Navigation display method and device, computer equipment and surgical robot system

Abstract

The invention relates to a navigation display method and device, computer equipment and a surgical robot system.The method comprises the steps that the real-time pose of a target instrument in a world coordinate system is obtained, and the direction vector of the target instrument in the world coordinate system is determined; establishing a first reconstruction coordinate system according to the first axis and the direction vector of the world coordinate system, and establishing a second reconstruction coordinate system according to the second axis and the direction vector of the world coordinate system; displaying a reconstructed transection image of the target object in the first reconstructed coordinate system based on the navigation interface, and displaying a reconstructed sagittal view image of the target object in the second reconstructed coordinate system; the target object comprises a target instrument. By using the navigation display method provided by the invention, the visual angle change in the screw placement process can be simulated in real time.

Description

Technical Field

[0001] This application relates to the field of computer technology, and particularly to a navigation display method, apparatus, computer device, and surgical robot system. Background Art

[0002] In the scenario of intraoperative spinal navigation, it is usually necessary to display the medical images of the spine, pre-planned screws, and navigation instruments on the software interface. During the process of simulating screw placement with the navigation instrument, it is necessary to update the position of the navigation instrument in real time, and update the medical images and navigation instruments displayed on the software interface according to the position of the navigation instrument.

[0003] In the traditional technology, during the process of simulating screw placement with the navigation instrument, the medical images of the spine, pre-planned screws, and navigation instruments are displayed on the software interface from the perspective of the screw.

[0004] However, the images displayed from the screw perspective in the traditional technology cannot real-time simulate the perspective change during the screw placement process. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a navigation display method, apparatus, computer device, and surgical robot system that can real-time simulate the perspective change during the screw placement process.

[0006] In a first aspect, this application provides a navigation display method, which includes:

[0007] Obtain the real-time pose of the target instrument in the world coordinate system, and determine the direction vector of the target instrument in the world coordinate system;

[0008] Establish a first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector, and establish a second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector;

[0009] Based on the navigation interface, display the reconstructed transverse image of the target object in the first reconstruction coordinate system, and display the reconstructed sagittal image of the target object in the second reconstruction coordinate system; the target object includes the target instrument.

[0010] In one of the embodiments, establishing a first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector includes:

[0011] Use the first axis of the world coordinate system as the first axis of the first reconstruction coordinate system;

[0012] Determine the second axis of the first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector;

[0013] Determine the third axis of the first reconstruction coordinate system according to the first axis of the first reconstruction coordinate system and the second axis of the first reconstruction coordinate system.

[0014] In one embodiment, a second reconstruction coordinate system is established according to the second axis of the world coordinate system and the direction vector, including:

[0015] Taking the second axis of the world coordinate system as the second axis of the second reconstruction coordinate system;

[0016] Determining the first axis of the second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector;

[0017] Determining the third axis in the second reconstruction coordinate system according to the second axis and the first axis of the second reconstruction coordinate system.

[0018] In one embodiment, displaying a reconstructed transverse image of a target object in a first reconstruction coordinate system based on a navigation interface, including:

[0019] Determining a reconstructed transverse plane according to the first axis and the third axis of the first reconstruction coordinate system;

[0020] Projecting the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system, obtaining and displaying the reconstructed transverse image on the navigation interface.

[0021] In one embodiment, displaying a reconstructed sagittal image of a target object in a second reconstruction coordinate system based on a navigation interface, including:

[0022] Determining a reconstructed sagittal plane according to the second axis and the third axis of the second reconstruction coordinate system;

[0023] Projecting the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system, obtaining and displaying the reconstructed sagittal image on the navigation interface.

[0024] In one embodiment, obtaining the real-time pose of a target instrument in the world coordinate system and determining the direction vector of the target instrument in the world coordinate system, including:

[0025] Determining the coordinates of the first end and the coordinates of the second end of the target instrument according to the real-time pose;

[0026] Determining the direction vector according to the coordinates of the first end and the coordinates of the second end.

[0027] In one embodiment, the target instrument includes a positioning channel or a navigation probe.

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

[0029] In response to a triggering operation instruction generated by a user on a navigation interface, the display or combined display of the cross-sectional image and sagittal image of a target object in the world coordinate system is switched according to the operation instruction, and the reconstructed cross-sectional image and reconstructed sagittal image are reconstructed.

[0030] In a second aspect, an embodiment of the present application provides a navigation display device, which includes:

[0031] A determination module, configured to obtain the real-time pose of a target instrument in the world coordinate system and determine the direction vector of the target instrument in the world coordinate system;

[0032] A construction module, configured to construct a first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector, and construct a second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector;

[0033] A display module, configured to display the reconstructed cross-sectional image of the target object in the first reconstruction coordinate system on the navigation interface, and display the reconstructed sagittal image of the target object in the second reconstruction coordinate system; the target object includes the target instrument.

[0034] In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the steps of the method provided in the first aspect are implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a surgical robot system, including an execution device and the navigation display device provided in the second aspect, where the navigation display device is used to implement navigation display, and the execution device is used to cooperate with the target instrument to implement a predetermined execution operation.

[0036] The above navigation display method, device, computer device and surgical robot system. The method obtains the real-time pose of the target instrument in the world coordinate system and determines the direction vector of the target instrument in the world coordinate system; establishes a first reconstruction coordinate system based on the first axis of the world coordinate system and the direction vector, and establishes a second reconstruction coordinate system based on the second axis of the world coordinate system and the direction vector; displays the reconstructed transverse image of the target object in the first reconstruction coordinate system on the navigation interface, and displays the reconstructed sagittal image of the target object in the second reconstruction coordinate system on the navigation interface; the target object includes the target instrument. In this embodiment, the establishment of the first reconstruction coordinate system and the second reconstruction coordinate system are both related to the direction vector of the target instrument. When the direction vector of the target instrument changes, the first reconstruction coordinate system and the second reconstruction coordinate system also change accordingly. Then, the reconstructed transverse image displayed in the first reconstruction coordinate system and the reconstructed sagittal image displayed in the second reconstruction coordinate system will also change with the change of the direction vector of the target instrument. That is to say, this embodiment displays the reconstructed transverse image and the reconstructed sagittal image from the perspective of the target instrument, which can ensure that the target instrument included in the reconstructed transverse image and the reconstructed sagittal image is displayed with the largest cross-section, so as to be able to simulate the perspective change in the nail insertion process in real time, and further enable the user to obtain the nail insertion simulation process, which is convenient for adjusting the nail insertion process according to actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of a software interface display in an embodiment;

