Accuracy measurement method, device and equipment for knee replacement surgery navigation system

Abstract

The present invention discloses a method, device, and apparatus for measuring the accuracy of a knee replacement surgical navigation system. The method includes, in the knee replacement surgical navigation system, photographing a first test piece to obtain a first image; selecting the first coordinates of three first laser reflectors to determine a first plane; photographing a second test piece to obtain a second image; determining a second plane based on the second coordinates of the three second laser reflectors; when the first plane and the second plane are determined to be coplanar, controlling a laser tracker to emit laser light toward the first laser reflector and the second laser reflector, conveniently determining the first standard plane and the second standard plane based on the first standard coordinates of the three first laser reflectors and the second standard coordinates of the three second laser reflectors in a spatial coordinate system; and determining the accuracy of the knee replacement surgical navigation system based on the error between the first standard plane and the second standard plane. The present application can accurately determine the accuracy of a knee replacement surgical navigation system.

Description

Technical Field

[0001] The present invention relates to the field of surgical technology, and in particular to a method, device and equipment for measuring the accuracy of a navigation system for knee replacement surgery. Background Art

[0002] In the field of surgical technology, especially in knee replacement surgery, knee replacement surgical navigation systems are often used to improve surgical precision. These systems provide optical positioning, preoperative planning, and real-time intraoperative guidance. During knee replacement surgery, the surgeon adjusts and secures the guide plate according to the system's instructions before performing bone cutting.

[0003] There are two main types of navigation systems for knee replacement surgery: automated navigation systems with integrated robotic arms and pure navigation systems without robotic arms. Pure navigation systems, by reducing costs while maintaining surgeon control and surgical flexibility, have significant application value in small and medium-sized hospitals and in clinical settings where surgeon autonomy is paramount.

[0004] However, there is currently no dedicated method for measuring the system accuracy of knee replacement surgical navigation systems without robotic arms, making it difficult for users to compare the system accuracy of knee replacement surgical navigation systems from different manufacturers. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present application provides a method, device and equipment for measuring the accuracy of a knee replacement surgery navigation system. By controlling a laser tracker to emit laser to a laser reflector, a first standard plane and a second standard plane are determined, and the accuracy of the knee replacement surgery navigation system is determined based on the error between the first standard plane and the second standard plane. The accuracy of the knee replacement surgery navigation system can be accurately determined, providing a reference for users, facilitating users to conduct horizontal comparisons of the system accuracy of knee replacement surgery navigation systems from different manufacturers.

[0006] In order to solve the above problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for navigation of a knee replacement surgery, comprising: in a navigation system for a knee replacement surgery, when a first laser reflector is placed in at least three first recessed portions of a first test piece of an accuracy measurement device, photographing the first test piece to obtain a first image, the first test piece comprising a first optical array;

[0008] Identifying a characteristic 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 characteristic region of the first optical array;

[0009] selecting three of the first coordinates to determine a first plane;

[0010] When second laser reflecting elements are placed on three second recessed portions of a second test piece of the precision measuring device, photographing the second test piece to obtain a second image, the second test piece comprising a second optical array;

[0011] Identifying a characteristic region of the second optical array in the second image, and determining a second coordinate of each second laser reflecting element in a spatial coordinate system based on the characteristic region of the second optical array;

[0012] determining a second plane based on the three second coordinates;

[0013] When it is determined in the knee replacement surgical navigation system that the first plane is coplanar with the second plane, controlling the laser tracker to emit a laser toward 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;

[0014] controlling the laser tracker to emit laser light toward each of the second laser reflecting elements to obtain second standard coordinates of the three second laser reflecting elements in a spatial coordinate system;

[0015] 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;

[0016] The accuracy of the knee replacement surgery navigation system is determined based on an error between the first standard plane and the second standard plane.

[0017] In some embodiments, the first test piece includes a plurality of first groove points where an optical probe can be placed, and the second test piece includes a plurality of second groove points where an optical probe can be placed.

[0018] In the knee replacement surgery navigation system, when first laser reflectors are placed in at least three first recessed portions of a first test piece of the accuracy measurement device, before photographing the first test piece to obtain a first image, the method further includes:

[0019] In the knee replacement surgery navigation system, whenever the tip of the optical probe is placed at the first groove point of the first test piece, the first test piece is photographed to obtain a third image, thereby obtaining a plurality of the third images;

[0020] calibrating the first test piece based on all the third images;

[0021] Whenever the tip of the optical probe is placed at the second groove point of the second test piece, photographing the second test piece to obtain a fourth image, thereby obtaining a plurality of fourth images;

[0022] The second test piece is calibrated based on all the fourth images.

