Position determination method, device and system, computer equipment and storage medium

Abstract

The invention relates to a position determination method, device and system, computer equipment and a storage medium. The method comprises the steps that under the condition that the tail end of a surgical instrument is located in a guider, first position information of a navigation array arranged on the surgical instrument under a navigation coordinate system is obtained, and fourth position information of the tail end of the surgical instrument under an image coordinate system is determined according to the first position information, second position information and third position information, wherein the second position information is the position information of the first bolt of the guider under the image coordinate system, and the third position information is the position information of the navigation array under the navigation coordinate system under the condition that the tail end of the surgical instrument abuts against the first bolt. By adopting the method, the depth information in the puncture process can be determined.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a method, apparatus, system, computer equipment and storage medium for determining a position. Background Art

[0002] In the medical field, robots can be used for auxiliary positioning and puncture guidance during the puncture process. When the robot's mechanical arm moves to the surgical execution position according to the surgical plan, the doctor can slowly puncture the surgical instrument into the puncture site through the guide at the end of the mechanical arm until the end of the surgical instrument reaches the planned target position.

[0003] Currently, doctors will calculate the required puncture depth in advance based on the specifications of the surgical instrument and the planned puncture path length to determine whether the end of the surgical instrument can reach the target location.

[0004] However, the robot cannot timely know the position of the end of the surgical instrument during the puncture process, resulting in the robot being unable to timely know the depth information during the puncture process. Therefore, how to determine the position of the end of the surgical instrument during the puncture process is a key research topic for researchers in this field. Summary of the invention

[0005] Based on this, it is necessary to provide a position determination method, device, system, computer equipment and storage medium that can determine the position of the end of the surgical instrument during the puncture process in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a location determination method, comprising:

[0007] When the distal end of the surgical instrument is located in the guide, obtaining first position information of a navigation array disposed on the surgical instrument in a navigation coordinate system;

[0008] Based on the first position information, the second position information and the third position information, the fourth position information of the end of the surgical instrument in the image coordinate system is determined; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

[0009] In one embodiment, determining fourth position information of the end of the surgical instrument in the image coordinate system according to the first position information, the second position information and the third position information includes:

[0010] Determining a position increment of the navigation array in the navigation coordinate system according to the first position information and the third position information;

[0011] Fourth position information is determined based on the second position information and the position increment.

[0012] In one embodiment, determining fourth position information of the end of the surgical instrument in the image coordinate system according to the first position information, the second position information and the third position information includes:

[0013] Determine the initial position information of the navigation array in the image coordinate system according to the third position information and the target transformation relationship;

[0014] determining a distance between the navigation array and a distal end of the surgical instrument based on the initial position information and the second position information;

[0015] Determine the real-time position information of the navigation array in the image coordinate system according to the first position information and the target conversion relationship;

[0016] The fourth position information is determined according to the real-time position information and the distance.

[0017] In one embodiment, before obtaining the first position information of the navigation array disposed on the surgical instrument in the navigation coordinate system, the method further includes:

[0018] Obtaining third-party location information;

[0019] When the end of the surgical instrument abuts against the second latch of the guide, obtaining fifth position information of the navigation array in the navigation coordinate system;

[0020] determining an axial navigation error according to the third position information, the fifth position information, and a preset distance;

[0021] The preset distance is the Euclidean distance between the first latch and the second latch in the axial direction of the guide.

[0022] In one embodiment, before obtaining the first position information of the navigation array disposed on the surgical instrument in the navigation coordinate system, the method further includes:

[0023] Acquiring a plurality of sixth position information of the navigation array in the navigation coordinate system during the process of the distal end of the surgical instrument moving along the axial direction of the guide;

[0024] The movement trajectory of the navigation array is determined according to the plurality of sixth position information.

[0025] In one embodiment, determining fourth position information of the end of the surgical instrument in the image coordinate system according to the first position information, the second position information and the third position information includes:

[0026] Determine a relative position information result between the first position information and the motion trajectory according to the motion trajectory and the first position information;

[0027] If the relative position information result is that the first position information is located on the motion track, the fourth position information is determined according to the first position information, the second position information and the third position information.

[0028] In one embodiment, the method further comprises:

[0029] Acquire seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system;

[0030] When the seventh position information changes, it is determined that the navigation device corresponding to the navigation coordinate system moves.

[0031] In a second aspect, the present application further provides a position determination device, comprising:

[0032] A first acquisition module, used for acquiring first position information of a navigation array provided on the surgical instrument in a navigation coordinate system when the distal end of the surgical instrument is located in the guide;

[0033] The first determination module is used to determine the fourth position information of the end of the surgical instrument in the image coordinate system based on the first position information, the second position information and the third position information; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

[0034] In a third aspect, the present application further provides a position determination system, including a navigation device, a surgical instrument, a guide, a navigation array disposed on the surgical instrument, and a processing device; the guide includes a body, a first latch and a first pin hole disposed on the body, the first latch being detachably connected to the body through the first pin hole;

[0035] A processing device is used to obtain first position information of a navigation array arranged on a surgical instrument in a navigation coordinate system when the end of the surgical instrument is located in a guide; and determine fourth position information of the end of the surgical instrument in an image coordinate system based on the first position information, the second position information and the third position information; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

[0036] In one embodiment, the guide further includes a second latch and a second pin hole provided on the body, and the second latch is detachably connected to the body through the second pin hole;

[0037] The processing device is further used to obtain the third position information before obtaining the first position information of the navigation array arranged on the surgical instrument in the navigation coordinate system; obtain the fifth position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the second pin of the guide; determine the axial navigation error according to the third position information, the fifth position information and a preset distance; wherein the preset distance is the Euclidean distance between the first pin and the second pin in the axial direction of the guide.

[0038] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0039] In a fifth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of any of the above methods when executed by a processor.

[0040] In a sixth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of any of the above methods when executed by a processor.