[0038] Figure 2 It is a schematic diagram of the structure of a computer device in an embodiment;

[0039] Figure 3 It is a schematic diagram of the step flow of a navigation display method in an embodiment;

[0040] Figure 4 It is a schematic diagram of the step flow of a navigation display method in another embodiment;

[0041] Figure 5 It is a schematic diagram of the step flow of a navigation display method in another embodiment;

[0042] Figure 6 It is a schematic diagram of the world coordinate system in an embodiment;

[0043] Figure 7 It is a schematic diagram of the first reconstruction coordinate system and the second reconstruction coordinate system in an embodiment;

[0044] Figure 8 It is a schematic diagram of the step flow of a navigation display method in another embodiment;

[0045] Figure 9 Schematic diagram of the step flow of the navigation display method in another embodiment;

[0046] Figure 10 Schematic diagram of the step flow of the navigation display method in another embodiment;

[0047] Figure 11 Schematic diagram of the step flow of the navigation display method in another embodiment;

[0048] Figure 12 Schematic diagram of the step flow of the navigation display method in another embodiment;

[0049] Figure 13 Schematic diagram of the structure of the navigation display device in one embodiment. Detailed implementation manners

[0050] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to 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.

[0051] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings.

[0052] First, before specifically introducing the technical solutions of the disclosed embodiments of the present application, the background technology or the technical evolution context on which the embodiments of the present application are based will be introduced. In the scenario of intraoperative navigation of the spine, it is usually necessary to display the medical images of the spine, pre-planned implants and navigation instruments on the software interface. Before the operation, it is necessary to simulate the process of placing the screws. During the process of using the navigation instrument to simulate the placement of the screws, it is necessary to update the position of the navigation instrument in real time and update the medical images and navigation instruments displayed on the software interface according to the position of the navigation instrument. In the traditional technology, during the process of using the navigation instrument simulator to place the screws, the medical images of the spine, pre-planned implants and navigation instruments are usually displayed on the software interface from the perspective of the implant.

[0053] Taking the implant as a screw and the navigation instrument as a probe as an example, the workflow in the traditional technology includes: (1) After the spine workflow enters intraoperative navigation, the transverse image (the plane composed of the X-axis and Y-axis of the world coordinate system, cutting from the head to the foot of the target object) and sagittal image (the plane composed of the Y-axis and Z-axis of the world coordinate system, cutting from the left to the right of the target object) of the spine, as well as the screws are displayed on the software interface. As Figure 1As shown in the figure, the display box on the left side of the software interface shows transverse images, the middle display box shows sagittal images, and the display box on the right side shows the selection interface for implants and navigation instruments; (2) Select a screw (L3_R) from the implant list in the selection interface on the right side of the software interface, and display the transverse image and the sagittal image from the perspective of the screw, that is, the maximum cross-section of screw 1 is shown in both the transverse image and the sagittal image, as Figure 1 shown. (3) In response to the user's click operation on the execution control in the selection interface, the surgical execution arm starts to move, and the lower computer sends the pose information of the positioning channel at the end of the surgical execution arm, and the axis of the positioning channel 2 is displayed in real time on the software interface. (4) After the surgical execution arm moves to the target position, the positioning channel at the end of the surgical execution arm points to the selected screw 1, and the navigation probe 3 selected in the selection interface is brought close to screw 1. The lower computer sends the pose of the navigation probe 3, and the transverse image and the sagittal image, as well as the real-time poses of screw 1 and probe 3, are displayed in real time on the software interface.

[0054] Whether during the movement of the positioning channel or during the movement of the navigation instrument, since the traditional technology displays on the software interface from the perspective of the implant, the displayed transverse image and sagittal image are always at the maximum cross-section of the screw, and will not change with the change of the pose of the positioning channel or the navigation instrument, and both show the maximum cross-section of the screw, and the maximum cross-section of the navigation instrument cannot be shown, so the perspective change during the screw placement process cannot be simulated in real time. In response to this, the present application provides a navigation display method.

[0055] The technical solution of the present application and how the technical solution of the present application solves the technical problems will be described in detail below with specific embodiments.

[0056] The navigation display method provided by the present application can be applied to a computer device. The computer device can be, but is not limited to, an industrial computer, a laptop computer, a tablet computer, etc. The internal structure of the computer device can be as Figure 2As shown in the figure. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. 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 computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. 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 achieved through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a navigation display method. The display screen of the computer device 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 covered on the display screen, or buttons, trackballs, or touchpads provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0057] In one embodiment, as Figure 3 shown, a navigation display method is provided. In this embodiment, the method is illustrated by taking the application of the method to a computer device as an example. In this embodiment, the method includes the following steps:

[0058] Step 300: Obtain the real-time pose of the target instrument in the world coordinate system, and determine the direction vector of the target instrument in the world coordinate system.

[0059] The target instrument refers to the navigation instrument used during the navigation process. The computer device obtains the real-time pose of the target instrument in the world coordinate system, that is, obtains the real-time position and attitude of the target instrument in the world coordinate system during the navigation process.

[0060] In one embodiment, the target instrument includes a positioning channel or a navigation probe.

[0061] During the movement of the positioning channel, the target instrument is the positioning channel, and the computer device obtains the real-time pose of the positioning channel in the world coordinate system. During the movement of the navigation instrument, the target instrument is the navigation probe, and the computer device obtains the real-time pose of the navigation probe in the world coordinate system.

[0062] In an optional embodiment, when the target instrument is a positioning channel, the method for obtaining the real-time pose of the target instrument in the world coordinate system includes:

[0063] Respond to the touch operation of the user on the navigation interface to generate an operation instruction, and receive the real-time pose sent by the external device according to the operation instruction.

[0064] The navigation interface is as Figure 1The software interface shown includes a selection interface in the navigation interface. The user selects the target screw (L3_R) from the list of implants displayed on the selection interface and clicks "Execute". The computer device generates an operation instruction in response to the user's trigger (click) on the target screw in the navigation interface, and sends a request message for obtaining the pose to an external device (lower computer) according to the operation instruction. After receiving the request message, the external device sends the real-time pose of the positioning channel in the world coordinate system to the computer device. The computer device receives the real-time pose sent by the external device to obtain the real-time pose of the positioning channel in the world coordinate system.

[0065] In an optional embodiment, when the target instrument is a navigation probe, the method for obtaining the real-time pose of the target instrument in the world coordinate system includes:

[0066] Receiving the real-time pose sent by the external device.

