Precision measurement method, device and equipment for knee joint replacement surgical navigation system

Abstract

The invention discloses a precision measurement method, device and equipment for a knee joint replacement surgical navigation system, and the method comprises the steps: photographing a first test piece in the knee joint replacement surgical navigation system to obtain a first image; selecting first coordinates of the three first laser reflectors to determine a first plane; photographing the second test piece to obtain a second image; determining a second plane based on the second coordinates of the three second laser reflectors; when it is determined that the first plane and the second plane are coplanar, the laser tracker is controlled to emit laser to the first laser reflecting part and the second laser reflecting part; a first standard plane and a second standard plane are conveniently determined based on the first standard coordinates of the three first laser reflecting parts and the second standard coordinates of the three second laser reflecting parts in the space coordinate system; and determining the precision of the knee replacement surgical navigation system based on the error between the first standard plane and the second standard plane. According to the invention, the precision of the knee replacement surgical navigation system can be accurately determined.

Description

Technical Field

[0001] The present invention relates to the field of surgical techniques, and particularly to a method, device and equipment for measuring the accuracy of a knee joint replacement surgery navigation system. Background Technique

[0002] In the field of surgical techniques, especially in the field of knee joint replacement surgery, in order to improve the surgical accuracy, a knee joint replacement surgery navigation system is generally required. The knee joint replacement surgery navigation system provides functions such as optical positioning, preoperative planning and intraoperative real-time guidance. During knee joint replacement surgery, the doctor adjusts and fixes the guide plate device according to the prompts of the knee joint replacement surgery navigation system and then performs bone cutting.

[0003] The knee joint replacement surgery navigation system includes two main types: one is an automated navigation system integrated with a robotic arm, and the other is a pure navigation system without a robotic arm. Among them, the pure navigation system has important application value in medium and small hospitals and clinical scenarios that emphasize the doctor's operation autonomy due to its advantages of reducing costs while retaining the doctor's dominance and surgical flexibility.

[0004] However, currently, there is no dedicated system accuracy measurement method for a type of knee joint replacement surgery navigation system without a robotic arm, resulting in difficulty for users to make a horizontal comparison of the system accuracy of knee joint replacement surgery navigation systems from different manufacturers. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present application provides a method, device and equipment for measuring the accuracy of a knee joint replacement surgery navigation system. By controlling a laser tracker to emit laser light to a laser reflector, a first standard plane and a second standard plane are determined, and the accuracy of the knee joint replacement surgery navigation system is determined based on the error between the first standard plane and the second standard plane, which can accurately determine the accuracy of the knee joint replacement surgery navigation system, provide a reference for users, and facilitate users to make a horizontal comparison of the system accuracy of knee joint replacement surgery navigation systems from different manufacturers.

[0006] To solve the above problems, the present invention provides the following technical solutions: In a first aspect, an embodiment of the present application provides a knee joint replacement surgery navigation method, including: in a knee joint replacement surgery navigation system, when a first laser reflector is placed on at least three first recesses of a first test piece of an accuracy measurement device, taking a first image of the first test piece, where the first test piece includes a first optical array; Identifying a feature area of the first optical array in the first image, and determining a first coordinate of each first laser reflector in a space coordinate system based on the feature area of the first optical array; Selecting three of the first coordinates to determine a first plane; When second laser reflectors are placed in three second recesses of the second test piece of the precision measurement device, a second image is obtained by photographing the second test piece, and the second test piece includes a second optical array; Identify the characteristic regions of the second optical array in the second image, and determine the second coordinates of each of the second laser reflectors in the spatial coordinate system based on the characteristic regions of the second optical array; Determine a second plane based on the three second coordinates; When it is determined in the knee joint replacement surgery navigation system that the first plane and the second plane are coplanar, control the laser tracker to emit laser light to each of the first laser reflectors for determining the first plane, and obtain the first standard coordinates of the three first laser reflectors in the spatial coordinate system; Control the laser tracker to emit laser light to each of the second laser reflectors, and obtain the second standard coordinates of the three second laser reflectors in the spatial coordinate system; Determine a first standard plane based on the three first standard coordinates, and determine a second standard plane based on the three second standard coordinates; Determine the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane.

[0007] In some embodiments, the first test piece includes a plurality of first groove points for placing optical probes, and the second test piece includes a plurality of second groove points for placing optical probes. In the knee joint replacement surgery navigation system, before photographing the first test piece to obtain a first image when at least three first recesses of the first test piece of the precision measurement device are provided with first laser reflectors, the method further includes: In the knee joint replacement surgery navigation system, whenever the tip point of the optical probe is placed at the first groove point of the first test piece, photograph the first test piece to obtain a third image, thereby obtaining a plurality of the third images; Calibrate the first test piece based on all the third images; Whenever the tip point of the optical probe is placed at the second groove point of the second test piece, photograph the second test piece to obtain a fourth image, thereby obtaining a plurality of the fourth images; Calibrate the second test piece based on all the fourth images.

[0008] In some embodiments, determining the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane includes: Calculate the distance between each of the first standard coordinates and the second standard plane; Calculate the angle between the first standard plane and the second standard plane; Determine the accuracy of the knee joint replacement surgery navigation system based on the distance and the angle;

[0009] In some embodiments, the selecting three of the first coordinates to determine the first plane includes: Dividing all the first coordinates into a first selection group and a second selection group according to a preset rule, where the first selection group includes at least two of the first coordinates and the second selection group includes at least one of the first coordinates; Select two of the first coordinates from the first selection group and one of the first coordinates from the second selection group to obtain three selected first coordinates; Determine the first plane based on the three selected first coordinates.