[0023] In some embodiments, determining the accuracy of the knee replacement surgery navigation system based on the error between the first standard plane and the second standard plane includes:

[0024] calculating the distance between each of the first standard coordinates and the second standard plane;

[0025] calculating an angle between the first standard plane and the second standard plane;

[0026] An accuracy of the knee replacement surgical navigation system is determined based on the distance and the angle.

[0027] In some embodiments, selecting the three first coordinates to determine the first plane includes:

[0028] Divide all the first coordinates into a first selection group and a second selection group according to a preset rule, wherein 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;

[0029] selecting two of the first coordinates from the first selection group and selecting one of the first coordinates from the second selection group, to obtain three selected first coordinates;

[0030] The first plane is determined based on the three selected first coordinates.

[0031] In some embodiments, determining the accuracy of the knee replacement surgery navigation system based on the error between the first standard plane and the second standard plane includes:

[0032] The accuracy of the knee replacement surgery navigation system is determined based on a plurality of errors between the first standard plane and the second standard plane determined a plurality of times.

[0033] 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.

[0034] 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 reflector placed on the first recessed portion of the support member of each first test member are selected at least once.

[0035] In some embodiments, the method further comprises:

[0036] When the first laser reflectors are placed on at least three first recessed portions of the first test piece of the accuracy measurement device, controlling the CT device to photograph the first test piece to obtain a CT image of the first test piece;

[0037] inputting the CT image into the knee replacement surgery navigation system;

[0038] In the knee replacement surgery navigation system, determining the coordinates of all the first laser reflectors in a spatial coordinate system based on the CT image;

[0039] The CT image is displayed, and the coordinates of the first laser reflector in the space coordinate system are marked in the CT image.

[0040] In a second aspect, an embodiment of the present application provides an accuracy measurement device for a knee replacement surgery navigation system, the accuracy measurement device for a knee replacement surgery navigation system comprising a first test piece and a second test piece;

[0041] The first test piece includes a first body, at least four supporting members disposed on the first body, a plurality of first groove points for placing optical probes, and a first optical array, wherein a first end of the supporting member away from the first body includes a first recessed portion for placing a first laser reflector, and the first ends of at least three of the supporting members are at different distances from the surface of the first body;

[0042] The second test piece includes a second body and a second optical array provided on the second body, wherein the second body includes a plurality of second groove points for placing optical probes and at least three second recessed portions for placing second laser reflecting elements;

[0043] When the second laser reflecting elements are placed one by one in the second recessed portions, the second recessed portions can make the centers of all the second laser reflecting elements on a preset plane, and the preset plane is parallel to the surface of the second body close to the second laser reflecting elements.

[0044] In a third aspect, an embodiment of the present application provides an electronic device, comprising:

[0045] at least one processor; and,

[0046] a memory communicatively connected to the at least one processor; wherein,

[0047] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the knee replacement surgery navigation method as described in the first aspect.

[0048] The present application provides a method, device and equipment for measuring the accuracy of a knee replacement surgical navigation system. The present application determines a first standard plane and a second standard plane by controlling a laser tracker to emit laser light to a laser reflector, and determines the accuracy of the knee replacement surgical navigation system based on the error between the first standard plane and the second standard plane. The present application can accurately determine the accuracy of the knee replacement surgical navigation system, provide a reference for users, and facilitate users to conduct a horizontal comparison of the system accuracy of knee replacement surgical navigation systems from different manufacturers. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a three-dimensional schematic diagram of the first test piece provided by an embodiment of the present application when a first laser emitting element is placed thereon.

[0050] Figure 2 It is a front view schematic diagram of the first test piece provided in an embodiment of the present application.

[0051] Figure 3 It is a three-dimensional schematic diagram of the second test piece of the precision measurement device provided in an embodiment of the present application.

[0052] Figure 4 It is a three-dimensional schematic diagram of the second body of the second test piece provided in an embodiment of the present application.

[0053] Figure 5 It is a schematic top view of the second body of the second test piece provided in an embodiment of the present application.