[0041] The above-mentioned method, device, system, computer equipment and storage medium for determining the position, since the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin, therefore, when the end of the surgical instrument is located in the guide, after obtaining the first position information of the navigation array provided on the surgical instrument in the navigation coordinate system, the fourth position information of the end of the surgical instrument in the image coordinate system can be determined based on the first position information, the second position information and the third position information. In this process, it is not necessary to calculate the required puncture depth in advance based on the specifications of the surgical instrument and the planned puncture path length, and the position of the end of the surgical instrument during the puncture process can be determined more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 This is an application environment diagram of the location determination method in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of a flow chart of a method for determining a position in an embodiment of the present application;

[0045] Figure 3 This is a schematic diagram of the structure of a guide in an embodiment of the present application;

[0046] Figure 4 This is a schematic diagram of a process for determining fourth position information in an embodiment of the present application;

[0047] Figure 5 This is a schematic diagram of another process for determining fourth position information in an embodiment of the present application;

[0048] Figure 6 This is a schematic diagram of a process for determining an axial navigation error in an embodiment of the present application;

[0049] Figure 7 This is a schematic diagram of another process for determining an axial navigation error in an embodiment of the present application;

[0050] Figure 8 A schematic diagram of a process for determining a motion trajectory in an embodiment of the present application;

[0051] Fig. 9 This is a schematic diagram of another process for determining fourth position information in an embodiment of the present application;

[0052] Fig.10 This is a schematic diagram of a process of determining movement in an embodiment of the present application;

[0053] Fig.11 A schematic diagram of a process of a location determination method in an embodiment of the present application;

[0054] Fig.12 This is a schematic diagram of the architecture of a location determination system in an embodiment of the present application;

[0055] Fig.13 This is a schematic diagram of the architecture of a director in an embodiment of the present application;

[0056] Fig.14 This is a structural block diagram of a position determination device in an embodiment of the present application;

[0057] Fig.15 Schematic diagram of the internal structure of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] Figure 1 This is an application environment diagram of the location determination method in the embodiment of the present application. Figure 1 An example of a puncture application scenario is shown below. Figure 1 As shown, the doctor or surgical robot can place the end of the surgical instrument 102 into the navigation channel of the guide 104, and complete the puncture of the puncture site of the patient 106 during the movement of the end of the surgical instrument 102 in the navigation channel. The navigation channel can also be called a puncture channel. The puncture site can include but is not limited to the head, legs and other parts.

[0060] The processing device 107 and the navigation device 101 can communicate. Furthermore, during the puncture process, the processing device 107 can perform puncture positioning on the surgical instrument 102 to achieve a tracking function. Optionally, the processing device 107 can visualize the puncture state, such as displaying the puncture depth in real time, to achieve a display function.

[0061] The processing device 107 may be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, or may be implemented by an independent server or a server cluster consisting of multiple servers.

[0062] In some embodiments, the processing device 107 may also be built into a device such as the navigation device 101, including but not limited to a central processing unit (CPU), and may also include a digital signal processor (DSP), a field programmable gate array (FPGA) or at least one of other programmable logic devices.

[0063] The surgical instrument 102 and the navigation array 103 are relatively statically arranged, and the patient 106 and the reference array 105 are relatively statically arranged. The navigation array 103 or the reference array 105 can be a positioning ball, a coded target, a two-dimensional code, an electromagnetic array, etc., which are used for auxiliary positioning, and this embodiment does not limit this.

[0064] The surgical instrument 102 may include but is not limited to a puncture needle, a biopsy needle, or other instrument that can be used for puncture. The guide 104 includes a navigation channel.

[0065] The navigation device 101 is used to track the navigation array 103. The navigation device 101 includes a sensor and a processor. The sensor includes but is not limited to at least one of a visual sensor or an electromagnetic sensor.

[0066] Figure 2FIG. 1 is a flow chart of a method for determining a position in an embodiment of the present application. In an exemplary embodiment, Figure 2 As shown, a method for determining a position is provided, which is applied to Figure 1 The processing device in is taken as an example to illustrate, including the following S201 to S203.

[0067] S201, when the distal end of the surgical instrument is located in the guide, obtaining first position information of a navigation array provided on the surgical instrument in a navigation coordinate system.

[0068] In this embodiment, please refer to Figure 1 During the puncture process using the surgical instrument, the end of the surgical instrument will be located in the guide, that is, the end of the surgical instrument is located in the navigation channel of the guide.

[0069] The navigation array is disposed on the surgical instrument. Optionally, the navigation array may be rigidly connected to the surgical instrument. Since the navigation array is disposed on the surgical instrument, the processing device will obtain the first position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is located in the guide.

[0070] The first position information may be information sent by the navigation device to the processing device during the process of tracking the navigation array. For example, the navigation device may periodically send the first position information to the processing device during the process of tracking the navigation array, so that the processing device acquires the first position information.

[0071] The navigation device may be an optical navigation device including a visual sensor, or an electromagnetic navigation device including a magnetic field generator. The navigation coordinate system refers to a coordinate system corresponding to the sensor in the navigation device. Exemplarily, the navigation device may include a binocular visual sensor, and the navigation coordinate system is an OTS (Optical Tracking System) coordinate system.

[0072] Furthermore, when the end of the surgical instrument is located in the guide, the processing device can periodically obtain the first position information of the navigation array according to a certain acquisition frequency. The first position information is used to indicate the position of the navigation array in the navigation coordinate system, such as a three-dimensional coordinate. Exemplarily, the navigation device can obtain the first position information 1 of the navigation array at time 1, the first position information 2 at time 2, the first position information 3 at time 3, and so on during the puncture process.

[0073] In some embodiments, the processing device may also obtain the position information of the navigation array including the first position information in the navigation coordinate system when puncturing with a surgical instrument.

[0074] S202, determine the fourth position information of the end of the surgical instrument in the image coordinate system based on the first position information, the second position information and the third position information; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

[0075] Figure 3 Schematic diagram of the structure of a guide in the embodiment of the present application, such as Figure 3 As shown, the guide may include a body 301 , a first pin hole 302 and a first latch 303 , and the first latch 303 is detachably connected to the body 301 through the first pin hole 302 .

[0076] The first pin hole 302 is a pin hole that can penetrate the navigation channel in the guide, that is, the first latch 303 can close the navigation channel of the guide. The first pin hole 302 is used to calibrate the initial position of the surgical instrument. In this way, during the calibration stage before the puncture begins, the doctor can insert the surgical instrument into the guide until the end of the surgical instrument abuts the first latch 303. In this case, the processing device will obtain the third position information of the navigation array in the navigation coordinate system. The third position information is also used to indicate the initial position of the surgical instrument during the puncture process.

[0077] The processing device can also determine the second position information of the first pin 303 of the guide in the image coordinate system. Since the spatial position of the first pin 303 on the guide is fixed, and the position of the guide in the surgical space is also fixed, after completing the spatial registration, the position information of the guide in the image coordinate system can be determined, and then the second position information can be determined. Among them, the position of the guide in the surgical space can include the position of the guide in the robot arm coordinate system, which can be a pre-calibrated position.

[0078] Furthermore, the processing device can determine the fourth position information of the end of the surgical instrument in the image coordinate system according to the first position information, the second position information and the third position information. Exemplarily, the fourth position information 1 is obtained according to the first position information 1, the second position information and the third position information, and the fourth position information 2 is obtained according to the first position information 2, the second position information and the third position information, and so on.

[0079] The image coordinate system is a coordinate system corresponding to the medical image of the puncture site, for example, a CT image coordinate system corresponding to the CT (Computed Tomography) image of the patient. The fourth position information is used to indicate the position of the end of the surgical instrument in the image coordinate system, for example, a two-dimensional coordinate. The end of the surgical instrument refers to the end of the surgical instrument close to the puncture site of the patient.