[0010] In some embodiments, the determining the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane includes: Determine the accuracy of the knee joint replacement surgery navigation system based on multiple errors between the first standard plane and the second standard plane determined multiple times.

[0011] In some embodiments, when the first plane is determined multiple times to determine the first standard plane and the second standard plane multiple times, the first planes determined multiple times are not coplanar.

[0012] In some embodiments, when the first plane is determined multiple times to determine the first standard plane and the second standard plane multiple times, the first coordinates of the first laser reflectors placed on the first recesses of the support members of each first test piece are selected at least once.

[0013] In some embodiments, the method further includes: When at least three first recesses of the first test piece of the accuracy measuring device are provided with first laser reflectors, control the CT device to take a photo of the first test piece to obtain a CT image of the first test piece; Input the CT image into the knee joint replacement surgery navigation system; In the knee joint replacement surgery navigation system, determine the coordinates of all the first laser reflectors in the space coordinate system based on the CT image; Display the CT image and mark the coordinates of the first laser reflectors in the space coordinate system in the CT image.

[0014] Second aspect, an embodiment of the present application provides an accuracy measurement device for a knee joint replacement surgery navigation system, where the accuracy measurement device for the knee joint replacement surgery navigation system includes a first test piece and a second test piece; The first test piece includes a first main body, at least four support members disposed on the first main body, a plurality of first groove points for placing optical probes, and a first optical array. A first recess for placing a first laser reflector is included at a first end of the support member away from the first main body, and distances from the first ends of at least three of the support members to the surface of the first main body are different from each other; The second test piece includes a second main body and a second optical array disposed on the second main body. The second main body includes a plurality of second groove points for placing optical probes and at least three second recesses for placing second laser reflectors; When a plurality of the second laser reflectors are respectively placed in the second recesses, the plurality of second recesses can make the centers of all the second laser reflectors lie on a preset plane, and the preset plane is parallel to the surface of the second main body close to the second laser reflectors.

[0015] Third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor can execute the knee joint replacement surgery navigation method as described in the first aspect.

[0016] The present application provides an accuracy measurement method, device, and equipment for a knee joint replacement surgery navigation system. By controlling a laser tracker to emit laser light to a laser reflector, the present application determines a first standard plane and a second standard plane, and determines the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane, which can accurately determine the accuracy of the knee joint replacement surgery navigation system, provide a reference for users, and facilitate users to make a horizontal comparison of the system accuracy of knee joint replacement surgery navigation systems from different manufacturers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional schematic diagram of the first test piece with a first laser emitter placed thereon provided by an embodiment of the present application.

[0018] Figure 2 is a front view schematic diagram of the first test piece provided by an embodiment of the present application.

[0019] Figure 3It is a three-dimensional schematic diagram of the second test piece of the precision measurement device provided by the embodiment of the present application.

[0020] Figure 4 It is a three-dimensional schematic diagram of the second main body of the second test piece provided by the embodiment of the present application.

[0021] Figure 5 It is a top view schematic diagram of the second main body of the second test piece provided by the embodiment of the present application.

[0022] Figure 6 It is a front view schematic diagram of the second main body of the second test piece provided by the embodiment of the present application.

[0023] Figure 7 It is a three-dimensional schematic diagram when the second test piece is connected to the mobile device provided by the embodiment of the present application.

[0024] Figure 8 It is a flowchart schematic diagram of the knee joint replacement surgery navigation method provided by the embodiment of the present application.

[0025] Figure 9 It is a schematic diagram of the first plane provided by the embodiment of the present application.

[0026] Figure 10 It is a schematic diagram of the second plane provided by the embodiment of the present application.

[0027] Figure 11 It is a schematic diagram of the structure of an electronic device provided by the embodiment of the present application.

[0028] Figure 12 It is a structural block diagram of a computer-readable storage medium provided by the embodiment of the present application. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0030] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0031] The present application provides a method, apparatus and device for measuring the accuracy of a knee joint replacement surgery navigation system. By controlling a laser tracker to emit laser light towards a laser reflector, a first standard plane and a second standard plane are determined, and the accuracy of the knee joint replacement surgery navigation system is determined based on the error between the first standard plane and the second standard plane, which can accurately determine the accuracy of the knee replacement surgery navigation system, provide a reference for users, and facilitate the users to make a horizontal comparison of the system accuracy of knee joint replacement surgery navigation systems from different manufacturers.

[0032] The accuracy measurement device and accuracy measurement method of the knee joint replacement surgery navigation system provided by the present application will be specifically described below with reference to the accompanying drawings.

[0033] The present application provides an accuracy measurement device for a knee joint replacement surgery navigation system. The accuracy measurement device for the knee joint replacement surgery navigation system includes a first test piece and a second test piece.

[0034] Please refer to Figure 1 , Figure 1 is a three-dimensional schematic diagram of the first test piece provided by an embodiment of the present application with a first laser emitter placed thereon. As Figure 1 shown, in some embodiments, the first test piece 10 includes a first main body 11, at least four support members 12 provided on the first main body 11, a plurality of first groove points 111 for placing optical probes, and a first optical array 13.

[0035] Optionally, the number of support members can be 4, 5, 6, 8, 10, etc. As Figure 1 shown, the number of support members can be 6. The at least four support members 12 include support member A, support member B, support member C, support member D, support member E, and support member F.