[0054] Figure 6 It is a front view schematic diagram of the second body of the second test piece provided in an embodiment of the present application.

[0055] Figure 7 This is a three-dimensional schematic diagram of the second test piece provided in an embodiment of the present application when connected to a mobile device.

[0056] Figure 8 This is a flowchart of the knee replacement surgery navigation method provided in an embodiment of the present application.

[0057] Figure 9 It is a schematic diagram of the first plane provided in an embodiment of the present application.

[0058] Figure 10 It is a schematic diagram of the second plane provided in an embodiment of the present application.

[0059] Figure 11This is a structural diagram of an electronic device provided in an embodiment of the present application.

[0060] Figure 12 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0063] The present application provides a method, device and equipment for measuring the accuracy of a knee replacement surgical 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 replacement surgical navigation system is determined based on the error between the first standard plane and the second standard plane. The accuracy of the knee replacement surgical navigation system can be accurately determined, providing a reference for users, facilitating a horizontal comparison of the system accuracy of knee replacement surgical navigation systems from different manufacturers.

[0064] The accuracy measurement device and accuracy measurement method of the knee replacement surgery navigation system provided by the present application will be described in detail below with reference to the accompanying drawings.

[0065] The present application provides a precision measurement device for a knee replacement surgery navigation system, which includes a first test piece and a second test piece.

[0066] See also Figure 1 , Figure 1 1 is a three-dimensional schematic diagram of the first test piece provided in the embodiment of the present application when the first laser emitting element is placed thereon. Figure 1 As shown, in some embodiments, the first test piece 10 includes a first body 11 , at least four support members 12 disposed on the first body 11 , a plurality of first groove points 111 for placing optical probes, and a first optical array 13 .

[0067] Optionally, the number of the supports may be 4, 5, 6, 8 or 10, etc. Figure 1 As shown, the number of the supports may be 6. The at least four supports 12 include support A, support B, support C, support D, support E and support F.

[0068] Optionally, the number of the first groove points 111 may be 4, 5, 6, 8 or 10, etc. Figure 1 As shown, the number of the first groove points 111 may be 6.

[0069] See also Figure 2 , Figure 2 : is a front view schematic diagram of the first test piece provided in the embodiment of the present application. Figure 2 As shown, in some embodiments, the first end of the support member 12 away from the first body 11 includes a Figure 1 The first recessed portion 121 of the first laser reflecting member O1 is formed in the first housing 11. The first ends of the at least three supporting members 12 are at different distances from the surface of the first body 11.

[0070] like Figure 2 As shown, optionally, the first ends of the plurality of support members 12 are at different distances from the surface of the first body 11. In this way, in the precision measurement method, the first planes determined based on the first coordinates of the combination of first laser reflectors placed on the first recessed portions of each of the three support members are different, facilitating multiple precision measurements.

[0071] like Figure 1 As shown, optionally, the first body 11 is a cuboid.

[0072] For example, the first body 11 has a length L of 250 mm, a width W of 150 mm, and a height H of 80 mm.

[0073] Optionally, the support member is a column.

[0074] Optionally, the column can be divided into a straight column and an oblique column. The column can include a prism and a cylinder.

[0075] In some embodiments, the plurality of supports are parallel to each other.

[0076] 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. In this case, the support member can be a straight column.

[0077] Optionally, the first laser reflector may be a sphere, for example, a laser target sphere. The first laser reflector may also be other objects capable of reflecting laser light, and the shape of the laser reflector is not limited herein.

[0078] Preferably, the support member can be a right circular cylinder. In this way, it is easy to process the support member.

[0079] In some embodiments, the first recessed portion is a spherical groove. When the first laser reflector is a laser target sphere, 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 recessed portion.

[0080] In some embodiments, when the first laser reflector is made of a magnetic metal, the first end of the support member may be magnetic. Magnetic metal is metal that is attracted to a magnet. This further stabilizes the laser reflector on the first end of the support member.

[0081] 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 via the first connecting portion.

[0082] Optionally, the support member and the first body are detachably connected by means of snaps, threads, magnetism, etc., which are not limited here.

[0083] For example, when the support member is threadedly connected to the first body, the first connection portion may include an external thread, and the first body may include an internal threaded hole matching the first connection portion.