[0067] During the movement of the navigation probe, the external device (lower computer) real-time identifies the navigation probe through OTS (Over the Shoulder). If the navigation probe is identified (i.e., the navigation probe is within the sight of OTS), the real-time pose of the navigation probe is obtained and sent to the computer device.

[0068] After the computer device obtains the real-time pose of the target instrument in the world coordinate system, it determines the direction vector of the target instrument in the world coordinate system at the current time according to the real-time pose, that is, determines the real-time direction vector of the target instrument. In other words, the computer device determines the direction vector of the target instrument at each moment according to the pose of the target instrument at that moment.

[0069] Step 310: Establish a first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector, and establish a second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector.

[0070] The world coordinate system includes an X axis, a Y axis, and a Z axis. The first axis of the world coordinate system refers to the X axis, the second axis of the world coordinate system refers to the Z axis, and the third axis of the world coordinate system refers to the Y axis. After the computer device obtains the direction vector of the target instrument, it re-establishes a coordinate system according to the first axis of the world coordinate system and the direction vector, that is, the first reconstruction coordinate system, and re-establishes a coordinate system according to the second axis of the world coordinate system and the direction vector, that is, the second reconstruction coordinate system. That is to say, the first axis of the first reconstruction coordinate system coincides with the first axis of the world coordinate system, and the other axes of the first reconstruction coordinate system are related to the direction vector; the second axis of the second reconstruction coordinate system coincides with the second axis of the world coordinate system, and the other axes of the second reconstruction coordinate system are related to the direction vector.

[0071] Step 320: Based on the navigation interface, display the reconstructed transverse image of the target object in the first reconstructed coordinate system and the reconstructed sagittal image of the target object in the second reconstructed coordinate system; the target object includes the target instrument.

[0072] The target object includes the object corresponding to the medical image displayed on the navigation interface and the target instrument. After the computer device obtains the first reconstructed coordinate system and the second reconstructed coordinate system established based on the world coordinate system and the direction vector of the target instrument, it displays the transverse image of the target object based on the first reconstructed coordinate system on the navigation interface, that is, the reconstructed transverse image; the first reconstructed coordinate system is determined according to the direction vector of the target instrument and the world coordinate system, and the first reconstructed coordinate system changes with the direction vector of the target instrument, so the displayed reconstructed transverse image also changes accordingly. On the navigation interface, display the sagittal image of the target object based on the second reconstructed coordinate system, that is, the reconstructed sagittal image; the second reconstructed coordinate system is determined according to the direction vector of the target instrument and the world coordinate system, and the second reconstructed coordinate system changes with the direction vector of the target instrument, so the displayed reconstructed sagittal image also changes accordingly. The images of the target instrument are included in both the reconstructed transverse image and the reconstructed sagittal image.

[0073] The navigation display method provided by the embodiment of the present application obtains the real-time pose of the target instrument in the world coordinate system and determines the direction vector of the target instrument in the world coordinate system; establishes the first reconstructed coordinate system according to the first axis of the world coordinate system and the direction vector, and establishes the second reconstructed coordinate system according to the second axis of the world coordinate system and the direction vector; displays the reconstructed transverse image of the target object in the first reconstructed coordinate system based on the navigation interface, and displays the reconstructed sagittal image of the target object in the second reconstructed coordinate system on the navigation interface; the target object includes the target instrument. In this embodiment, the establishment of both the first reconstructed coordinate system and the second reconstructed coordinate system is related to the direction vector of the target instrument. When the direction vector of the target instrument changes, the first reconstructed coordinate system and the second reconstructed coordinate system also change accordingly, so the reconstructed transverse image in the displayed first reconstructed coordinate system and the reconstructed sagittal image in the second reconstructed coordinate system also change with the change of the direction vector of the target instrument. That is to say, this embodiment displays the reconstructed transverse image and the reconstructed sagittal image from the perspective of the target instrument, which can ensure that the target instrument included in the reconstructed transverse image and the reconstructed sagittal image is displayed with the largest cross-section, so as to be able to simulate the perspective change during the nail insertion process in real time, and further enable the user to obtain the simulated nail insertion process and facilitate adjusting the nail insertion process according to actual needs.

[0074] In one embodiment, as Figure 4 shown, it involves an implementation manner of establishing the first reconstructed coordinate system according to the first axis of the world coordinate system and the direction vector. The steps of this implementation manner include:

[0075] Step 400: Use the first axis of the world coordinate system as the first axis of the first reconstruction coordinate system.

[0076] The computer device uses the first axis of the world coordinate system, that is, the X-axis of the world coordinate system, as the first axis of the first reconstruction coordinate system, that is, the X-axis of the first reconstruction coordinate system. That is to say, the direction and position of the first axis of the first reconstruction coordinate system coincide with those of the first axis of the world coordinate system.

[0077] Step 410: Determine the second axis of the first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector.

[0078] The computer device determines the second axis of the first reconstruction coordinate system, that is, the Z-axis of the first reconstruction coordinate system, according to the first axis of the world coordinate system and the determined direction vector of the target instrument.

[0079] In an alternative embodiment, the computer device calculates the cross product of the unit vector (1, 0, 0) of the first axis of the world coordinate system and the direction vector to obtain the vector after the cross product, and takes the line where the direction of the vector after the cross product is located as the second axis of the first reconstruction coordinate system.

[0080] Step 420: Determine the third axis of the first reconstruction coordinate system according to the first axis of the first reconstruction coordinate system and the second axis of the first reconstruction coordinate system.

[0081] The Y-axis of a coordinate system is perpendicular to the plane formed by the X-axis and the Z-axis. After the computer device determines the first axis of the first reconstruction coordinate system and the second axis of the first reconstruction coordinate system, it can determine the third axis of the first reconstruction coordinate system, that is, the Y-axis, according to the first axis of the first reconstruction coordinate system and the second axis of the first reconstruction coordinate system.

[0082] In this embodiment, the second axis of the first reconstruction coordinate system can be determined according to the first axis of the world coordinate system and the direction vector of the target instrument. According to the first axis (the first axis of the world coordinate system) and the second axis of the first reconstruction coordinate system, the third axis of the first reconstruction coordinate system can be determined, so that the first reconstruction coordinate system can be obtained. The method of determining the first reconstruction coordinate system in this way is fast and easy to implement; and the second axis and the third axis of the first reconstruction coordinate system are both related to the direction vector of the target instrument, that is, the first reconstruction coordinate system will change with the change of the direction vector of the target instrument. In this way, displaying the reconstructed transverse image from the perspective of the target instrument can ensure that all target instruments included in the reconstructed transverse image are displayed with the maximum cross-section, so as to be able to simulate the perspective change during the nail placement process in real time, and further enable the user to obtain the process of simulated nail placement, which is convenient for adjusting the nail placement process according to actual needs.