[0036] Optionally, the number of the first groove points 111 can be 4, 5, 6, 8, 10, etc. As Figure 1 shown, the number of the first groove points 111 can be 6.

[0037] Please refer to Figure 2 , Figure 2 is a front view schematic diagram of the first test piece provided by an embodiment of the present application. As Figure 2 shown, in some embodiments, the first end of the support member 12 away from the first main body 11 includes a first recess 121 for placing the Figure 1 first laser reflector O1 in. The distances from the first ends of at least three support members 12 to the surface of the first main body 11 are different from each other.

[0038] As Figure 2As shown, optionally, the distances between the first ends of the plurality of support members 12 and the surface of the first body 11 are different from each other. In this way, in the precision measurement method, the first planes determined based on the first coordinates of the first laser reflector combinations placed on the first recesses of every three support members are different, facilitating multiple precision measurements.

[0039] As Figure 1 shown, optionally, the first body 11 is a cuboid.

[0040] Exemplarily, the length L of the first body 11 is 250 millimeters (mm), the width W is 150 mm, and the height H is 80 mm.

[0041] Optionally, the support member is a cylinder.

[0042] Optionally, the cylinder can be divided into a straight cylinder and an inclined cylinder. The cylinder can include a prism, a cylinder, etc.

[0043] In some embodiments, the plurality of support members are parallel to each other.

[0044] In some embodiments, the support member is disposed on the first surface of the first body, and the support member is perpendicular to the first surface. At this time, the support member can be a straight cylinder.

[0045] Optionally, the first laser reflector can be a sphere. For example, the first laser reflector can be a laser target ball. The first laser reflector can also be other objects that can reflect laser, and the shape of the laser reflector is not limited herein.

[0046] Preferably, the support member can be a straight cylinder. In this way, it is possible to facilitate the machining of the support member.

[0047] In some embodiments, the first recess is a spherical groove. When the first laser reflector is a laser target ball, the spherical groove can limit the movement of the first laser reflector, so that the first laser reflector can be stably placed in the first recess.

[0048] In some embodiments, when the material of the first laser reflector is a magnetic metal, the first end of the support member can have magnetism. Magnetic metal is a metal that can be attracted by a magnet. In this way, it is possible to further stably place the laser reflector at the first end of the support member.

[0049] In some embodiments, the second end of the support member connected to the first body includes a first connecting portion. The support member is detachably connected to the first body through the first connecting portion.

[0050] Optionally, the ways for the support member to be detachably connected to the first body include snap fit, thread, magnetic attraction, etc., which are not limited herein.

[0051] Exemplarily, when the support member is threadedly connected to the first body, the first connecting portion may include an external thread, and the first body may include an internal threaded hole that matches the first connecting portion.

[0052] As Figure 1 shown, in some embodiments, the first optical array 13 is disposed on the second surface of the first body 11, and the second surface is different from the first surface on which the support member 12 is disposed. In this way, when a laser tracker emits a laser towards the laser reflector, the laser can be prevented from hitting the first optical array, thereby avoiding measurement errors.

[0053] Optionally, the second surface and the first surface are adjacent surfaces.

[0054] Optionally, the first optical array 13 is detachably connected to the first body 11.

[0055] Please refer to Figure 3 , Figure 3 which is a perspective view of the second test piece of the precision measurement device provided by the embodiment of the present application. As Figure 1 and Figure 3 shown, the precision measurement device 1 includes a first test piece 10 and a second test piece 20. As Figure 3 shown, in some embodiments, the second test piece 20 includes a second body 21 and a second optical array 22 disposed on the second body 21.

[0056] Please refer to Figures 3 to 6 , Figure 4 which is a perspective view of the second body of the second test piece provided by the embodiment of the present application. Figure 5 which is a top view of the second body of the second test piece provided by the embodiment of the present application. Figure 6 which is a front view of the second body of the second test piece provided by the embodiment of the present application. As Figures 3 to 6 shown, in some embodiments, the second body 21 includes a plurality of second groove points 211 for placing optical probes and at least three second recessed portions 212 for placing second laser reflectors.

[0057] In some embodiments, the second body 21 includes a second connecting portion 213, and the second body 21 is detachably connected to the second optical array 22 through the second connecting portion 213.

[0058] Optionally, the second laser reflector may be a sphere, for example, the second laser reflector may be a laser target ball. The second laser reflector may also be other objects that can reflect laser light, and the shape of the laser reflector is not limited herein.

[0059] Optionally, the number of the second recessed portions may be 3, 4, 5, etc. The number of the second groove points may be 3, 4, 5, etc.

[0060] In some embodiments, the second recess 212 is a spherical groove. When the laser reflector is a laser target ball, the spherical groove can restrict the movement of the second laser reflector, so that the second laser reflector can be stably placed in the second recess.

[0061] Optionally, when multiple second laser reflectors are placed in the second recess one by one, the multiple second recesses can make the centers of all the second laser reflectors lie on a preset plane, and the preset plane is parallel to the surface of the second body close to the second laser reflector.

[0062] Furthermore, the second test piece can be an osteotomy guide plate used in knee joint replacement surgery. At this time, the second body further includes a guiding groove. The preset plane can be parallel to the movement plane formed by the movement of the osteotomy knife inserted into the guiding groove, and this movement plane can also be referred to as the osteotomy plane. In this way, when multiple second laser reflectors are placed in the second recess one by one, the position of the osteotomy plane can be determined by determining the centers of the second laser reflectors, so as to facilitate subsequent accuracy measurement of the knee joint replacement surgery navigation system. At the same time, the second test piece is also an osteotomy guide plate and can be directly applied to knee joint replacement surgery.