[0084] like Figure 1 As shown, in some embodiments, the first optical array 13 is disposed on the second surface of the first body 11, which is different from the first surface on which the support member 12 is disposed. In this way, when a laser tracker is used to emit laser light toward the laser reflector, the laser light is prevented from striking the first optical array, thereby preventing measurement errors.

[0085] Optionally, the second surface and the first surface are adjacent surfaces.

[0086] Optionally, the first optical array 13 is detachably connected to the first body 11 .

[0087] See also Figure 3 , Figure 3 : is a three-dimensional schematic diagram of the second test piece of the precision measurement device provided in the embodiment of the present application. Figure 1 and Figure 3 As shown, the precision measuring device 1 includes a first test piece 10 and a second test piece 20. Figure 3 As 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 .

[0088] See also Figures 3 to 6 , Figure 4It is a three-dimensional schematic diagram of the second body of the second test piece provided in an embodiment of the present application. Figure 5 It is a schematic top view of the second body of the second test piece provided in an embodiment of the present application. Figure 6 : is a front view schematic diagram of the second body of the second test piece provided in the embodiment of the present application. Figures 3 to 6 As 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 reflecting elements.

[0089] 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 via the second connecting portion 213 .

[0090] Optionally, the second laser reflector may be a sphere, for example, a laser target sphere, or other objects capable of reflecting laser light. The shape of the laser reflector is not limited herein.

[0091] Optionally, the number of the second recessed portions may be 3, 4 or 5, etc. The number of the second groove points may be 3, 4 or 5, etc.

[0092] In some embodiments, the second recessed portion 212 is a spherical groove. When the laser reflector is a laser target sphere, the spherical groove can limit the movement of the second laser reflector, so that the second laser reflector can be stably placed in the second recessed portion.

[0093] Optionally, when multiple second laser reflecting elements are placed one by one in the second recessed portions, the multiple second recessed portions can make the centers of all the second laser reflecting elements on a preset plane, and the preset plane is parallel to the surface of the second body close to the second laser reflecting elements.

[0094] Furthermore, the second test piece can be an osteotomy guide used in knee replacement surgery. In this case, the second body also includes a guide groove. The preset plane can be parallel to the motion plane formed after the osteotomy knife is inserted into the guide groove, and the motion plane can also be called the osteotomy plane. In this way, when multiple second laser reflectors are placed one by one in the second recessed portion, the position of the osteotomy plane can be determined by determining the center of the second laser reflector, thereby facilitating subsequent precision measurement of the knee replacement surgery navigation system. At the same time, the second test piece is also an osteotomy guide, which can be directly used in knee replacement surgery.

[0095] like Figure 3 、 Figure 4 and Figure 6 As shown, the second body 21 further includes a third connecting portion 214. Figure 7 , Figure 71 is a three-dimensional schematic diagram of the second test piece provided in the embodiment of the present application when connected to the mobile device. Figure 7 As shown, the second body 21 can be connected to the moving device 23 via 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 posture.

[0096] Optionally, the mobile device may be a robotic arm. The mobile device may be manually controlled or motor controlled, and the present application does not limit the method of movement of the mobile device. Thus, the precision measurement device of the present application is applicable to both automated navigation systems with integrated robotic arms and pure navigation systems without robotic arms.

[0097] Optionally, the robotic arm may be a universal arm.

[0098] 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 used in the osteotomy process.

[0099] See also Figure 8 , Figure 8 FIG. 1 is a flow chart of the knee replacement surgery navigation method provided in the embodiment of the present application. Figure 8 As shown, the knee replacement surgery navigation method includes: steps S101 to S110.

[0100] Step S101: In a knee replacement surgery navigation system, when first laser reflectors are placed on at least three first recessed portions of a first test piece of an accuracy measurement device, the first test piece is photographed to obtain a first image.

[0101] The first test piece includes a first optical array. The first optical array includes a plurality of reflective elements. In the knee replacement surgical navigation system, an optical camera is controlled to photograph the first test piece. The plurality of reflective elements of the first optical array reflect light, resulting in a first image including a characteristic region representing the first optical array.

[0102] Step S102: identifying a characteristic region of the first optical array in the first image, and determining a first coordinate of each first laser reflector in the space coordinate system based on the characteristic region of the first optical array.