[0080] Furthermore, the depth information during the puncture process can be determined according to the fourth position information and the position of the target point in the image coordinate system. In this way, the depth information during the puncture process can be directly determined, which improves the timeliness and accuracy of the depth information, and further improves the safety and efficiency of the puncture.

[0081] The target point refers to the point in the puncture site that the end of the surgical instrument is expected to reach, and the processing device can obtain the position of the target point in the image coordinate system. Optionally, the processing device can receive the position of the target point in the image coordinate system sent by other devices, and the processing device can also perform puncture planning in the medical image based on the medical image of the puncture site to determine the position of the target point in the image coordinate system.

[0082] The depth information may include the distance between the fourth position information and the target point, or may include the depth of the end of the surgical instrument entering the puncture site. This embodiment is not limited as long as it can reflect the depth information of the surgical instrument during the puncture process. Exemplarily, the processing device may periodically subtract the fourth position information from the position of the target point in the image coordinate system, and determine the depth information based on the result of the subtraction.

[0083] It can be understood that, since the fourth position information and the position of the target are both based on the image coordinate system, the determined depth information is also based on the information of the image coordinate system.

[0084] In one embodiment, after determining the depth information during the puncture process, the processing device may issue a prompt message according to the depth information. The prompt message may be in at least one form of text, voice, vibration, or a pop-up window, which is not limited in this embodiment.

[0085] In one embodiment, after determining the depth information during the puncture process, the processing device can display the depth information in a visualization interface. For example, the processing device can visualize the position of the surgical instrument in the puncture site and the distance between the end of the surgical instrument and the target point in real time. Further optionally, the depth information can be displayed from multiple field of view angles in the visualization interface to improve the accuracy of the depth information.

[0086] In the above position determination method, since the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin, therefore, when the end of the surgical instrument is located in the guide, after obtaining the first position information of the navigation array provided on the surgical instrument in the navigation coordinate system, the fourth position information of the end of the surgical instrument in the image coordinate system can be determined based on the first position information, the second position information and the third position information. In this process, it is not necessary to calculate the required puncture depth in advance based on the specifications of the surgical instrument and the planned puncture path length, and the position of the end of the surgical instrument during the puncture process can be determined more accurately.

[0087] Figure 4 FIG. 1 is a flow chart of determining fourth position information in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Figure 4 As shown, the above S202 also includes S401 to S402.

[0088] S401: Determine a position increment of a navigation array in a navigation coordinate system according to first position information and third position information.

[0089] In this embodiment, since the first position information is used to indicate the real-time position information of the navigation array in the navigation coordinate system during the puncture process, and the third position information is used to indicate the initial position of the surgical instrument during the puncture process. Therefore, the position increment of the navigation array in the navigation coordinate system can be determined based on the first position information and the third position information. Optionally, the processing device can make a difference between the first position information and the third position information to determine the position increment. Further optionally, the processing device can make a difference between the first position information and the third position information in the axial direction to determine the position increment.

[0090] S402: Determine fourth position information according to the second position information and the position increment.

[0091] In this embodiment, the processing device determines the fourth position information based on the axial direction of the guide and the position increment. For example, if the position increment indicates an increase of 10 cm (centimeter), the processing device determines the fourth position information based on the increase of 10 cm in the axial direction of the guide according to the second position information.

[0092] The axial direction of the guide can be determined according to the position information of the navigation channel of the guide in the image coordinate system. The position information of the navigation channel in the image coordinate system can be information stored in advance in the processing device, or can be information sent to the processing device by other devices, and this embodiment is not limited thereto.

[0093] In the above embodiment, since the position increment of the navigation array in the navigation coordinate system is determined based on the first position information and the third position information, and based on the second position information and the position increment, the fourth position information of the end of the surgical instrument in the image coordinate system can be determined more accurately and efficiently.

[0094] Figure 5 FIG. 1 is a schematic diagram of another process for determining fourth position information in an embodiment of the present application. In an exemplary embodiment, Figure 5 As shown, the above-mentioned S202 also includes S501 to S504.

[0095] S501: Determine initial position information of the navigation array in the image coordinate system according to the third position information and the target transformation relationship.

[0096] In this embodiment, the processing device can obtain the target conversion relationship between the image coordinate system and the navigation coordinate system. The processing device can obtain the target conversion relationship sent by other devices, or can calculate and determine the target conversion relationship by itself during the registration stage.

[0097] Furthermore, since the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin, and the processing device knows the target transformation relationship between the image coordinate system and the navigation coordinate system, the processing device can convert the third position information to the image coordinate system based on the target transformation relationship to determine the initial position information of the navigation array in the image coordinate system.

[0098] S502: Determine the distance between the navigation array and the end of the surgical instrument according to the initial position information and the second position information.

[0099] In this embodiment, since the second position information is the position information of the first pin in the image coordinate system, the distance between the navigation array and the end of the surgical instrument is determined according to the initial position information and the second position information. For example, the processing device can make a difference between the initial position information and the second position information to obtain the distance between the navigation array and the end of the surgical instrument. Further optionally, the initial device can also make a difference between the initial position information and the second position information in the axial direction to obtain the distance between the navigation array and the end of the surgical instrument.

[0100] S503: Determine the real-time position information of the navigation array in the image coordinate system according to the first position information and the target transformation relationship.

[0101] Further, based on the same principle as S501, the processing device may convert the first position information into the image coordinate system based on the target conversion relationship to determine the real-time position information of the navigation array in the image coordinate system.

[0102] S504: Determine fourth location information according to the real-time location information and the distance.

[0103] Furthermore, after the processing device determines the real-time position information of the navigation array in the image coordinate system, the processing device can determine the fourth position information based on the real-time position information and the distance between the navigation array and the end of the surgical instrument. For example, the processing device determines the fourth position information based on increasing or decreasing the distance between the navigation array and the end of the surgical instrument in the axial direction of the guide according to the second position information.

[0104] In the above embodiment, the initial position information of the navigation array in the image coordinate system is determined based on the third position information and the target conversion relationship, and the distance between the navigation array and the end of the surgical instrument is determined based on the initial position information and the second position information, and then the real-time position information of the navigation array in the image coordinate system is determined based on the first position information and the target conversion relationship, and the fourth position information is determined based on the real-time position information and the distance. In this way, the fourth position information of the navigation array in the image coordinate system can be accurately determined using the target conversion relationship, the first position information, the second position information and the third position information.

[0105] Figure 6 FIG. 1 is a flow chart of determining an axial navigation error in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Figure 6 As shown, before obtaining the first position information of the navigation array disposed on the surgical instrument in the navigation coordinate system, the above position determination method further includes S601 to S603.

[0106] S601, obtaining third location information.

[0107] In this embodiment, the third position information is obtained, that is, when the end of the surgical instrument abuts against the first pin of the guide, the processing device obtains the position information of the navigation array in the navigation coordinate system.