[0063] As Figure 3 、 Figure 4 and Figure 6 shown, the second body 21 further includes a third connecting portion 214. Please refer to Figure 7 again, Figure 7 is a three-dimensional schematic diagram of the second test piece connected to the moving device provided by an embodiment of the present application. As Figure 7 shown, the second body 21 can be connected to the moving device 23 through the third connecting portion 214. The second test piece 20 can be moved by the moving device 23 so that the second test piece 20 is in a target pose.

[0064] Optionally, the moving device can be a robotic arm. The moving device can be manually controlled to move or can be controlled by a motor to move. The present application does not limit the moving manner of the moving device. Thus, the accuracy measurement device of the present application can be applied to an automated navigation system integrated with a robotic arm and a pure navigation system without a robotic arm.

[0065] Optionally, the robotic arm can be a universal arm.

[0066] In the accuracy measurement method using the accuracy measurement device as described above, the first test piece can be used to represent the patient's bone, and the second test piece can be used to represent the osteotomy guide plate used in the osteotomy process.

[0067] Please refer to Figure 8 again, Figure 8It is a schematic flowchart of the knee joint replacement surgery navigation method provided by an embodiment of the present application. As Figure 8 shown, the knee joint replacement surgery navigation method includes: step S101 to step S110.

[0068] Step S101: In the knee joint replacement surgery navigation system, when at least three first recesses of the first test piece of the precision measurement device are placed with first laser reflectors, take a photo of the first test piece to obtain a first image.

[0069] Among them, the first test piece includes a first optical array. The first optical array includes a plurality of light reflectors. In the knee joint replacement surgery navigation system, control the optical camera to take a photo of the first test piece, and the plurality of light reflectors of the first optical array will reflect light, so that the first image will include a characteristic area representing the first optical array.

[0070] Step S102: Identify the characteristic area of the first optical array in the first image, and determine the first coordinates of each first laser reflector in the space coordinate system based on the characteristic area of the first optical array.

[0071] In the knee joint replacement surgery navigation system, the conversion relationship between the coordinate system of the first optical array and the coordinate system of the first test piece is pre-stored. After identifying the characteristic area of the first optical array in the first image, the coordinates of the first optical array in the space coordinate system can be calculated according to the characteristic area of the first optical array in the first image and the image coordinate system. Furthermore, according to the coordinates of the first optical array in the space coordinate system and the conversion relationship between the coordinate system of the first optical array and the coordinate system of the first test piece, the coordinates of each support on the first test piece in the space coordinate system can be calculated, and the first coordinates of each first laser reflector placed on the support in the space coordinate system can be calculated according to the coordinates of each support in the space coordinate system.

[0072] Optionally, it can be determined which supports are placed with first laser reflectors according to the first image or user instructions.

[0073] Step S103: Select three first coordinates to determine a first plane.

[0074] In some embodiments, step S103 includes step S1031 to step S1033.

[0075] Step S1031: Divide all the first coordinates into a first selection group and a second selection group according to a preset rule.

[0076] Among them, the first selection group includes at least two first coordinates, and the second selection group includes at least one first coordinate.

[0077] In some embodiments, a plurality of support members are divided into a first support member group and a second support member group. According to the support member group to which the support member for placing the first laser reflector belongs, the selection group to which the first coordinate of the first laser reflector belongs can be determined. Among them, one support member group corresponds to one selection group of the first coordinates. For example, if the support member belongs to the first support member group, the first coordinates of the first laser reflector placed on the support member belong to the first selection group.

[0078] Optionally, the first support member group includes at least two support members, and the second support member group includes at least two support members.

[0079] Exemplarily, the first support member group may include support member A, support member B, and support member C, and the second support member group may include support member D, support member E, and support member F. The first coordinates of the first laser reflectors placed on support member A, support member B, and support member C all belong to the first selection group, and the first coordinates of the first laser reflectors placed on support member D, support member E, and support member F belong to the second selection group.

[0080] Step S1032: Select two first coordinates from the first selection group and one first coordinate from the second selection group to obtain three selected first coordinates.

[0081] Optionally, two first coordinates are selected from the first selection group according to a user instruction or randomly, and one first coordinate is selected from the second selection group to obtain three selected first coordinates.

[0082] Step S1033: Determine a first plane based on the three selected first coordinates.

[0083] Please refer to Figure 9 , Figure 9 which is a schematic diagram of the first plane provided by the embodiments of the present application. As Figure 9 shown, exemplarily, the first coordinates of the first laser reflector O1 placed on support member A and support member B of the first test piece 10 can be selected, and the first coordinate of the first laser reflector O1 placed on support member F can be selected to obtain three selected first coordinates, and then the first plane P1 is determined.

[0084] In some embodiments, when the first plane is determined multiple times to determine the first standard plane and the second standard plane multiple times, the first planes determined multiple times are not coplanar. In this way, compared with the method in which the first planes are coplanar in multiple measurements, the measurement error can be reduced.

[0085] In some embodiments, when at least four support members are disposed on the first body, the distances between the first ends of at least three support members and the surface of the first body are different from each other. Further, the distances between the first ends of the plurality of support members and the surface of the first body are different from each other. In this way, in the precision measurement method, the first planes determined based on the first coordinate combinations of the first laser reflectors placed on every three support members are different, which is convenient for multiple precision measurements.

[0086] In some embodiments, when determining the first plane multiple times to determine the first standard plane and the second standard plane multiple times, the first coordinates of the first laser reflectors placed on the first recesses of the support members of each first test piece are selected at least once.