[0103] In the knee replacement surgery navigation system, a 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 spatial coordinate system can be calculated based on the characteristic area of ​​the first optical array in the first image and the image coordinate system. Then, based on the coordinates of the first optical array in the spatial 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 member on the first test piece in the spatial coordinate system can be calculated. Based on the coordinates of each support member in the spatial coordinate system, the first coordinate of each first laser reflector placed on the support member in the spatial coordinate system can be calculated.

[0104] Optionally, it may be determined which supports are provided with the first laser reflecting member based on the first image or a user instruction.

[0105] Step S103: Select three first coordinates to determine a first plane.

[0106] In some embodiments, step S103 includes steps S1031 to S1033.

[0107] Step S1031: Divide all first coordinates into a first selection group and a second selection group according to a preset rule.

[0108] The first selection group includes at least two first coordinates, and the second selection group includes at least one first coordinate.

[0109] In some embodiments, multiple supports are divided into a first support group and a second support group. The selected group to which the first coordinate of the first laser reflector belongs can be determined based on the support group to which the support on which the first laser reflector is placed belongs. Each support group corresponds to one selected group of first coordinates. For example, if a support belongs to the first support group, then the first coordinate of the first laser reflector placed on the support belongs to the first selected group.

[0110] Optionally, the first support member group includes at least two support members, and the second support member group includes at least two support members.

[0111] For example, the first support group may include support A, support B, and support C, and the second support group may include support D, support E, and support F. The first coordinates of the first laser reflectors placed on supports A, B, and C all belong to the first selected group, and the first coordinates of the first laser reflectors placed on supports D, E, and F belong to the second selected group.

[0112] Step S1032: Select two first coordinates from the first selection group and select one first coordinate from the second selection group to obtain three selected first coordinates.

[0113] 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.

[0114] Step S1033: Determine a first plane based on the three selected first coordinates.

[0115] See also Figure 9 , Figure 9 Schematic diagram of the first plane provided in the embodiment of the present application. Figure 9 As shown, for example, the first coordinates of the first laser reflecting member O1 placed on the support A and support B of the first test member 10 can be selected, and the first coordinates of the first laser reflecting member O1 placed on the support F can be selected to obtain three selected first coordinates, thereby determining the first plane P1.

[0116] 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 multiple determined first planes are not coplanar. In this way, measurement errors can be reduced compared to a method in which the first planes are coplanar in multiple measurements.

[0117] In some embodiments, when at least four support members are disposed on the first body, the first ends of at least three of the support members are located at different distances from the surface of the first body. Furthermore, the first ends of the plurality of support members are located at different distances from the surface of the first body. In this manner, in the precision measurement method, the first plane determined based on the combination of first coordinates of the first laser reflectors placed on each of the three support members is different, facilitating multiple precision measurements.

[0118] 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 reflector placed on the first recessed portion of the support member of each first test member are selected at least once.

[0119] For example, when determining the first plane for the first time, the first coordinates of the first laser reflectors placed on supports A and B can be selected, and the first coordinates of the first laser reflectors placed on support F can be selected, resulting in three selected first coordinates, thereby determining the first plane. When determining the first plane for the second time, the first coordinates of the first laser reflectors placed on supports C and D can be selected, and the first coordinates of the first laser reflectors placed on support E can be selected, resulting in three selected first coordinates, thereby determining the first plane. At this point, the first coordinates of the first laser reflectors placed on each support have been selected at least once. Furthermore, the first planes determined multiple times are not coplanar. In this way, measurement errors can be further reduced.

[0120] Optionally, only three first laser reflecting elements may be placed on the first test piece at a time, or more than three first laser reflecting elements may be placed on the first test piece at all times. For example, six first laser reflecting elements may be placed on the first test piece at all times during the measurement process.

[0121] Step S104: When the second laser reflectors are placed on the three second recessed portions of the second test piece of the precision measurement device, the second test piece is photographed to obtain a second image.

[0122] The second test piece includes a second optical array. The second optical array includes a plurality of reflective elements. In the knee replacement surgical navigation system, an optical camera is controlled to photograph the second test piece. The plurality of reflective elements of the second optical array reflect light, resulting in a second image including a characteristic region representing the second optical array.

[0123] Optionally, it may be determined which second recessed portions are to be provided with the second laser reflecting member according to the second image or a user instruction.

[0124] Step S105: identifying a characteristic region of the second optical array in the second image, and determining a second coordinate of each second laser reflecting element in the spatial coordinate system based on the characteristic region of the second optical array.