[0108] When the end of the surgical instrument abuts against the first pin of the guide, the processing device can obtain multiple frames of position information and calibrate the multiple frames of position information to obtain the third position information. Of course, the processing device can also directly obtain one frame of the third position information.

[0109] S602, when the end of the surgical instrument abuts against the second pin of the guide, obtain the fifth position information of the navigation array in the navigation coordinate system.

[0110] Please continue to refer to Figure 3 The navigator also includes a second pin hole 304 and a second latch ( Figure 3The first latch and the second latch may be the same latch or two different latches. Similarly, the second pin hole 304 may also be a pin hole that can penetrate the navigation channel in the guide.

[0111] The first pin hole 302 and the second pin hole 304 are respectively arranged at different positions of the navigation channel of the guide. Figure 3 Taking the example that the first pin hole 302 is located above the second pin hole 304, in some embodiments, the first pin hole 302 is located below the second pin hole 304. Since the first pin hole 302 and the second pin hole 304 are respectively arranged at different positions of the navigation channel of the guide, the first pin hole 302 and the second pin hole 304 can be used for axial precision calibration.

[0112] For example, the doctor may insert the surgical instrument into the guide until the end of the surgical instrument abuts against the second latch 304. In this case, the processing device will also obtain the fifth position information of the navigation array in the navigation coordinate system.

[0113] Further optionally, when the end of the surgical instrument abuts against the second pin of the guide, the processing device can obtain multiple frames of position information and use the multiple frames of position information to calibrate to obtain the fifth position information, or directly obtain one frame of the fifth position information.

[0114] It can be understood that the third position information and the fifth position information may also be information sent by the navigation device to the processing device during the process of tracking the navigation array.

[0115] S603, determining an axial navigation error according to the third position information, the fifth position information and a preset distance; wherein the preset distance is a Euclidean distance between the first pin and the second pin in the axial direction of the guide.

[0116] Since the first pin hole and the second pin hole of the guide are fixed, the Euclidean distance between the first pin and the second pin of the guide in the axial direction is also fixed. The axial direction is also the extension direction of the navigation channel in the guide.

[0117] The Euclidean distance between the first pin and the second pin in the axial direction of the guide is recorded as the preset distance, so that the processing device can determine the axial navigation error according to the third position information, the fifth position information and the preset distance. The axial navigation error is used to characterize the navigation error of the navigation device in the axial direction.

[0118] Exemplarily, the processing device may fit the fitting distance between the first pin and the second pin in the axial direction of the guide according to the third position information and the fifth position information, and determine the axial navigation error according to the difference between the fitting distance and the preset distance. The difference may include but is not limited to a difference value, a quotient value, etc.

[0119] In some embodiments, the processing device may issue a first prompt message according to the axial navigation error, and the first prompt message is used to prompt the current axial navigation error. Exemplarily, the axial navigation error can help the doctor confirm whether the calibration third position information result meets the requirements. If the axial navigation error is too large, the doctor can re-calibrate and return to the step of inserting the surgical instrument into the guide until the end of the surgical instrument abuts against the first pin, so that the processing device can re-acquire the third position information of the navigation array in the navigation coordinate system.

[0120] In the above embodiment, since the third position information can be obtained, and when the end of the surgical instrument is against the second pin of the guide, the fifth position information of the navigation array in the navigation coordinate system is obtained, and the preset distance is the Euclidean distance between the first pin and the second pin in the axial direction of the guide, the axial navigation error can be determined more accurately and efficiently based on the third position information, the fifth position information and the preset distance.

[0121] Figure 7 FIG. 1 is another flow chart of determining an axial navigation error in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Figure 7 As shown, S603 includes S701 to S703.

[0122] S701, determine a first difference between the third position information and the fifth position information.

[0123] In this embodiment, the processing device determines the first difference between the third position information and the fifth position information when determining the third position information and the fifth position information. In order to improve calculation efficiency, the processing device may determine the first difference between the third position information and the fifth position information in the axial direction.

[0124] S702: Determine a second difference between the first difference and a preset distance.

[0125] S703: Determine an axial navigation error according to the second difference.

[0126] Further, the processing device determines a second difference between the first difference and the preset distance, and determines the axial navigation error according to the second difference. Exemplarily, the processing device may use the third difference as the axial navigation error, or the processing device may round off or integer the third difference to determine the axial navigation error.

[0127] In the above embodiment, since the first difference between the third position information and the fifth position information is determined, and the second difference between the first difference and the preset distance is determined, the second difference can reflect the difference between the first difference and the preset distance, and the axial navigation error can be accurately determined based on the second difference.

[0128] Figure 8 FIG. 1 is a flow chart of determining a motion trajectory in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Figure 8 As shown, before obtaining the first position information of the navigation array disposed on the surgical instrument in the navigation coordinate system, the above-mentioned position determination method further includes S801 to S802.

[0129] S801, obtaining multiple sixth position information of the navigation array in the navigation coordinate system during the process of the distal end of the surgical instrument moving along the axial direction of the guide.

[0130] For example, in the calibration phase before puncture, the doctor can insert the end of the surgical instrument into the guide and abut against the second latch, and then move the end of the surgical instrument upward along the axial direction of the guide. During the movement of the end of the surgical instrument along the axial direction of the guide, the processing device also obtains a plurality of sixth position information of the navigation array in the navigation coordinate system.

[0131] Optionally, during the movement of the distal end of the surgical instrument along the axial direction of the guide, the processing device may periodically acquire the sixth position information of the navigation array at a certain acquisition frequency. Exemplarily, the processing device acquires the sixth position information 1 of the navigation array at time 1, the sixth position information 2 at time 2, the sixth position information 3 at time 3, and so on.

[0132] The sixth position information may also be information sent by the navigation device to the processing device during the process of tracking the navigation array.

[0133] S802: Determine a movement trajectory of the navigation array according to the plurality of sixth position information.

[0134] Furthermore, since the tracking array is disposed on the surgical instrument, the movement of the tracking array can reflect the movement of the surgical instrument. Furthermore, the movement trajectory of the navigation array obtained according to the plurality of sixth position information will be parallel to or coincide with the puncture axis of the surgical instrument.

[0135] Ideally, the process in which the distal end of the surgical instrument moves along the axial direction of the guide is the process in which the processing device moves along the motion trajectory.

[0136] Optionally, the processing device may fit a plurality of sixth position information such as sixth position information 1, sixth position information 2, and sixth position information 3 to determine the motion trajectory of the navigation array. In some embodiments, the processing device may first pre-process the sixth position information, and fit the sixth position information after pre-processing to obtain the motion trajectory of the navigation array. The pre-processing includes but is not limited to filtering, outlier removal, etc.

[0137] In the above embodiment, since multiple sixth position information of the navigation array in the navigation coordinate system can be obtained during the movement of the distal end of the surgical instrument along the axial direction of the guide, the motion trajectory of the navigation array can be accurately determined based on the sixth position information.