[0087] Exemplarily, when determining the first plane for the first time, the first coordinates of the first laser reflectors placed on support member A and support member B can be selected, and the first coordinates of the first laser reflector placed on support member F can be selected to obtain three selected first coordinates, and then the first plane is determined. When determining the first plane for the second time, the first coordinates of the first laser reflectors placed on support member C and support member D can be selected, and the first coordinates of the first laser reflector placed on support member E can be selected to obtain three selected first coordinates, and then the first plane is determined. At this time, the first coordinates of the first laser reflectors placed on each support member are selected at least once. Moreover, the first planes determined multiple times are not coplanar. In this way, the measurement error can be further reduced.

[0088] Optionally, only 3 first laser reflectors can be placed on the first test piece each time, or more than 3 first laser reflectors can be placed all the time. For example, during the measurement process, 6 first laser reflectors can be placed on the first test piece all the time.

[0089] Step S104: When second laser reflectors are placed in the three second recesses of the second test piece of the precision measurement device, take a photo of the second test piece to obtain a second image.

[0090] Wherein, the second test piece includes a second optical array. The second optical array includes a plurality of light reflecting members. In the knee joint replacement surgery navigation system, controlling the optical camera to take a photo of the second test piece, and the plurality of light reflecting members of the second optical array will reflect light, so that the second image will include a characteristic area representing the second optical array.

[0091] Optionally, it can be determined which second recesses have second laser reflectors placed therein according to the second image or a user instruction.

[0092] Step S105: Identify the characteristic area of the second optical array in the second image, and determine the second coordinates of each second laser reflector in the space coordinate system based on the characteristic area of the second optical array.

[0093] In the knee joint replacement surgery navigation system, the conversion relationship between the coordinate system of the second optical array and the coordinate system of the second test piece is pre-stored. After identifying the characteristic region of the second optical array in the second image, the coordinates of the second optical array in the spatial coordinate system can be calculated based on the characteristic region of the second optical array in the second image and the image coordinate system. Furthermore, based on the coordinates of the second optical array in the spatial coordinate system and the conversion relationship between the coordinate system of the second optical array and the coordinate system of the second test piece, the coordinates of each second recess on the second test piece in the spatial coordinate system can be calculated. According to the coordinates of each second recess in the spatial coordinate system, the second coordinates of each second laser reflector placed on the second recess in the spatial coordinate system can be calculated.

[0094] Step S106: Determine the second plane based on the three second coordinates.

[0095] Please refer to Figure 10 , Figure 10 which is a schematic diagram of the second plane provided by an embodiment of the present application. As Figure 10 shown, second laser reflectors O2 are placed on all three second recesses 212. The second plane P2 can be determined based on the second coordinates of the three second laser reflectors O2.

[0096] Steps S101 to S106 are all executed by the electronic device controlling the knee joint replacement surgery navigation system.

[0097] In some embodiments, after step S103, when second laser reflectors are placed on the three second recesses of the second test piece of the precision measurement device, the second test piece is moved by manual or motor control. The motor can also be controlled by the electronic device. The electronic device controls the knee joint replacement surgery navigation system to execute steps S104 to S106 at intervals of a preset time to continuously determine the second plane multiple times, and controls the knee joint replacement surgery navigation system to calculate the error between the first plane and the second plane to determine whether the first plane and the second plane are coplanar.

[0098] When controlling the knee joint replacement surgery navigation system to execute steps S101 to S106, the knee joint replacement surgery navigation system determines the first plane and the second plane based on the first image and the second image that are optical images respectively.

[0099] Step S107: When it is determined in the knee joint replacement surgery navigation system that the first plane and the second plane are coplanar, control the laser tracker to emit laser to each first laser reflector used to determine the first plane, and obtain the first standard coordinates of the three first laser reflectors in the spatial coordinate system.

[0100] The laser tracker uses laser for measurement, while the knee joint replacement surgery navigation system uses optical images for measurement. Therefore, the measurement accuracy of the laser tracker is greater than that of the knee joint replacement surgery navigation system, and the laser tracker can be used to measure the accuracy of the knee joint replacement surgery navigation system.

[0101] Step S108: Control the laser tracker to emit laser to each second laser reflector, and obtain the second standard coordinates of the three second laser reflectors in the space coordinate system.

[0102] Step S109: Determine the first standard plane based on the three first standard coordinates, and determine the second standard plane based on the three second standard coordinates.

[0103] Step S110: Determine the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane.

[0104] In some embodiments, step S110 includes steps S111 to S113.

[0105] Step S111: Calculate the distance between each first standard coordinate and the second standard plane.

[0106] In some embodiments, first calculate the normal vector of the second standard plane, and then calculate the distance between each first standard coordinate and the second standard plane according to each first standard coordinate and the normal vector of the second standard plane.

[0107] Step S112: Calculate the angle between the first standard plane and the second standard plane.

[0108] In some embodiments, first calculate the normal vector of the first standard plane, and then calculate the angle between the first standard plane and the second standard plane according to the normal vector of the first standard plane and the expression of the second standard plane.

[0109] Step S113: Determine the accuracy of the knee joint replacement surgery navigation system based on the distance and the angle.

[0110] In some embodiments, the accuracy indicators of the knee joint replacement surgery navigation system include the distance and the angle, the distance between each first standard coordinate and the second standard plane and the angle between the first standard plane and the second standard plane. The distance and the angle can be displayed for the user's reference.