[0083] In one embodiment, such asFigure 5 As shown, it relates to an implementation method of establishing a second reconstruction coordinate system according to the second axis and the direction vector of the world coordinate system. The steps of this implementation method include:

[0084] Step 500: Use the second axis of the world coordinate system as the second axis of the second reconstruction coordinate system.

[0085] The computer device uses the second axis of the world coordinate system, that is, the Z axis of the world coordinate system, as the second axis of the second reconstruction coordinate system, that is, the Z axis of the second reconstruction coordinate system. That is to say, the direction and position of the second axis of the second reconstruction coordinate system coincide with those of the second axis of the world coordinate system.

[0086] Step 510: Determine the first axis of the second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector.

[0087] The computer device determines the first axis of the second reconstruction coordinate system, that is, the X axis of the second reconstruction coordinate system, according to the second axis of the world coordinate system and the direction vector of the determined target instrument.

[0088] In an alternative embodiment, the computer device calculates the cross product of the unit vector (0, 0, 1) of the second axis of the world coordinate system and the direction vector to obtain the cross product vector, and uses the line where the direction of the cross product vector is located as the first axis of the second reconstruction coordinate system.

[0089] Step 520: Determine the third axis in the second reconstruction coordinate system according to the second axis of the second reconstruction coordinate system and the first axis of the second reconstruction coordinate system.

[0090] After the computer device determines the second axis of the second reconstruction coordinate system and the first axis of the second reconstruction coordinate system, it can determine the third axis of the second reconstruction coordinate system, that is, the Y axis, according to the second axis of the second reconstruction coordinate system and the second axis of the second reconstruction coordinate system.

[0091] In this embodiment, the first axis of the second reconstruction coordinate system can be determined according to the second axis of the world coordinate system and the direction vector of the target instrument. According to the second axis (the second axis of the world coordinate system) and the first axis of the second reconstruction coordinate system, the third axis of the second reconstruction coordinate system can be determined, so that the second reconstruction coordinate system can be obtained. The method of determining the second reconstruction coordinate system in this way is fast and easy to implement; and both the first axis and the third axis of the second reconstruction coordinate system are related to the direction vector of the target instrument, that is, the second reconstruction coordinate system will change with the change of the direction vector of the target instrument. In this way, displaying the reconstructed sagittal image from the perspective of the target instrument can ensure that all target instruments included in the reconstructed sagittal image are displayed with the maximum cross-section, so as to be able to simulate the perspective change during the nail placement process in real time, and further enable the user to obtain the process of simulated nail placement, which is convenient for adjusting the nail placement process according to actual needs.

[0092] In an optional embodiment, the world coordinate system is as Figure 6 shown. The X-axis of the world coordinate system refers to the direction of the target object from left to right, the Y-axis of the world coordinate system refers to the direction of the target object from front to back, and the Z-axis of the world coordinate system refers to the direction of the target object from head to foot. The first reconstruction coordinate system and the second reconstruction coordinate system are as Figure 7 shown. Figure 7 In , the coordinate system composed of the X-axis, Y-axis, and Z-axis is the world coordinate system, the coordinate system composed of the X'-axis, Y'-axis, and Z'-axis is the first reconstruction coordinate system, and the coordinate system composed of the X"-axis, Y"-axis, and Z"-axis is the second reconstruction coordinate system. Figure 7 The thick black solid line in represents the target instrument.

[0093] In an embodiment, as Figure 8 shown, it relates to an implementation method of displaying a reconstructed transverse image of a target object in a first reconstruction coordinate system based on a navigation interface. The steps of this implementation method include:

[0094] Step 800: Determine a reconstructed transverse plane according to the first axis of the first reconstruction coordinate system and the third axis of the first reconstruction coordinate system.

[0095] After determining the first reconstruction coordinate system, the computer device determines the plane formed by the first axis of the first reconstruction coordinate system and the third axis of the first reconstruction coordinate system as the reconstructed transverse plane. As Figure 7 shown, the plane formed by the X'-axis and the Y'-axis is the reconstructed transverse plane.

[0096] Step 810: Project the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system, and obtain and display the reconstructed transverse image on the navigation interface.

[0097] After determining the reconstructed transverse plane, the computer device can first convert the image of the target object in the world coordinate system to the first reconstruction coordinate system, and then project the converted image of the target object onto the reconstructed transverse plane to obtain the reconstructed transverse image in the first reconstruction coordinate system, and display the reconstructed transverse image on the navigation interface. Among them, the image of the target object is a three-dimensional image of the target object.

[0098] In this embodiment, the reconstructed transverse plane is determined according to the first axis of the first reconstruction coordinate system and the third axis of the first reconstruction coordinate system, and the image of the target object is projected onto the reconstructed transverse plane in the first reconstruction coordinate system, and the reconstructed transverse image is obtained and displayed on the navigation interface. In this way, the method of determining the reconstructed transverse image is fast and easy to implement; and the displayed reconstructed transverse image is displayed from the perspective of the target instrument and will change with the change of the direction vector of the target instrument, which is convenient for the user to obtain the process of simulated nail placement.

[0099] When a computer device displays a reconstructed cross-sectional image, the camera of the computer device introduces the concept of an OpenGL (Open Graphics Library) camera during display. The parameters of this camera include upDir, rightDir, viewDir, eye, and Lookat. Among them, upDir, rightDir, and viewDir are three orthogonal vectors, and eye and Lookat are points in three-dimensional space. Eye refers to the position where the camera is located, and Lookat refers to the center position of the object being photographed by the camera. Assuming that Lookat is the center point of the world coordinate system, eye is at a relatively far place facing the image, and viewDir is the direction facing the image, that is, the direction from eye to Lookat. For example, for the cross-sectional plane formed by the X-axis and Y-axis of the world coordinate system, rightDir is the vector (1, 0, 0), viewDir is the vector (0, 0, 1), upDir is the vector (0, 1, 0), and Lookat is the vector (0, 0, 0). According to the distance between eye and Lookat, the coordinates of eye can be determined. For the sagittal plane formed by the Z-axis and Y-axis of the world coordinate system, upDir is the vector (0, 0, 1), rightDir is the vector (0, 1, 0), viewDir is the vector (1, 0, 0), and Lookat is the vector (0, 0, 0). According to the distance between eye and Lookat, the coordinates of eye can be determined.