[0138] In some embodiments, the processing device may also determine the motion trajectory of the navigation array according to the third position information and the fifth position information. For example, the processing device fits the third position information and the fifth position information to obtain the motion trajectory of the navigation array.

[0139] In some embodiments, the axial navigation error can also help doctors confirm whether the motion trajectory meets the requirements. For example, if the axial navigation error is too large, the motion trajectory of the navigation array can be re-determined.

[0140] In some embodiments, the processing device may determine the relative position relationship between the fifth position information and the motion trajectory before determining the axial navigation error, and determine the axial navigation error based on the relative position relationship between the fifth position information and the motion trajectory. For example, if the relative position relationship between the fifth position information and the motion trajectory differs greatly, the motion trajectory of the navigation array is determined.

[0141] In some embodiments, when the relative position relationship between the fifth position information and the motion trajectory is greatly different, the third position information of the navigation array in the navigation coordinate system can be obtained again when the end of the surgical instrument is pressed against the first pin.

[0142] Fig. 9 FIG. 1 is a schematic diagram of another process for determining fourth position information in an embodiment of the present application. In an exemplary embodiment, Fig. 9 As shown, S202 includes S901 to S902.

[0143] S901, determining a relative position information result between the first position information and the motion trajectory according to the motion trajectory and the first position information.

[0144] In this embodiment, the motion trajectory determined in S802 can indicate the accuracy of the puncture during the puncture process. Therefore, the processing device determines the relative position information result between the first position information and the motion trajectory according to the motion trajectory and the first position information.

[0145] The relative position information result is used to indicate whether the first position information is located on the motion track. It is understandable that if the first position information is located on the motion track, it means that the puncture accuracy is good; if the first position information is not located on the motion track, it means that the puncture has deviated at this time.

[0146] Optionally, the processing device may calculate the distance between the first position information and the motion trajectory, and determine that the first position information is located on the motion trajectory when the distance is less than the target distance, and determine that the first position information is not located on the motion trajectory when the distance is not less than the target distance. The target distance may be a number close to 0. In some embodiments, the processing device may also substitute the first position information into the fitting function of the motion trajectory to determine whether the first position information is located on the motion trajectory, but the present embodiment is not limited thereto.

[0147] S902: If the relative position information result is that the first position information is located on the motion trajectory, determine the fourth position information according to the first position information, the second position information and the third position information.

[0148] In this embodiment, if the relative position information result is that the first position information is located on the motion trajectory, it means that the puncture can continue, and the processing device will continue to execute step S202, that is, continue to determine the fourth position information based on the first position information, the second position information and the third position information.

[0149] In some embodiments, if the relative position information result is that the first position information is not located on the motion trajectory, the processing device will issue a second prompt information, and the second prompt information is used to indicate the puncture deviation to prompt the doctor to pause or adjust the puncture operation.

[0150] In the above embodiment, the relative position information result between the first position information and the motion trajectory is determined based on the motion trajectory and the first position information, and when the relative position information result is that the first position information is located on the motion trajectory, the fourth position information is determined based on the target conversion relationship and the first position information, thereby improving the reliability of the fourth position information.

[0151] Fig.10 FIG. 1 is a flow chart of determining movement in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Fig.10 As shown, the above-mentioned location determination method also includes S1001 to S1002.

[0152] S1001, obtaining seventh position information of a reference array corresponding to the puncture site in the navigation coordinate system.

[0153] In this embodiment, please continue to refer to Figure 1 The reference array corresponding to the puncture site can be set on the patient's bed or other fixed operating area to keep the reference array stationary relative to the patient, that is, the reference array and the puncture site are relatively stationary, that is, the puncture site corresponds to the reference array.

[0154] Since the navigation device may move during the puncture process, the processing device can determine whether the navigation device has unexpected displacement through the reference array. Therefore, the processing device will obtain the seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system.

[0155] The seventh position information may be information sent by the navigation device to the processing device during the process of tracking the navigation array. The navigation device and the reference array should be relatively still when acquiring the seventh position information. That is, the processing device may acquire the seventh position information of the reference array in the navigation coordinate system when the navigation device and the reference array are relatively still.

[0156] Optionally, the processing device may periodically acquire the seventh position information of the reference array in the navigation coordinate system at a certain acquisition frequency. For example, the processing device may acquire the seventh position information 1 of the reference array at time 1, the seventh position information 2 at time 2, the seventh position information 3 at time 3, and so on.

[0157] S1002: When the seventh position information changes, determine whether the navigation device corresponding to the navigation coordinate system moves.

[0158] Furthermore, the processing device can determine that the navigation device corresponding to the navigation coordinate system has moved when the seventh position information changes. Exemplarily, the processing device can obtain the seventh position information of the reference array in the navigation coordinate system during the registration phase, and determine whether the seventh position information has changed during the navigation phase, thereby determining whether the navigation device has moved.

[0159] Optionally, the processing device may use the seventh position information 1 at time 1 as a reference position, and if the difference between the seventh position information at other times and the seventh position information 1 is greater than a preset difference, it is determined that the seventh position information has changed. In some embodiments, the processing device may also use the preset position information as a reference position, and if the difference between the seventh position information at a certain moment and the preset position information is greater than the preset difference, it is determined that the seventh position information has changed.

[0160] In some embodiments, the processing device may issue a third prompt message, wherein the third prompt message is used to prompt that the navigation device corresponding to the navigation coordinate system moves.

[0161] Furthermore, if the navigation device moves, the processing device can track the reference array through the navigation device to update the transformation relationship between the reference coordinate system and the navigation coordinate system, and use the invariant transformation relationship between the reference coordinate system and the image coordinate system to update the target transformation relationship between the image coordinate system and the navigation coordinate system.

[0162] In some embodiments, if the navigation device moves, the processing device may also determine the movement information of the navigation device through the navigation device tracking reference array, and update the target transformation relationship between the image coordinate system and the navigation coordinate system based on the movement information. The movement information may include the change in the position and posture of the navigation device.

[0163] In the above embodiment, the seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system is obtained, and when the seventh position information changes, it is determined that the navigation device corresponding to the navigation coordinate system has moved, thereby improving the reliability and accuracy of the navigation device.

[0164] In order to more clearly introduce the location determination method of the present application, Fig.11 Provide explanation. Fig.11 FIG. 1 is a process diagram of a method for determining a position in an embodiment of the present application. Fig.11 As shown, the processing device can execute the position determination method according to the following process.

[0165] S1101, when the end of the surgical instrument is against the first latch, obtaining third position information of the navigation array in the navigation coordinate system.

[0166] S1102, obtaining multiple sixth position information of the navigation array in the navigation coordinate system during the process of the distal end of the surgical instrument moving along the axial direction of the guide.