[0111] In some embodiments, a preset method can be used to calculate the distance and the angle to obtain the accuracy indicators of the knee joint replacement surgery navigation system.

[0112] In some embodiments, the accuracy of the knee joint replacement surgical navigation system is determined based on multiple errors between the first standard plane and the second standard plane determined multiple times. At this time, steps S101 to S110 described above are executed multiple times.

[0113] Optionally, in step S110, the final accuracy of the knee joint replacement surgical navigation system can be determined based on the accuracy measured multiple times. For example, the indicators of the final accuracy can include the average value of the distances between each first standard coordinate and the second standard plane obtained by multiple measurements and the average value of the angles between the first standard plane and the second standard plane.

[0114] As described above, in some embodiments, when the first plane is determined multiple times to determine the first standard plane and the second standard plane multiple times, the first planes determined multiple times are not coplanar. In this way, compared with the way in which the first planes are coplanar in multiple measurements, the measurement error can be reduced.

[0115] In some embodiments, the first test piece includes multiple first groove points where optical probes can be placed, and the second test piece includes multiple second groove points where optical probes can be placed. When the optical probe is placed at the first groove point, the first test piece can be calibrated. When the optical probe is placed at the second groove point, the second test piece can be calibrated. At this time, before step S101, the accuracy measurement method further includes steps S001 to S004.

[0116] Step S001: In the knee joint replacement surgical navigation system, every time the tip point of the optical probe is placed at the first groove point of the first test piece, a third image is taken of the first test piece, thereby obtaining multiple third images.

[0117] Optionally, the tip point of the optical probe is placed at the first groove points in a preset order of the first groove points.

[0118] Step S002: Calibrate the first test piece based on all the third images.

[0119] In the knee joint replacement surgical navigation system, the coordinates of each first groove point in the coordinate system of the first test piece are pre-stored. Based on all the third images, the coordinates of each first groove point in the image coordinate system can be determined, and the specific position of the first test piece in the image coordinate system can be determined according to the coordinates of each first groove point in the image coordinate system and the coordinates of each first groove point in the coordinate system of the first test piece.

[0120] Step S003: Every time the tip point of the optical probe is placed at the second groove point of the second test piece, a fourth image is taken of the second test piece, thereby obtaining multiple fourth images.

[0121] Optionally, the tip points of the optical probe are sequentially placed at the second groove points according to the preset order of the second groove points.

[0122] Step S004: Calibrate the second test piece based on all the fourth images.

[0123] In the knee joint replacement surgery navigation system, the coordinates of each second groove point in the coordinate system of the second test piece are pre-stored. Based on all the fourth images, the coordinates of each second groove point in the image coordinate system can be determined. According to the coordinates of each second groove point in the image coordinate system and the coordinates of each second groove point in the coordinate system of the second test piece, the specific position of the second test piece in the image coordinate system can be determined.

[0124] Steps S001 to S004 are executed by the electronic device controlling the knee joint replacement surgery navigation system.

[0125] By the above method, the instrument calibration can be completed in the knee joint replacement surgery navigation system, ensuring the positioning of the first test piece and the second test piece in the same coordinate system, and at the same time determining the relative position of the first test piece and the second test piece, so as to realize the navigation function.

[0126] In some embodiments, before step S001, the accuracy measurement method further includes steps S006 to S009.

[0127] Step S006: When at least three first recesses of the first test piece of the accuracy measurement device are provided with first laser reflectors, control the CT device to take a photo of the first test piece to obtain the CT image of the first test piece.

[0128] The Computed Tomography (CT) device can use rays to perform tomographic scanning on the first test piece to obtain a CT image.

[0129] Step S007: Input the CT image into the knee joint replacement surgery navigation system.

[0130] Step S008: In the knee joint replacement surgery navigation system, determine the coordinates of all the first laser reflectors in the space coordinate system based on the CT image.

[0131] The coordinates of the first laser reflector in the space coordinate system are the coordinates of the center of the first laser reflector in the space coordinate system. The center of the first laser reflector is the geometric center of the first laser reflector. When the first laser reflector is a laser target ball, the center of the laser target ball is the center of the ball of the laser target ball.

[0132] Step S009: Display the CT image and mark the coordinates of the first laser reflector in the space coordinate system on the CT image.

[0133] Steps S006 to S009 are executed by the electronic device controlling the knee joint replacement surgery navigation system.

[0134] In the above manner, the operation process in the entire knee joint replacement surgery can be simulated, making the measurement closer to the actual application scenario. In the precision measurement method, the first test piece can be used to represent the patient's bone, and the second test piece is the osteotomy guide plate used during the osteotomy process. Before the knee joint replacement surgery, generally, a CT image of the patient's bone is taken and displayed in the knee joint replacement surgery navigation system for the doctor's reference.

[0135] In summary, the knee joint replacement surgery navigation method provided by the embodiments of the present application has the following advantages: 1. By controlling the laser tracker to emit laser to the laser reflector, the first standard plane and the second standard plane are determined, and based on the error between the first standard plane and the second standard plane, the accuracy of the knee joint replacement surgery navigation system is determined, which can accurately determine the accuracy of the knee replacement surgery navigation system, provide a reference for users, and facilitate users to make a horizontal comparison of the system accuracy of knee joint replacement surgery navigation systems from different manufacturers.

[0136] 2. Since the second main body further includes a third connecting portion, and the second main body can be connected to the mobile device through the third connecting portion, the precision measurement device of the present application can be applied to both the automated navigation system integrated with a robotic arm and the pure navigation system without a robotic arm.