[0100] In an alternative embodiment, when the computer device displays the reconstructed transverse image, it determines the parameters of the camera according to the first reconstruction coordinate system, that is, the display parameters of the camera corresponding to the reconstructed transverse plane. Among them, the vector of rightDir is the unit vector (1, 0, 0) corresponding to the first axis of the first reconstruction coordinate system, the vector of viewDir is the vector obtained by the cross product of the vector of rightDir and the direction vector, and the vector of upDir can be obtained by using the cross product of the vector of rightDir and the vector of viewDir. According to the center point of the world coordinate system, the real-time pose of the target instrument (the coordinates of the first end of the target instrument) and the vector of viewDir, the vector of Lookat can be obtained. That is, calculate the difference between the center point of the world coordinate system and the coordinates of the first end of the target instrument, dot the difference with the vector of viewDir to obtain an intermediate value; calculate the cross product of the vector of viewDir and the intermediate value to obtain the cross product vector; calculate the difference between the center point of the world coordinate system and the cross product vector to obtain the vector of Lookat. By determining the projection of the line connecting the center point of the world coordinate system and the real-time pose of the target instrument (the coordinates of the second end of the target instrument) in the direction of the vector of viewDir, a distance value is obtained; according to the distance value and the vector of viewDir, the vector of eye is calculated. After the computer device obtains the parameters of the camera, it adjusts the parameters of the camera so that the navigation display interface displays the reconstructed transverse image.

[0101] In one embodiment, as Figure 9 shown, it relates to an implementation method for displaying the reconstructed sagittal image of the target object in the second reconstruction coordinate system based on the navigation interface. The steps of this implementation method include:

[0102] Step 900: Determine the reconstructed sagittal plane according to the first axis of the second reconstruction coordinate system and the third axis of the second reconstruction coordinate system.

[0103] After the computer device determines the second reconstruction coordinate system, it determines the plane formed by the second axis of the second reconstruction coordinate system and the third axis of the second reconstruction coordinate system as the reconstructed sagittal plane. As Figure 7 shown, the plane formed by the Y” axis and Z” is the reconstructed sagittal plane.

[0104] Step 910: Project the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system, and obtain and display the reconstructed sagittal image on the navigation interface.

[0105] After determining the reconstructed sagittal plane, the computer device can first convert the image of the target object in the world coordinate system to the second reconstruction coordinate system, and then project the converted image of the target object onto the reconstructed sagittal plane to obtain the reconstructed sagittal image in the second reconstruction coordinate system, and display the reconstructed sagittal image on the navigation interface. The image of the target object refers to the three-dimensional image of the target object.

[0106] In this embodiment, the reconstructed sagittal plane is determined by the second axis and the third axis of the second reconstruction coordinate system, and the image of the target object is projected onto the reconstructed sagittal plane in the second reconstruction coordinate system to obtain and display the reconstructed sagittal image on the navigation interface. The method for determining the reconstructed sagittal image in this way is fast and easy to implement; and the displayed reconstructed sagittal image is displayed from the perspective of the target instrument and will change with the change of the direction vector of the target instrument, which is convenient for the user to obtain the process of simulated nail placement.

[0107] In an alternative embodiment, when the computer device displays the reconstructed sagittal image, it determines the parameters of the camera according to the second reconstruction coordinate system, that is, the display parameters of the camera corresponding to the reconstructed sagittal plane. Among them, the vector of upDir is the unit vector (0, 0, 1) corresponding to the second axis of the second reconstruction coordinate system, the vector of viewDir is the vector obtained by the cross product of the vector of upDir and the direction vector, and the vector of rightDir can be obtained by using the cross product of the vector of upDir and the vector of viewDir. According to the center point of the world coordinate system, the real-time pose of the target instrument (the coordinates of the first end of the target instrument), and the vector of viewDir, the vector of Lookat can be obtained. By determining the projection of the line connecting the center point of the world coordinate system and the real-time pose of the target instrument (the coordinates of the second end of the target instrument) in the direction of the vector of viewDir, the distance value is obtained; according to the distance value and the vector of viewDir, the vector of eye is calculated.

[0108] In one embodiment, as Figure 10 shown, it relates to an implementation method for obtaining the real-time pose of the target instrument in the world coordinate system and determining the direction vector of the target instrument in the world coordinate system. The steps of this implementation method include:

[0109] Step 101: Determine the coordinates of the first end and the second end of the target instrument according to the real-time pose.

[0110] The target device includes a first end and a second end. The end located in front of the target device in the moving direction of the target device is the front end, that is, the first end, and the end located behind the target device in the moving direction of the target device is the rear end, that is, the second end. After the computer device obtains the real-time pose of the target device, it determines the coordinates of the first end and the coordinates of the second end of the target device according to the real-time pose.

[0111] Step 102: Determine the direction vector according to the coordinates of the first end and the coordinates of the second end.

[0112] After the computer device determines the coordinates of the first end and the coordinates of the second end of the target device, it determines the direction vector according to the coordinates of the first end and the coordinates of the second end, that is, subtracts the coordinates of the first end from the coordinates of the second end to obtain the direction vector.

[0113] In this embodiment, by determining the coordinates of the first end and the coordinates of the second end of the target device, the direction vector of the target device can be determined. The method of determining the direction vector in this way is fast and easy to implement, and can improve the efficiency of the navigation display method.

[0114] In one embodiment, the navigation display method further includes:

[0115] In response to a touch operation instruction generated by the user on the navigation interface, switch or combine to display the cross-sectional image and sagittal image of the target object in the world coordinate system, and the reconstructed cross-sectional image and reconstructed sagittal image according to the operation instruction.

[0116] The navigation interface includes an image display control. After the user triggers (clicks) the image display control, a drop-down menu will be displayed, and the drop-down menu includes a switch control and a combine control.

[0117] If the current navigation interface displays the cross-sectional image and sagittal image of the target object in the world coordinate system, and the user triggers an operation instruction on the switch control in the drop-down menu, the computer device responds to the operation instruction and replaces the cross-sectional image and sagittal image of the target object displayed on the current navigation interface with the reconstructed cross-sectional image and reconstructed sagittal image according to the operation instruction. If the current navigation interface displays the reconstructed cross-sectional image and reconstructed sagittal image, and the user triggers an operation instruction on the switch control in the drop-down menu, the computer device responds to the operation instruction and replaces the reconstructed cross-sectional image and reconstructed sagittal image displayed on the current navigation interface with the cross-sectional image and sagittal image of the target object in the world coordinate system according to the operation instruction.