[0167] S1103, determining the motion trajectory of the navigation array according to the plurality of sixth position information. In some embodiments, the processing device may also determine the motion trajectory of the navigation array according to the third position information and the fifth position information.

[0168] S1104, when the end of the surgical instrument abuts against the second pin of the guide, the fifth position information of the navigation array in the navigation coordinate system is obtained.

[0169] S1105: Determine a first difference between the third position information and the fifth position information.

[0170] S1106, determining a second difference between the first difference and a preset distance. The preset distance is the Euclidean distance between the first pin and the second pin in the axial direction of the guide.

[0171] S1107, determine the axial navigation error according to the second difference. Optionally, a first prompt message can be issued according to the axial navigation error. The axial navigation error is used to indicate the accuracy of the motion trajectory determined by S1103 and the third position information calibrated by S1101. In some embodiments, the axial navigation error and / or the third position information can also be re-determined according to the relative position relationship between the fifth position information and the motion trajectory.

[0172] S1108, when the distal end of the surgical instrument is located in the guide, obtaining first position information of a navigation array provided on the surgical instrument in a navigation coordinate system.

[0173] S1109: Determine a relative position information result between the first position information and the motion trajectory according to the motion trajectory and the first position information.

[0174] S1110, if the relative position information result is that the first position information is located on the motion trajectory, the fourth position information of the end of the surgical instrument in the puncture process in the image coordinate system is determined according to the target conversion relationship of the first position information, the second position information and the third position information. Optionally, the fourth position information can be determined according to the method of S401 to S402, or the fourth position information can be determined according to S501 to S504.

[0175] S1111, determining depth information during the puncture process according to the fourth position information and the position of the target in the image coordinate system.

[0176] S1112, displaying the depth information in a visualization interface.

[0177] S1113, obtaining seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system.

[0178] S1114: When the seventh position information changes, determine that the navigation device corresponding to the navigation coordinate system moves. Optionally, when the seventh position information changes, a third prompt message may be issued.

[0179] S1101 to S1114 can refer to the above embodiments and will not be described here. For example, the doctor can assemble the surgical instrument with the adapted navigation array, and then fix the reference array near the surgical area. The doctor then inserts the surgical instrument into the calibrated guide within the field of view of the navigation device to calibrate the initial position of the instrument. Afterwards, the doctor removes the calibrated guide and replaces it with a normal guide. During the puncture process, the normal guide is used to perform the puncture operation. At this time, the processing device in the navigation device can track the puncture depth of the surgical instrument in real time and present it visually.

[0180] It can be seen that the depth information in this embodiment is only affected by the tracking accuracy of the navigation device in the axial direction of the guide, which improves the accuracy of deep navigation to a certain extent. In addition, this embodiment can prompt the doctor in real time the distance between the end of the surgical instrument and the target point, saving the doctor's calculation time, reducing the risk of the doctor's calculation error, and improving the efficiency and safety of the operation.

[0181] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0182] Based on the same inventive concept, an embodiment of the present application also provides a position determination system. Fig.12 Schematic diagram of the architecture of a position determination system in an embodiment of the present application. Fig.12 As shown, the position determination system 1200 includes a navigation device 1201, a surgical instrument 1202, a guide 1203, a navigation array 1204 arranged on the surgical instrument 1202, and a processing device 1205.

[0183] The guide 1203 includes a body 1203a, a first latch 1203b, and a first pin hole 1203c provided on the body, and the first latch 1203b is detachably connected to the body 1203a through the first pin hole 1203c.

[0184] The navigation device 1201 can communicate with the processing device 1205. The navigation device 1201 is used to track the navigation array 1204, so that the processing device 1205 can obtain the position information of the navigation array 1201 in the navigation coordinate system.

[0185] Furthermore, the processing device 1205 is used to obtain the first position information of the navigation array 1201 arranged on the surgical instrument 1202 in the navigation coordinate system when the end of the surgical instrument 1202 is located in the guide 1203, and determine the fourth position information of the end of the surgical instrument 1202 in the image coordinate system based on the first position information, the second position information and the third position information; wherein the second position information is the position information of the first pin 1203b of the guide 1203 in the image coordinate system, and the third position information is the position information of the navigation array 1204 in the navigation coordinate system when the end of the surgical instrument 1202 is against the first pin 1203b.

[0186] In one embodiment, the processing device 1205 is further used to determine the position increment of the navigation array 1204 in the navigation coordinate system according to the first position information and the third position information; and determine the fourth position information according to the second position information and the position increment.

[0187] In one embodiment, the processing device 1205 is also used to determine the initial position information of the navigation array 1204 in the image coordinate system based on the third position information and the target transformation relationship; determine the distance between the navigation array 1204 and the end of the surgical instrument 1202 based on the initial position information and the second position information; determine the real-time position information of the navigation array 1204 in the image coordinate system based on the first position information and the target transformation relationship; and determine the fourth position information based on the real-time position information and the distance.

[0188] Fig.13 This is a schematic diagram of the structure of a guide in an embodiment of the present application. In one embodiment, the guide 1203 also includes a second latch 1203d and a second pin hole 1203e provided on the body 1203a. The second latch 1203d is detachably connected to the body 1203a through the second pin hole 1203e.

[0189] The processing device 1205 is also used to obtain the third position information of the navigation array 1204 arranged on the surgical instrument 1202 in the navigation coordinate system before obtaining the first position information of the navigation array 1204 in the navigation coordinate system, and to obtain the fifth position information of the navigation array 1204 in the navigation coordinate system when the end of the surgical instrument 1202 is against the second pin 1203d, so as to determine the axial navigation error according to the third position information, the fifth position information and the preset distance; wherein the axial navigation error is used to issue a first prompt message, and the preset distance is the Euclidean distance between the first pin 1203b and the second pin 1203d in the axial direction of the guide 1203.

[0190] In one embodiment, the processing device 1205 is further used to determine a first difference between the third position information and the fifth position information; determine a second difference between the first difference and a preset distance; and determine an axial navigation error according to the second difference.

[0191] In one embodiment, the processing device 1205 is also used to obtain multiple sixth position information of the navigation array 1204 in the navigation coordinate system during the process of the end of the surgical instrument 1202 moving along the axial direction of the guide 1203, and determine the motion trajectory of the surgical instrument 1202 based on the multiple sixth position information.

[0192] In one embodiment, the processing device 1205 is also used to determine the relative position information result between the first position information and the motion trajectory based on the motion trajectory and the first position information; if the relative position information result is that the first position information is located on the motion trajectory, then determine the fourth position information based on the first position information, the second position information and the third position information.

[0193] In one embodiment, the processing device 1205 is further used to obtain seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system; when the seventh position information changes, it is determined that the navigation device 1201 corresponding to the navigation coordinate system moves.

[0194] The principle of the above-mentioned position determination system 1200 can refer to the above-mentioned position determination method, which will not be repeated here.