[0125] In the knee replacement surgery navigation system, a 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 area 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 area of ​​the second optical array in the second image and the image coordinate system. Then, 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 recessed portion on the second test piece in the spatial coordinate system can be calculated. Based on the coordinates of each second recessed portion in the spatial coordinate system, the second coordinates of each second laser reflector placed on the second recessed portion in the spatial coordinate system can be calculated.

[0126] Step S106: Determine a second plane based on the three second coordinates.

[0127] See also Figure 10 , Figure 10 Schematic diagram of the second plane provided in the embodiment of the present application. Figure 10 As shown, a second laser reflecting member O2 is placed on each of the three second recessed portions 212. The second plane P2 can be determined based on the second coordinates of the three second laser reflecting members O2.

[0128] Steps S101 to S106 are all executed by the knee replacement surgery navigation system controlled by the electronic device.

[0129] In some embodiments, after step S103, when the second laser reflectors are placed in the three second recesses of the second test piece of the accuracy measurement device, the second test piece is moved by a manual or motor-controlled moving device. The motor can also be controlled by an electronic device. The electronic device controls the knee replacement surgical navigation system to execute steps S104 to S106 at predetermined intervals to continuously determine the second plane multiple times, and controls the knee replacement surgical 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.

[0130] When controlling the knee replacement surgery navigation system to execute steps S101 to S106 , the knee replacement surgery navigation system determines a first plane and a second plane according to the first image and the second image, which are optical images, respectively.

[0131] Step S107: When the first plane and the second plane are determined to be coplanar in the knee replacement surgery navigation system, the laser tracker is controlled to emit laser light to each first laser reflector used to determine the first plane, and the first standard coordinates of the three first laser reflectors in the spatial coordinate system are obtained.

[0132] The laser tracker uses laser for measurement, while the knee replacement surgery navigation system uses optical images for measurement. Therefore, the measurement accuracy of the laser tracker is greater than that of the knee replacement surgery navigation system. The laser tracker can be used to measure the accuracy of the knee replacement surgery navigation system.

[0133] Step S108: controlling the laser tracker to emit laser light to each second laser reflecting element to obtain second standard coordinates of the three second laser reflecting elements in the space coordinate system.

[0134] Step S109: 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.

[0135] Step S110: Determine the accuracy of the knee replacement surgery navigation system based on the error between the first standard plane and the second standard plane.

[0136] In some embodiments, step S110 includes steps S111 to S113.

[0137] Step S111: Calculate the distance between each first standard coordinate and the second standard plane.

[0138] In some embodiments, the normal vector of the second standard plane is calculated first, and then the distance between each first standard coordinate and the second standard plane is calculated according to the normal vector of each first standard coordinate and the second standard plane.

[0139] Step S112: Calculate the angle between the first standard plane and the second standard plane.

[0140] In some embodiments, the normal vector of the first standard plane is calculated first, and then the angle between the first standard plane and the second standard plane is calculated according to the normal vector of the first standard plane and the expression of the second standard plane.

[0141] Step S113: Determine the accuracy of the knee replacement surgery navigation system based on the distance and angle.

[0142] In some embodiments, the accuracy indicators of the knee replacement surgery navigation system include the distance and angle between each first standard coordinate and the second standard plane and the angle between the first standard plane and the second standard plane, and the distance and the angle can be displayed for user reference.

[0143] In some embodiments, the distance and angle may be calculated in a preset manner to obtain an indicator of the accuracy of the knee replacement surgery navigation system.

[0144] In some embodiments, the accuracy of the knee replacement surgery navigation system is determined based on multiple errors between the first standard plane and the second standard plane determined multiple times. In this case, steps S101 to S110 as described above are performed multiple times.

[0145] Optionally, in step S110, a final accuracy of the knee replacement surgery navigation system may be determined based on the accuracy obtained from multiple measurements. For example, the final accuracy indicator may include an average of the distances between each first standard coordinate and the second standard plane and an average of the angles between the first standard plane and the second standard plane obtained from multiple measurements.

[0146] 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 multiple determined first planes are not coplanar. In this way, measurement errors can be reduced compared to the method in which the first planes are coplanar in multiple measurements.

[0147] In some embodiments, the first test piece includes multiple first groove points for placement of optical probes, and the second test piece includes multiple second groove points for placement of optical probes. When the optical probes are placed in the first groove points, the first test piece can be calibrated. When the optical probes are placed in the second groove points, the second test piece can be calibrated. In this case, before step S101, the accuracy measurement method further includes steps S001 to S004.