[0137] 3. By the method that when the first plane is determined multiple times to determine the first standard plane and the second standard plane multiple times, the first planes determined multiple times are not coplanar, compared with the method where the first planes are coplanar during multiple measurements, the measurement error can be reduced.

[0138] 4. By the method that the first coordinate of the first laser reflector placed on each support member is selected at least once, the measurement error can be further reduced.

[0139] Please refer to Figure 11 , Figure 11 which is a schematic structural diagram of an electronic device provided by the embodiments of the present application. As Figure 11 shown, the electronic device 400 includes: one or more processors 410 and a memory 420. Figure 11 Here, one processor 410 is taken as an example.

[0140] In some embodiments, the processor 410 and the memory 420 can be connected through a bus or other means. Figure 11 Here, the connection through the bus is taken as an example.

[0141] In some embodiments, the processor 410 is configured to, in a knee joint replacement surgery navigation system, when at least three first recesses of a first test piece of a precision measurement device are provided with first laser reflectors, take a photo of the first test piece to obtain a first image, where the first test piece includes a first optical array; identify a feature region of the first optical array in the first image, and determine a first coordinate of each first laser reflector in a spatial coordinate system based on the feature region of the first optical array; select three first coordinates to determine a first plane; when three second recesses of a second test piece of the precision measurement device are provided with second laser reflectors, take a photo of the second test piece to obtain a second image, where the second test piece includes a second optical array; identify a feature region of the second optical array in the second image, and determine a second coordinate of each second laser reflector in the spatial coordinate system based on the feature region of the second optical array; determine a second plane based on the three second coordinates; when it is determined that the first plane and the second plane are coplanar in the knee joint replacement surgery navigation system, control the laser tracker to emit laser light to each first laser reflector used to determine the first plane, to obtain first standard coordinates of the three first laser reflectors in the spatial coordinate system; control the laser tracker to emit laser light to each second laser reflector, to obtain second standard coordinates of the three second laser reflectors in the spatial coordinate system; determine a first standard plane based on the three first standard coordinates, and determine a second standard plane based on the three second standard coordinates; determine the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane.

[0142] In some embodiments, the memory 420, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions / modules of the knee joint replacement surgery navigation method in the embodiments of the present application. The processor 410 executes various functional applications and data processing of the electronic device 400 by running the non-volatile software programs, instructions, and modules stored in the memory 420, that is, implements the knee joint replacement surgery navigation method in the above method embodiments.

[0143] In some embodiments, the memory 420 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the electronic device 400, etc. In addition, the memory 420 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 420 may optionally include a memory remotely provided with respect to the processor 410, and these remote memories can be connected to the controller through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0144] In some embodiments, one or more modules are stored in the memory 420, and when executed by one or more processors 410, perform the knee replacement surgery navigation method in any of the above method embodiments. For example, perform the method steps S101 to S110 described above. Figure 8 in the method.

[0145] Please refer to Figure 12 , Figure 12 which is a structural block diagram of a computer-readable storage medium provided by an embodiment of the present application. Program code 510 is stored in the computer-readable storage medium 500, and the program code 510 can be called by a processor to perform the knee replacement surgery navigation method described in the above method embodiments.

[0146] The computer-readable storage medium 500 can be an electronic memory such as a flash memory, an electrically erasable programmable read only memory (EEPROM), a hard disk, or a read-only memory (ROM). Optionally, the computer-readable storage medium includes a non-volatile computer-readable medium. The computer-readable storage medium 500 has a storage space for program code that executes any of the method steps in the above knee replacement surgery navigation method. These program codes can be read out from or written into one or more computer program products. The program codes can be compressed in a suitable form, for example.

[0147] The present application also provides a computer program product, including a computer program, which when executed by a processor implements the above knee replacement surgery navigation method.

[0148] In summary, the present application provides a method, apparatus, and device for measuring the accuracy of a knee joint replacement surgery navigation system. The knee joint replacement surgery navigation method includes: in the knee joint replacement surgery navigation system, when at least three first recesses of a first test piece of an accuracy measurement device are provided with first laser reflectors, taking a first image of the first test piece, where the first test piece includes a first optical array; identifying a feature region of the first optical array in the first image, and determining a first coordinate of each first laser reflector in a spatial coordinate system based on the feature region of the first optical array; selecting three first coordinates to determine a first plane; when three second recesses of a second test piece of the accuracy measurement device are provided with second laser reflectors, taking a second image of the second test piece, where the second test piece includes a second optical array; identifying a feature region of the second optical array in the second image, and determining a second coordinate of each second laser reflector in a spatial coordinate system based on the feature region of the second optical array; determining a second plane based on the three second coordinates; when it is determined that the first plane and the second plane are coplanar in the knee joint replacement surgery navigation system, controlling a laser tracker to emit laser light to each first laser reflector used to determine the first plane to obtain a first standard coordinate of each of the three first laser reflectors in the spatial coordinate system; controlling the laser tracker to emit laser light to each second laser reflector to obtain a second standard coordinate of each of the three second laser reflectors in the spatial coordinate system; determining a first standard plane based on the three first standard coordinates, and determining a second standard plane based on the three second standard coordinates; determining the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane. By controlling the laser tracker to emit laser light to the laser reflectors, the present application determines the first standard plane and the second standard plane, and determines the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane, which can accurately determine the accuracy of the knee joint replacement surgery navigation system, provide a reference for users, and facilitate the horizontal comparison of the system accuracy of knee joint replacement surgery navigation systems from different manufacturers.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A method for measuring the accuracy of a knee joint replacement surgery navigation system, characterized in that, Comprising: In a knee joint replacement surgery navigation system, when at least three first recesses of a first test piece of a precision measurement device are provided with first laser reflectors, a first image is obtained by photographing the first test piece, and the first test piece includes a first optical array; Identifying a feature region of the first optical array in the first image, and determining a first coordinate of each of the first laser reflectors in a spatial coordinate system based on the feature region of the first optical array; Selecting three of the first coordinates to determine a first plane; When three second recesses of a second test piece of the precision measurement device are provided with second laser reflectors, a second image is obtained by photographing the second test piece, and the second test piece includes a second optical array; Identifying a feature region of the second optical array in the second image, and determining a second coordinate of each of the second laser reflectors in a spatial coordinate system based on the feature region of the second optical array; Determining a second plane based on the three second coordinates; When it is determined that the first plane and the second plane are coplanar in the knee joint replacement surgery navigation system, controlling a laser tracker to emit laser light to each of the first laser reflectors for determining the first plane, and obtaining first standard coordinates of the three first laser reflectors in a spatial coordinate system; Controlling the laser tracker to emit laser light to each of the second laser reflectors, and obtaining second standard coordinates of the three second laser reflectors in a spatial coordinate system; Determining a first standard plane based on the three first standard coordinates, and determining a second standard plane based on the three second standard coordinates; Determining the precision of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane.