[0118] If the current navigation interface displays the cross-sectional image and sagittal image of the target object in the world coordinate system, and the user triggers a generation operation instruction for the combined control in the drop-down menu, the computer device responds to the operation instruction and displays the reconstructed cross-sectional image and reconstructed sagittal image on the navigation interface according to the operation instruction. That is to say, at this time, the navigation interface not only displays the cross-sectional image and sagittal image of the target object in the world coordinate system, but also displays the reconstructed cross-sectional image and reconstructed sagittal image. Similarly, if the current navigation interface displays the reconstructed cross-sectional image and reconstructed sagittal image, and the user triggers a generation operation instruction for the combined control in the drop-down menu, the computer device responds to the operation instruction and displays the cross-sectional image and sagittal image of the target object in the world coordinate system on the navigation interface according to the operation instruction.

[0119] In this embodiment, it is possible to select according to user needs to display the cross-sectional image of the target object in the world coordinate system and the reconstructed sagittal image on the navigation interface, or to display the reconstructed cross-sectional image and the reconstructed sagittal image on the navigation interface, or the cross-sectional image of the target object in the world coordinate system and the reconstructed sagittal image, and both the reconstructed cross-sectional image and the reconstructed sagittal image are displayed on the navigation interface. This makes the navigation display method more practical.

[0120] Please refer to Figure 11 , in the case where the target instrument is a positioning channel, the steps of the navigation display method include:

[0121] Step 110: Respond to the first operation instruction generated by the user's touch on the navigation interface, and receive the real-time pose of the positioning channel sent by the lower computer according to the first operation instruction;

[0122] Step 111: Determine the coordinates of the first end and the second end of the positioning channel according to the real-time pose of the positioning channel;

[0123] Step 112: Determine the direction vector of the positioning channel according to the coordinates of the first end and the second end of the positioning channel;

[0124] Step 1131: Use the X-axis of the world coordinate system as the X-axis of the first reconstruction coordinate system;

[0125] Step 1141: Determine the Z-axis of the first reconstruction coordinate system according to the X-axis of the world coordinate system and the direction vector of the positioning channel;

[0126] Step 1151: Determine the Y-axis of the first reconstruction coordinate system according to the X-axis of the first reconstruction coordinate system and the Z-axis of the second reconstruction coordinate system;

[0127] Step 1161: Determine the reconstructed cross-sectional plane according to the X-axis of the first reconstruction coordinate system and the Y-axis of the first reconstruction coordinate system;

[0128] Step 1171: Project the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system;

[0129] Step 1181: Determine the display parameters of the camera corresponding to the reconstructed transverse plane;

[0130] Step 1191: Reconstruct and display the reconstructed transverse image on the transverse plane according to the display parameters;

[0131] Step 1132: Use the Z-axis of the world coordinate system as the Z-axis of the second reconstruction coordinate system;

[0132] Step 1142: Determine the X-axis of the second reconstruction coordinate system according to the Z-axis of the world coordinate system and the direction vector of the positioning channel;

[0133] Step 1152: Determine the Y-axis of the second reconstruction coordinate system according to the X-axis and Z-axis of the second reconstruction coordinate system;

[0134] Step 1162: Determine the reconstructed sagittal plane according to the Z-axis and Y-axis of the second reconstruction coordinate system;

[0135] Step 1172: Project the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system;

[0136] Step 1182: Determine the display parameters of the camera corresponding to the reconstructed sagittal plane;

[0137] Step 1192: Reconstruct and display the reconstructed sagittal image on the sagittal plane according to the display parameters;

[0138] Please refer to Figure 12 , in the case where the target instrument is a navigation probe, the steps of the navigation display method include:

[0139] Step 120: In response to the second operation instruction generated by the user's touch on the navigation interface, receive the real-time pose of the navigation probe sent by the lower computer according to the second operation instruction;

[0140] Step 121: Determine the coordinates of the first end and the second end of the navigation probe according to the real-time pose of the navigation probe;

[0141] Step 122: Determine the direction vector of the navigation probe according to the coordinates of the first end and the second end of the navigation probe;

[0142] Step 1231: Use the X-axis of the world coordinate system as the X-axis of the first reconstruction coordinate system;

[0143] Step 1241: Determine the Z-axis of the first reconstruction coordinate system according to the X-axis of the world coordinate system and the direction vector of the navigation probe.

[0144] Step 1251: Determine the Y-axis of the first reconstruction coordinate system according to the X-axis of the first reconstruction coordinate system and the Z-axis of the first reconstruction coordinate system.

[0145] Step 1261: Determine the reconstructed transverse plane according to the X-axis of the first reconstruction coordinate system and the Y-axis of the second reconstruction coordinate system.

[0146] Step 1271: Project the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system.

[0147] Step 1281: Determine the display parameters of the camera corresponding to the reconstructed transverse plane.

[0148] Step 1291: Display the reconstructed transverse image on the reconstructed transverse plane according to the display parameters.

[0149] Step 1232: Use the Z-axis of the world coordinate system as the Z-axis of the second reconstruction coordinate system.

[0150] Step 1242: Determine the X-axis of the second reconstruction coordinate system according to the Z-axis of the world coordinate system and the direction vector of the navigation probe.

[0151] Step 1252: Determine the Y-axis of the second reconstruction coordinate system according to the Z-axis of the second reconstruction coordinate system and the X-axis of the second reconstruction coordinate system.

[0152] Step 1262: Determine the reconstructed sagittal plane according to the Z-axis of the second reconstruction coordinate system and the Y-axis of the second reconstruction coordinate system.

[0153] Step 1272: Project the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system.

[0154] Step 1282: Determine the display parameters of the camera corresponding to the reconstructed sagittal plane.

[0155] Step 1292: Display the reconstructed sagittal image on the reconstructed sagittal plane according to the display parameters.

[0156] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order limit for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of the steps or stages in other steps or other steps.

[0157] Based on the same inventive concept, an embodiment of the present application further provides a navigation display device for implementing the above-mentioned navigation display method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the navigation display device provided below can refer to the limitations on the navigation display method in the above text, and will not be repeated here.

[0158] In one embodiment, as Figure 13 shown, a navigation display device 10 is provided, including: a determination module 11, a construction module 12, and a display module 13, where:

[0159] The determination module 11 is configured to obtain the real-time pose of the target instrument in the world coordinate system and determine the direction vector of the target instrument in the world coordinate system.