[0148] Step S001: In the knee replacement surgery navigation system, whenever the tip of the optical probe is placed at the first groove point of the first test piece, the first test piece is photographed to obtain a third image, thereby obtaining multiple third images.

[0149] Optionally, the tip points of the optical probe are placed at the first groove points in sequence according to a preset order of the first groove points.

[0150] Step S002: calibrate the first test piece based on all third images.

[0151] In the knee replacement surgical navigation system, the coordinates of each first groove point in the coordinate system of the first test piece are pre-stored. The coordinates of each first groove point in the image coordinate system can be determined based on all third images. The specific position of the first test piece in the image coordinate system can be determined based on 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.

[0152] Step S003: Whenever the tip of the optical probe is placed at the second groove point of the second test piece, the second test piece is photographed to obtain a fourth image, thereby obtaining a plurality of fourth images.

[0153] Optionally, the tip points of the optical probe are sequentially placed at the second groove points according to a preset order of the second groove points.

[0154] Step S004: calibrate the second test piece based on all fourth images.

[0155] In the knee replacement surgical navigation system, the coordinates of each second groove point in the coordinate system of the second test piece are pre-stored. The coordinates of each second groove point in the image coordinate system can be determined based on all fourth images. The specific position of the second test piece in the image coordinate system can be determined based on 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.

[0156] Steps S001 to S004 are executed by the knee replacement surgery navigation system controlled by the electronic device.

[0157] Through the above method, instrument calibration can be completed in the knee replacement surgery navigation system to ensure that the first test piece and the second test piece are positioned in the same coordinate system, and the relative positions of the first test piece and the second test piece are determined at the same time, thereby realizing the navigation function.

[0158] In some implementations, before step S001 , the accuracy measurement method further includes steps S006 to S009 .

[0159] Step S006: When the first laser reflectors are placed on at least three first recessed portions of the first test piece of the accuracy measurement device, the CT device is controlled to take a picture of the first test piece to obtain a CT image of the first test piece.

[0160] The electronic computed tomography (CT) device can use radiation to perform a tomographic scan on the first test piece to obtain a CT image.

[0161] Step S007: Input the CT image into the knee replacement surgery navigation system.

[0162] Step S008: In the knee replacement surgery navigation system, the coordinates of all first laser reflectors in the spatial coordinate system are determined based on the CT image.

[0163] The coordinates of the first laser reflector in the spatial coordinate system are the coordinates of the center of the first laser reflector in the spatial 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 sphere, the center of the laser target sphere is the center of the laser target sphere.

[0164] Step S009: displaying the CT image, and marking the coordinates of the first laser reflector in the spatial coordinate system in the CT image.

[0165] Steps S006 to S009 are executed by the knee replacement surgery navigation system controlled by the electronic device.

[0166] This method simulates the entire knee replacement surgical process, making the measurement more realistic. In the precision measurement method, the first test piece represents the patient's bone, while the second test piece is the osteotomy guide used during the osteotomy. Before knee replacement surgery, a CT image of the patient's bone is typically taken and displayed in the knee replacement surgical navigation system for the doctor's reference.

[0167] In summary, the knee replacement surgery navigation method provided by the embodiments of the present application has the following advantages:

[0168] 1. By controlling the laser tracker to emit laser light to the laser reflector, the first standard plane and the second standard plane are determined, and the accuracy of the knee replacement surgery navigation system is determined based on the error between the first standard plane and the second standard plane. This can accurately determine the accuracy of the knee replacement surgery navigation system, provide a reference for users, and facilitate users to conduct horizontal comparisons of the system accuracy of knee replacement surgery navigation systems from different manufacturers.

[0169] 2. Since the second body also includes a third connecting portion, the second body can be connected to the mobile device through the third connecting portion, so that the precision measurement device of the present application can be applicable to an automated navigation system with an integrated robotic arm and a pure navigation system without a robotic arm.

[0170] 3. When determining the first plane multiple times to determine the first standard plane and the second standard plane multiple times, the multiple determined first planes are not coplanar, thereby reducing measurement errors compared to the method in which the first planes are coplanar in multiple measurements.

[0171] 4. The measurement error can be further reduced by selecting the first coordinate of the first laser reflector placed on each support at least once.