2. The precision measurement method for a knee joint replacement surgery navigation system according to claim 1, wherein The first test piece includes a plurality of first groove points where optical probes can be placed, and the second test piece includes a plurality of second groove points where optical probes can be placed, In the knee joint replacement surgery navigation system, before obtaining a first image by photographing the first test piece when at least three first recesses of the first test piece of the precision measurement device are provided with first laser reflectors, the method further includes: In the knee joint replacement surgery navigation system, whenever the tip point of an optical probe is placed on a first groove point of the first test piece, a third image is obtained by photographing the first test piece, thereby obtaining a plurality of the third images; Calibrating the first test piece based on all the third images; Whenever the tip point of an optical probe is placed on a second groove point of the second test piece, a fourth image is obtained by photographing the second test piece, thereby obtaining a plurality of the fourth images; Calibrating the second test piece based on all the fourth images.

3. The accuracy measurement method of the knee joint replacement surgery navigation system according to claim 1, characterized in that, The determining the precision of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane includes: Calculating the distance between each of the first standard coordinates and the second standard plane; Calculate the angle between the first standard plane and the second standard plane; Determine the accuracy of the knee joint replacement surgery navigation system based on the distance and the angle.

4. The accuracy measurement method of the knee joint replacement surgery navigation system according to claim 1, characterized in that The selection of three of the first coordinates to determine a first plane includes: Dividing all the first coordinates into a first selection group and a second selection group according to a preset rule, where the first selection group includes at least two of the first coordinates and the second selection group includes at least one of the first coordinates; Select two of the first coordinates from the first selection group and one of the first coordinates from the second selection group to obtain three selected first coordinates; Determine the first plane based on the three selected first coordinates.

5. The accuracy measurement method of the knee joint replacement surgery navigation system according to claim 4, characterized in that The determination of the accuracy of the knee joint replacement surgery navigation system based on the error between the first standard plane and the second standard plane includes: Determine the accuracy of the knee joint replacement surgery navigation system based on multiple errors between the first standard plane and the second standard plane determined multiple times.

6. The method for measuring the accuracy of the knee joint replacement surgery navigation system according to claim 5, wherein When determining the first plane multiple times to determine the first standard plane and the second standard plane multiple times, the first planes determined multiple times are not coplanar.

7. The method for measuring the accuracy of the knee joint replacement surgery navigation system according to claim 5 or 6, wherein When determining the first plane multiple times to determine the first standard plane and the second standard plane multiple times, the first coordinates of the first laser reflectors placed on the first recesses of the support members of each first test piece are selected at least once.

8. The method for measuring the accuracy of the knee joint replacement surgery navigation system according to claim 1, characterized in that, The method further includes: When at least three first recesses of the first test piece of the accuracy measuring device are provided with first laser reflectors, controlling a CT device to take a photo of the first test piece to obtain a CT image of the first test piece; Input the CT image into the knee joint replacement surgery navigation system; In the knee joint replacement surgery navigation system, determine the coordinates of all the first laser reflectors in a spatial coordinate system based on the CT image; Display the CT image and mark the coordinates of the first laser reflectors in the spatial coordinate system in the CT image.

9. An accuracy measurement device for a knee joint replacement surgery navigation system, characterized in that, The accuracy measuring device of the knee joint replacement surgery navigation system includes a first test piece and a second test piece; The first test piece includes a first main body, at least four support members provided on the first main body, a plurality of first groove points for placing optical probes, and a first optical array. The first end of the support member away from the first main body includes a first recess for placing a first laser reflector, and the distances from the first ends of at least three support members to the surface of the first main body are different from each other; The second test piece includes a second main body and a second optical array provided on the second main body. The second main body includes a plurality of second groove points for placing optical probes and at least three second recesses for placing second laser reflectors; When multiple said second laser reflectors are placed one by one in the second recesses, the multiple second recesses can make the centers of all the second laser reflectors lie on a preset plane, and the preset plane is parallel to the surface of the second main body close to the second laser reflectors.

10. An electronic device, characterized in that, The electronic device includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the accuracy measurement method of the knee joint replacement surgery navigation system according to any one of claims 1 to 8.

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