[0160] The construction module 12 is configured to establish a first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector, and establish a second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector.

[0161] The display module 13 is configured to display the reconstructed transverse image of the target object in the first reconstruction coordinate system and display the reconstructed sagittal image of the target object in the second reconstruction coordinate system on the navigation interface; the target object includes the target instrument.

[0162] In one embodiment, the construction module 12 includes a first determination unit. The first determination unit is configured to use the first axis of the world coordinate system as the first axis of the first reconstruction coordinate system; determine the second axis of the first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector; and determine the third axis of the first reconstruction coordinate system according to the first axis of the first reconstruction coordinate system and the second axis of the first reconstruction coordinate system.

[0163] In one embodiment, the establishment module 12 further includes a second determination unit. The second determination unit is configured to use the second axis of the world coordinate system as the second axis of the second reconstruction coordinate system; determine the first axis of the second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector; and determine the third axis in the second reconstruction coordinate system according to the second axis and the first axis of the second reconstruction coordinate system.

[0164] In one embodiment, the display module 13 includes a first display unit. The first display unit is configured to determine a reconstructed transverse plane according to the first axis and the third axis of the first reconstruction coordinate system; project the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system, and obtain and display the reconstructed transverse image on the navigation interface.

[0165] In one embodiment, the display module 13 further includes a second display unit. The second display unit is configured to determine a reconstructed sagittal plane according to the second axis and the third axis of the second reconstruction coordinate system; project the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system, and obtain and display the reconstructed sagittal image on the navigation interface.

[0166] In one embodiment, the determination module 11 is specifically configured to determine the coordinates of the first end and the coordinates of the second end of the target instrument according to the real-time pose; and determine the direction vector according to the coordinates of the first end and the coordinates of the second end.

[0167] In one embodiment, the target instrument includes a positioning channel or a navigation probe.

[0168] In one embodiment, the navigation display device 10 further includes a response module. The response module is configured to generate an operation instruction in response to a user's trigger on the navigation interface, and switch to display or combine and display the transverse image and the sagittal image of the target object in the world coordinate system, as well as the reconstructed transverse image and the reconstructed sagittal image according to the operation instruction.

[0169] Each module in the above navigation display device can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor of the computer device in the form of hardware or be independent of it, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0170] In one embodiment, a surgical robot system is provided. The system includes an execution device and the navigation display device provided in the above embodiment. The navigation display device is used to implement navigation display, and the execution device is used to cooperate with the target instrument to implement a predetermined execution operation.

[0171] The navigation display device described in the above embodiments can display reconstructed transverse images and reconstructed sagittal images. The execution device can, in response to a user's operation, cooperate with the target instrument to perform a predetermined execution operation, and control the target instrument to move along a predetermined path; or it can control the target instrument to perform a predetermined execution operation according to a pre-planned path.

[0172] The surgical robot system provided in this embodiment includes a navigation display device and also has the beneficial effects of the navigation display device, which will not be elaborated here.

[0173] In one embodiment, a computer device is provided, and its internal structure diagram can be as Figure 1 shown.

[0174] Those skilled in the art can understand that Figure 1 the structure shown in

[0175] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0176] Obtain the real-time pose of the target instrument in the world coordinate system, and determine the direction vector of the target instrument in the world coordinate system;

[0177] Establish a first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector, and establish a second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector;

[0178] Based on the navigation interface, display the reconstructed transverse image of the target object in the first reconstruction coordinate system, and display the reconstructed sagittal image of the target object in the second reconstruction coordinate system; the target object includes the target instrument.

[0179] In one embodiment, when the processor executes the computer program, the following steps are further implemented: Use the first axis of the world coordinate system as the first axis of the first reconstruction coordinate system; according to the first axis of the world coordinate system and the direction vector, determine the second axis of the first reconstruction coordinate system; according to the first axis of the first reconstruction coordinate system and the second axis of the first reconstruction coordinate system, determine the third axis of the first reconstruction coordinate system.

[0180] In one embodiment, when the processor executes the computer program, the following steps are further implemented: using the second axis of the world coordinate system as the second axis of the second reconstruction coordinate system; determining the first axis of the second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector; determining the third axis in the second reconstruction coordinate system according to the second axis and the first axis of the second reconstruction coordinate system.

[0181] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining a reconstructed transverse plane according to the first axis and the third axis of the first reconstruction coordinate system; projecting the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system, and obtaining and displaying the reconstructed transverse image on the navigation interface.

[0182] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining a reconstructed sagittal plane according to the second axis and the third axis of the second reconstruction coordinate system; projecting the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system, and obtaining and displaying the reconstructed sagittal image on the navigation interface.

[0183] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the coordinates of the first end and the second end of the target instrument according to the real-time pose; determining the direction vector according to the coordinates of the first end and the second end.

[0184] In one embodiment, the target instrument includes a positioning channel or a navigation probe.

[0185] In one embodiment, when the processor executes the computer program, the following steps are further implemented: in response to a trigger generation operation instruction of the user on the navigation interface, switching to display or combining to display the transverse image and the sagittal image of the target object in the world coordinate system, as well as the reconstructed transverse image and the reconstructed sagittal image.

[0186] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0187] Obtaining the real-time pose of the target instrument in the world coordinate system, and determining the direction vector of the target instrument in the world coordinate system;

[0188] Establishing a first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector, and establishing a second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector;

[0189] Displaying the reconstructed transverse image of the target object in the first reconstruction coordinate system on the navigation interface, and displaying the reconstructed sagittal image of the target object in the second reconstruction coordinate system; the target object includes the target instrument.

[0190] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: taking the first axis of the world coordinate system as the first axis of the first reconstruction coordinate system; determining the second axis of the first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector; determining the third axis of the first reconstruction coordinate system according to the first axis of the first reconstruction coordinate system and the second axis of the first reconstruction coordinate system.

[0191] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: taking the second axis of the world coordinate system as the second axis of the second reconstruction coordinate system; determining the first axis of the second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector; determining the third axis of the second reconstruction coordinate system according to the second axis of the second reconstruction coordinate system and the first axis of the second reconstruction coordinate system.

[0192] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining a reconstructed transverse plane according to the first axis of the first reconstruction coordinate system and the third axis of the first reconstruction coordinate system; projecting the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system, and obtaining and displaying the reconstructed transverse image on the navigation interface.

