This projection data is processed using computer algorithms (such as filtered back projection) to reconstruct slice images of the object's interior. Each slice image represents the object's internal structure at a specific plane, and multiple slice images can be used to reconstruct a three-dimensional structure.

[0059] In some embodiments, to improve the accuracy of the second image, an additional infrared camera or the like may be provided. The reflective ball assembly 12 includes several infrared reflective balls and reflective titanium beads disposed concentrically with the infrared reflective balls. In CT imaging, reflective balls (such as passive infrared reflective balls) are primarily used to assist in positioning and image registration. Reflective balls are typically made of highly reflective materials that reflect light of specific wavelengths (such as infrared light). In CT imaging, the reflective balls primarily serve as markers, helping to establish the coordinate relationship between the CT image and the optical positioning system. Specifically, a reflective titanium bead is embedded within the reflective ball. This titanium bead does not diffract during CT scanning, resulting in clear CT images. Furthermore, the reflective titanium bead is concentrically disposed with the reflective ball, ensuring that both have identical three-dimensional coordinates in space. During a CT scan, a high-resolution CT image is acquired from the target area. Image processing techniques are then used to determine the three-dimensional position of the reflective titanium bead within the CT coordinate system. 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 between the CT image and the optical positioning system.

[0060] In a specific implementation, the processor 20 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 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 gantry to rotate at a preset angular velocity for at least one revolution to obtain a second image.

[0061] 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.

[0062] In one embodiment, please refer to the attached instructions. Figure 4Based on the previous 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. It uses two cameras to capture images of the same scene from different angles and uses parallax (i.e., the positional difference between corresponding points in the two images) to calculate the depth information of objects. Its core steps include: image acquisition: two cameras synchronously capture images of the same scene; stereo correction: geometrically correcting the captured images to ensure that the two images are on the same plane; stereo matching: finding corresponding points in the left and right images using algorithms (such as SGBM and BM); depth calculation: calculating the depth information of the object based on the parallax formula; and 3D reconstruction: reconstructing the 3D structure of the object using the depth information.

[0063] In a specific implementation, the processor 20 controls the binocular positioning device 32 to shoot toward the reference frame body 10 when the reference frame body 10 is in contact with the surface of human skin, and obtains 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 position of the reflective ball assembly 12 in the two images, and constructs a second image based on the effective matching points.

[0064] Preferably, the processor 20 is further configured 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.

[0065] In binocular positioning, reflective balls are a commonly used marker point to assist in 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 reflective balls enables clear imaging under infrared light, allowing accurate identification even in complex environments.

[0066] Preferably, the reflective ball assembly 12 includes a mounting bracket and four reflective balls fixed to the mounting bracket. The four reflective balls are located at four vertices of a tetrahedron, thereby ensuring the accuracy of binocular visual imaging.

[0067] In one embodiment, please refer to the attached instructions. Figure 5 , the present application provides an orthopedic surgery navigation method, comprising the steps of:

[0068] S100, controlling the ultrasound probe to generate ultrasound waves when the reference frame body is in contact with the surface of human skin, and constructing a first image of the surgical site based on the reflected echoes, wherein one side of the reference frame body is provided with an adhesive surface for contacting with the surface of human skin, and the reference frame body is provided with the ultrasound probe and a reflective ball assembly;

[0069] 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;

[0070] S300: Register the first image and the second image to obtain a third image for surgical navigation.

[0071] In one embodiment, please refer to the attached instructions. Figure 6 , the application provides an orthopedic surgery navigation method, further comprising:

[0072] 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;

[0073] S320: Obtain 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;

[0074] 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;

[0075] 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;

[0076] Registering the first image and the second image, comprising:

[0077] S350 , registering the first image and the second image according to the positional relationship, the first offset relationship, and the second offset relationship to obtain a third image for surgical navigation.

[0078] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A reference frame system for orthopedic surgery, characterized in that: include: A reference frame body, wherein one side of the reference frame body is provided with an adhesive surface for adhering to the surface of human skin, and the reference frame body is provided with an ultrasound probe and a reflective ball assembly; An auxiliary imaging component adapted for the reflective ball component, the auxiliary imaging component including a CT scanning component and a binocular locator, the reflective ball of the reflective ball component being an infrared reflective ball, and a reflective titanium ball concentrically arranged therein is embedded in the reflective ball; a processor electrically connected to the ultrasound probe, configured to control the ultrasound probe to generate ultrasound waves when the reference frame body is in contact with the surface of human skin, and to construct a first image of the surgical site based on reflected echoes; The processor is also electrically connected to the auxiliary imaging assembly, and is used to construct a second image of the surgical site through the auxiliary imaging assembly and the reflective ball assembly when the reference frame body is attached to the surface of human skin; The processor is further configured to register the first image and the second image to obtain a third image for surgical navigation; 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.

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

3. The reference frame system for orthopedic surgery according to claim 1, characterized in that: 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.

4. The reference frame system for orthopedic surgery according to claim 3, characterized in that: 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 surface of human skin, 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.

5. The reference frame system for orthopedic surgery according to claim 1, wherein: The processor is electrically connected to the binocular locator, When the reference frame body is attached to the human skin surface, the processor controls the binocular positioning instrument to shoot toward the reference frame body 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, and constructs the second image according to the valid matching points.

6. The reference frame system for orthopedic surgery according to claim 5, 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.

7. The reference frame system for orthopedic surgery according to claim 5, characterized in that: The reflective ball assembly 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.

Images