[0195] Based on the same inventive concept, the embodiment of the present application also provides a position determination device for implementing the position determination method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the position determination device provided below can refer to the limitations on the position determination method above, and will not be repeated here.

[0196] Fig.14 is a structural block diagram of a position determination device in an embodiment of the present application. In an exemplary embodiment, Fig.14 As shown, a position determination device 1400 is provided, comprising: a first acquisition module 1401 and a first determination module 1402, wherein:

[0197] The first acquisition module 1401 is used to acquire first position information of a navigation array provided on the surgical instrument in a navigation coordinate system when the distal end of the surgical instrument is located in the guide.

[0198] The first determination module 1402 is used to determine the fourth position information of the end of the surgical instrument in the image coordinate system based on the first position information, the second position information and the third position information; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

[0199] In the above-mentioned position determination device, since the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin, therefore, when the end of the surgical instrument is located in the guide, after obtaining the first position information of the navigation array provided on the surgical instrument in the navigation coordinate system, the fourth position information of the end of the surgical instrument in the image coordinate system can be determined based on the first position information, the second position information and the third position information. In this process, it is not necessary to calculate the required puncture depth in advance based on the specifications of the surgical instrument and the planned puncture path length, and the position of the end of the surgical instrument during the puncture process can be determined more accurately.

[0200] Optionally, the first determining module 1402 includes:

[0201] The first determining unit is used to determine a position increment of the navigation array in the navigation coordinate system according to the first position information and the third position information.

[0202] The second determining unit is used to determine fourth position information according to the second position information and the position increment.

[0203] Optionally, the first determining module 1402 includes:

[0204] The third determining unit is used to determine the initial position information of the navigation array in the image coordinate system according to the third position information and the target transformation relationship.

[0205] The fourth determining unit is used to determine the distance between the navigation array and the end of the surgical instrument according to the initial position information and the second position information.

[0206] The fifth determining unit is used to determine the real-time position information of the navigation array in the image coordinate system according to the first position information and the target conversion relationship.

[0207] The sixth determining unit is used to determine fourth position information according to the real-time position information and the distance.

[0208] Optionally, before acquiring the first position information of the navigation array disposed on the surgical instrument in the navigation coordinate system, the position determination device 1400 further includes:

[0209] The second acquisition module is used to acquire third position information.

[0210] The third acquisition module is used to acquire the fifth position information of the navigation array in the navigation coordinate system when the end of the surgical instrument abuts against the second pin of the guide.

[0211] The second determination module is used to determine the axial navigation error according to the third position information, the fifth position information and a preset distance; wherein the preset distance is the Euclidean distance between the first pin and the second pin in the axial direction of the guide.

[0212] Optionally, before obtaining the first position information of the navigation array disposed on the surgical instrument in the navigation coordinate system, the position determination device 1400 further includes:

[0213] The fourth acquisition module is used to acquire multiple sixth position information of the navigation array in the navigation coordinate system when the distal end of the surgical instrument moves along the axial direction of the guide.

[0214] The third determination module is used to determine the movement trajectory of the navigation array according to the plurality of sixth position information.

[0215] Optionally, the first determining module 1402 includes:

[0216] The seventh determining unit is used to determine the relative position information result between the first position information and the motion trajectory according to the motion trajectory and the first position information.

[0217] The eighth determination unit is configured to determine the fourth position information according to the first position information, the second position information and the third position information if the relative position information result indicates that the first position information is located on the motion trajectory.

[0218] Optionally, the location determining device 1400 further includes:

[0219] The fifth acquisition module is used to acquire seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system.

[0220] The fourth determining module is used to determine that the navigation device corresponding to the navigation coordinate system moves when the seventh position information changes.

[0221] Each module in the above-mentioned position determination device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0222] Fig.15 The internal structure diagram of the computer device in the embodiment of the present application is shown in FIG. 1 . In an exemplary embodiment, a computer device is provided. The computer device may be a terminal. The internal structure diagram thereof may be as shown in FIG. Fig.15 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for determining a position is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0223] Those skilled in the art will understand that Fig.15 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0224] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0225] When the distal end of the surgical instrument is located in the guide, obtaining first position information of a navigation array disposed on the surgical instrument in a navigation coordinate system;

[0226] Based on the first position information, the second position information and the third position information, the fourth position information of the end of the surgical instrument in the image coordinate system is determined; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

[0227] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0228] The position increment of the navigation array in the navigation coordinate system is determined according to the first position information and the third position information; and the fourth position information is determined according to the second position information and the position increment.

[0229] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0230] Based on the third position information and the target conversion relationship, the initial position information of the navigation array in the image coordinate system is determined; based on the initial position information and the second position information, the distance between the navigation array and the end of the surgical instrument is determined; based on the first position information and the target conversion relationship, the real-time position information of the navigation array in the image coordinate system is determined; based on the real-time position information and the distance, the fourth position information is determined.

[0231] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0232] Acquire the third position information; when the end of the surgical instrument abuts against the second pin of the guide, acquire the fifth position information of the navigation array in the navigation coordinate system; determine the axial navigation error according to the third position information, the fifth position information and a preset distance; wherein the preset distance is the Euclidean distance between the first pin and the second pin in the axial direction of the guide.

[0233] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0234] Acquire multiple sixth position information of the navigation array in the navigation coordinate system during the process of the distal end of the surgical instrument moving along the axial direction of the guide; determine the motion trajectory of the navigation array according to the multiple sixth position information.

[0235] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0236] According to the motion trajectory and the first position information, the relative position information result between the first position information and the motion trajectory is determined; if the relative position information result is that the first position information is located on the motion trajectory, the fourth position information is determined according to the first position information, the second position information and the third position information.

[0237] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0238] The seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system is obtained; when the seventh position information changes, it is determined that the navigation device corresponding to the navigation coordinate system moves.

[0239] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0240] When the distal end of the surgical instrument is located in the guide, obtaining first position information of a navigation array disposed on the surgical instrument in a navigation coordinate system;

[0241] Based on the first position information, the second position information and the third position information, the fourth position information of the end of the surgical instrument in the image coordinate system is determined; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

[0242] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0243] The position increment of the navigation array in the navigation coordinate system is determined according to the first position information and the third position information; and the fourth position information is determined according to the second position information and the position increment.

[0244] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0245] Based on the third position information and the target conversion relationship, the initial position information of the navigation array in the image coordinate system is determined; based on the initial position information and the second position information, the distance between the navigation array and the end of the surgical instrument is determined; based on the first position information and the target conversion relationship, the real-time position information of the navigation array in the image coordinate system is determined; based on the real-time position information and the distance, the fourth position information is determined.

[0246] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0247] Acquire the third position information; when the end of the surgical instrument abuts against the second pin of the guide, acquire the fifth position information of the navigation array in the navigation coordinate system; determine the axial navigation error according to the third position information, the fifth position information and a preset distance; wherein the preset distance is the Euclidean distance between the first pin and the second pin in the axial direction of the guide.