[0193] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining a reconstructed sagittal plane according to the second axis of the second reconstruction coordinate system and the third axis of the second reconstruction coordinate system; projecting the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system, and obtaining and displaying the reconstructed sagittal image on the navigation interface.

[0194] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining the coordinates of the first end and the coordinates of the second end of the target instrument according to the real-time pose; determining the direction vector according to the coordinates of the first end and the coordinates of the second end.

[0195] In one embodiment, the target instrument includes a positioning channel or a navigation probe.

[0196] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: in response to a trigger generation operation instruction of the user on the navigation interface, switching to display or combining and displaying the transverse image and the sagittal image of the target object in the world coordinate system, as well as the reconstructed transverse image and the reconstructed sagittal image.

[0197] In one embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0198] Obtaining the real-time pose of the target instrument in the world coordinate system, and determining the direction vector of the target instrument in the world coordinate system;

[0199] Establish a first reconstruction coordinate system based on the first axis and direction vector of the world coordinate system, and establish a second reconstruction coordinate system based on the second axis and direction vector of the world coordinate system;

[0200] Based on the navigation interface, display the reconstructed transverse image of the target object in the first reconstruction coordinate system, and display the reconstructed sagittal image of the target object in the second reconstruction coordinate system; the target object includes a target instrument. In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: Use the first axis of the world coordinate system as the first axis of the first reconstruction coordinate system; Determine the second axis of the first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector; Determine the third axis of the first reconstruction coordinate system according to the first axis of the first reconstruction coordinate system and the second axis of the first reconstruction coordinate system.

[0201] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: Use the second axis of the world coordinate system as the second axis of the second reconstruction coordinate system; Determine the first axis of the second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector; Determine the third axis of the second reconstruction coordinate system according to the second axis of the second reconstruction coordinate system and the first axis of the second reconstruction coordinate system.

[0202] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: Determine the reconstructed transverse plane according to the first axis of the first reconstruction coordinate system and the third axis of the first reconstruction coordinate system; Project the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system, and obtain and display the reconstructed transverse image on the navigation interface.

[0203] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: Determine the reconstructed sagittal plane according to the second axis of the second reconstruction coordinate system and the third axis of the second reconstruction coordinate system; Project the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system, and obtain and display the reconstructed sagittal image on the navigation interface.

[0204] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: Determine the coordinates of the first end and the second end of the target instrument according to the real-time pose; Determine the direction vector according to the coordinates of the first end and the second end.

[0205] In one embodiment, the target instrument includes a positioning channel or a navigation probe.

[0206] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: Respond to the user's trigger generation operation instruction on the navigation interface, and switch or combine to display the transverse image and sagittal image of the target object in the world coordinate system, as well as the reconstructed transverse image and reconstructed sagittal image according to the operation instruction.

[0207] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., and are not limited thereto.

[0208] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered as the scope recorded in this specification.

[0209] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A navigation display method, characterized in that, The method includes: Obtaining the real-time pose of the target instrument in the world coordinate system and determining the direction vector of the target instrument in the world coordinate system; Establishing a first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector, and establishing a second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector; Based on the navigation interface, displaying the reconstructed transverse image of the target object in the first reconstruction coordinate system and displaying the reconstructed sagittal image of the target object in the second reconstruction coordinate system; the target object includes the target instrument.

2. The method according to claim 1, characterized in that, The establishing of the first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector includes: Taking the first axis of the world coordinate system as the first axis of the first reconstruction coordinate system; Determining the second axis of the first reconstruction coordinate system according to the first axis of the world coordinate system and the direction vector; Determining the third axis of the first reconstruction coordinate system according to the first axis and the second axis of the first reconstruction coordinate system.

3. The method according to claim 1, characterized in that, The establishing of the second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector includes: Taking the second axis of the world coordinate system as the second axis of the second reconstruction coordinate system; Determining the first axis of the second reconstruction coordinate system according to the second axis of the world coordinate system and the direction vector; Determining the third axis of the second reconstruction coordinate system according to the second axis and the first axis of the second reconstruction coordinate system.

4. The method according to any one of claims 1 - 3, characterized in that, Based on the navigation interface, displaying the reconstructed transverse image of the target object in the first reconstruction coordinate system includes: Determining the reconstructed transverse plane according to the first axis and the third axis of the first reconstruction coordinate system; Projecting the image of the target object onto the reconstructed transverse plane in the first reconstruction coordinate system, obtaining and displaying the reconstructed transverse image on the navigation interface.

5. The method according to any one of claims 1 - 3, characterized in that, Based on the navigation interface, displaying the reconstructed sagittal image of the target object in the second reconstruction coordinate system includes: Determining the reconstructed sagittal plane according to the second axis and the third axis of the second reconstruction coordinate system; Projecting the image of the target object onto the reconstructed sagittal plane in the second reconstruction coordinate system, obtaining and displaying the reconstructed sagittal image on the navigation interface.

6. The method according to any one of claims 1 - 3, characterized in that, The obtaining of the real-time pose of the target instrument in the world coordinate system and the determining of the direction vector of the target instrument in the world coordinate system include: Determining the coordinates of the first end and the coordinates of the second end of the target instrument according to the real-time pose; Determining the direction vector according to the coordinates of the first end and the coordinates of the second end.

7. The method according to any one of claims 1 - 3, characterized in that, The target instrument includes a positioning channel or a navigation probe.

8. The method according to any one of claims 1 - 3, characterized in that, The method further includes: Responding to a trigger generation operation instruction of the user on the navigation interface, and switching to display or combining to display the transverse image and the sagittal image of the target object in the world coordinate system, and the reconstructed transverse image and the reconstructed sagittal image according to the operation instruction.

9. A navigation display device, characterized in that, The device includes: A determination module, configured to obtain the real-time pose of a target instrument in a world coordinate system, and determine a direction vector of the target instrument in the world coordinate system; A construction module, configured to construct a first reconstruction coordinate system according to a first axis of the world coordinate system and the direction vector, and construct a second reconstruction coordinate system according to a second axis of the world coordinate system and the direction vector; A display module, configured to display a reconstructed transverse image of a target object in the first reconstruction coordinate system and display a reconstructed sagittal image of the target object in the second reconstruction coordinate system on a navigation interface; the target object includes the target instrument.

10. A computer device, including a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A surgical robot system, comprising an execution device and the navigation display device according to claim 9, characterized in that The navigation display device is configured to implement navigation display, and the execution device is configured to cooperate with the target instrument to implement a predetermined execution operation.

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