[0248] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0249] Acquire multiple sixth position information of the navigation array in the navigation coordinate system during the process of the distal end of the surgical instrument moving along the axial direction of the guide; determine the motion trajectory of the navigation array according to the multiple sixth position information.

[0250] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0251] According to the motion trajectory and the first position information, the relative position information result between the first position information and the motion trajectory is determined; if the relative position information result is that the first position information is located on the motion trajectory, the fourth position information is determined according to the first position information, the second position information and the third position information.

[0252] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0253] The seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system is obtained; when the seventh position information changes, it is determined that the navigation device corresponding to the navigation coordinate system moves.

[0254] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0255] When the distal end of the surgical instrument is located in the guide, obtaining first position information of a navigation array disposed on the surgical instrument in a navigation coordinate system;

[0256] Based on the first position information, the second position information and the third position information, the fourth position information of the end of the surgical instrument in the image coordinate system is determined; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

[0257] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0258] The position increment of the navigation array in the navigation coordinate system is determined according to the first position information and the third position information; and the fourth position information is determined according to the second position information and the position increment.

[0259] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0260] Based on the third position information and the target conversion relationship, the initial position information of the navigation array in the image coordinate system is determined; based on the initial position information and the second position information, the distance between the navigation array and the end of the surgical instrument is determined; based on the first position information and the target conversion relationship, the real-time position information of the navigation array in the image coordinate system is determined; based on the real-time position information and the distance, the fourth position information is determined.

[0261] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0262] Acquire the third position information; when the end of the surgical instrument abuts against the second pin of the guide, acquire the fifth position information of the navigation array in the navigation coordinate system; determine the axial navigation error according to the third position information, the fifth position information and a preset distance; wherein the preset distance is the Euclidean distance between the first pin and the second pin in the axial direction of the guide.

[0263] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0264] Acquire multiple sixth position information of the navigation array in the navigation coordinate system during the process of the distal end of the surgical instrument moving along the axial direction of the guide; determine the motion trajectory of the navigation array according to the multiple sixth position information.

[0265] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0266] According to the motion trajectory and the first position information, the relative position information result between the first position information and the motion trajectory is determined; if the relative position information result is that the first position information is located on the motion trajectory, the fourth position information is determined according to the first position information, the second position information and the third position information.

[0267] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0268] The seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system is obtained; when the seventh position information changes, it is determined that the navigation device corresponding to the navigation coordinate system moves.

[0269] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0270] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0271] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for determining a position, It is characterized in that The method comprises: When the distal end of the surgical instrument is located in the guide, obtaining first position information of a navigation array disposed on the surgical instrument in a navigation coordinate system; Based on the first position information, the second position information and the third position information, the fourth position information of the end of the surgical instrument in the image coordinate system is determined; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

2. The method according to claim 1, It is characterized in that Determining fourth position information of the end of the surgical instrument in the image coordinate system according to the first position information, the second position information and the third position information includes: determining a position increment of the navigation array in the navigation coordinate system according to the first position information and the third position information; The fourth position information is determined according to the second position information and the position increment.

3. The method according to claim 1, It is characterized in that Determining fourth position information of the end of the surgical instrument in the image coordinate system according to the first position information, the second position information and the third position information includes: Determining the initial position information of the navigation array in the image coordinate system according to the third position information and the target transformation relationship; determining a distance between the navigation array and a distal end of the surgical instrument according to the initial position information and the second position information; Determining the real-time position information of the navigation array in the image coordinate system according to the first position information and the target conversion relationship; The fourth position information is determined according to the real-time position information and the distance.

4. The method according to any one of claims 1 to 3, It is characterized in that Before acquiring the first position information of the navigation array disposed on the surgical instrument in the navigation coordinate system, the method further includes: Acquiring the third location information; When the end of the surgical instrument abuts against the second latch of the guide, obtaining fifth position information of the navigation array in the navigation coordinate system; determining an axial navigation error according to the third position information, the fifth position information and a preset distance; Wherein, the preset distance is the Euclidean distance between the first pin and the second pin in the axial direction of the guide.

5. The method according to any one of claims 1 to 3, It is characterized in that Before acquiring first position information of a navigation array disposed on the surgical instrument in a navigation coordinate system, the method further includes: Acquiring a plurality of sixth position information of the navigation array in the navigation coordinate system during the process of the distal end of the surgical instrument moving along the axial direction of the guide; The movement trajectory of the navigation array is determined according to the multiple sixth position information.

6. The method according to claim 5, It is characterized in that Determining fourth position information of the end of the surgical instrument in the image coordinate system according to the first position information, the second position information and the third position information includes: Determine a relative position information result between the first position information and the motion trajectory according to the motion trajectory and the first position information; If the relative position information result is that the first position information is located on the motion trajectory, the fourth position information is determined according to the first position information, the second position information and the third position information.

7. The method according to any one of claims 1 to 3, It is characterized in that The method further comprises: Acquire seventh position information of the reference array corresponding to the puncture site in the navigation coordinate system; When the seventh position information changes, it is determined that the navigation device corresponding to the navigation coordinate system moves.

8. A position determination device, It is characterized in that The device comprises: A first acquisition module, configured to acquire first position information of a navigation array provided on the surgical instrument in a navigation coordinate system when the distal end of the surgical instrument is located in the guide; The first determination module is used to determine the fourth position information of the end of the surgical instrument in the image coordinate system based on the first position information, the second position information and the third position information; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

9. A position determination system, It is characterized in that The system comprises a navigation device, a surgical instrument, a guide, a navigation array arranged on the surgical instrument, and a processing device; the guide comprises a body, a first latch and a first pin hole arranged on the body, the first latch being detachably connected to the body through the first pin hole; The processing device is used to obtain first position information of a navigation array arranged on the surgical instrument in a navigation coordinate system when the end of the surgical instrument is located in the guide; and determine fourth position information of the end of the surgical instrument in an image coordinate system based on the first position information, the second position information and the third position information; wherein the second position information is the position information of the first pin of the guide in the image coordinate system, and the third position information is the position information of the navigation array in the navigation coordinate system when the end of the surgical instrument is against the first pin.

10. The system according to claim 9, It is characterized in that The guide further comprises a second latch and a second pin hole provided on the body, wherein the second latch is detachably connected to the body through the second pin hole; The processing device is further configured to obtain the third position information before obtaining the first position information of the navigation array provided on the surgical instrument in the navigation coordinate system; and obtain the fifth position information of the navigation array in the navigation coordinate system when the end of the surgical instrument abuts against the second latch of the guide; An axial navigation error is determined based on the third position information, the fifth position information, and a preset distance; wherein the preset distance is a Euclidean distance between the first pin and the second pin in the axial direction of the guide.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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