[0172] See also Figure 11 , Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 11 As shown, the electronic device 400 includes: one or more processors 410 and a memory 420, Figure 11 A processor 410 is taken as an example.

[0173] In some embodiments, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 11 The bus connection is taken as an example.

[0174] In some embodiments, the processor 410 is used in a knee replacement surgery navigation system to photograph the first test piece to obtain a first image when a first laser reflector is placed in at least three first recesses of a first test piece of a precision measuring device, the first test piece including a first optical array; identify a feature area 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 area of ​​the first optical array; select the three first coordinates to determine a first plane; when a second laser reflector is placed in three second recesses of a second test piece of the precision measuring device, the second test piece including a second optical array; identify a feature area of ​​the second optical array in the second image, and determine a first coordinate of each first laser reflector in a spatial coordinate system based on the feature area of ​​the first optical array; select the three first coordinates to determine a first plane; The characteristic areas of the two optical arrays determine the second coordinates of each second laser reflector in the spatial coordinate system; the second plane is determined based on the three second coordinates; when the first plane and the second plane are determined to be coplanar in the knee replacement surgery navigation system, the laser tracker is controlled to emit a laser to each first laser reflector used to determine the first plane, and the first standard coordinates of the three first laser reflectors in the spatial coordinate system are obtained; the laser tracker is controlled to emit a laser to each second laser reflector, and the second standard coordinates of the three second laser reflectors in the spatial coordinate system are obtained; the first standard plane is determined based on the three first standard coordinates, and the second standard plane is determined based on the three second standard coordinates; the accuracy of the knee replacement surgery navigation system is determined based on the error between the first standard plane and the second standard plane.

[0175] In some embodiments, 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 the program instructions / modules of the knee replacement surgery navigation method in the embodiments of the present application. Processor 410 executes the non-volatile software programs, instructions, and modules stored in memory 420 to execute various functional applications and data processing of electronic device 400, thereby implementing the knee replacement surgery navigation method in the aforementioned method embodiment.

[0176] In some embodiments, the memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device 400, etc. In addition, the memory 420 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely located relative to the processor 410, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0177] 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 above described Figure 8 Method steps S101 to S110.

[0178] Please refer to Figure 12 , Figure 12 This is a block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 500 stores program code 510, which can be called by a processor to execute the knee replacement surgery navigation method described in the above method embodiment.

[0179] Computer-readable storage medium 500 may be an electronic memory such as flash memory, electrically erasable programmable read-only memory (EEPROM), a hard disk, or read-only memory (ROM). Alternatively, the computer-readable storage medium includes non-volatile computer-readable media. Computer-readable storage medium 500 has storage space for program code that executes any of the steps in the above-described knee replacement surgical navigation method. This program code can be read from or written to one or more computer program products. The program code may be compressed, for example, in a suitable format.

[0180] The present application also provides a computer program product, comprising a computer program, which implements the above-mentioned knee replacement surgery navigation method when executed by a processor.

[0181] In summary, the present application provides a method, device and equipment for measuring the accuracy of a knee replacement surgery navigation system, the method for measuring the accuracy of a knee replacement surgery comprising: in a knee replacement surgery navigation system, when a first laser reflector is placed in at least three first recessed portions of a first test piece of a precision measuring device, photographing the first test piece to obtain a first image, the first test piece comprising 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 spatial coordinate system based on the feature area of ​​the first optical array; selecting the three first coordinates to determine a first plane; when a second laser reflector is placed in three second recessed portions of a second test piece of the precision measuring device, photographing the second test piece to obtain a second image, the second test piece comprising a second optical array; identifying the feature area of ​​the first optical array in the second image; and determining a first coordinate of each first laser reflector in a spatial coordinate system. The invention relates to a method for determining a characteristic area of ​​a second optical array of a plurality of laser reflectors, and determining a second coordinate of each second laser reflector in a spatial coordinate system based on the characteristic area of ​​the second optical array; determining a second plane based on the three second coordinates; when determining that the first plane and the second plane are coplanar in the knee replacement surgery navigation system, controlling the laser tracker to emit a laser to each first laser reflector used to determine the first plane, and obtaining first standard coordinates of the three first laser reflectors in the spatial coordinate system; controlling the laser tracker to emit a laser to each second laser reflector, and obtaining second standard coordinates 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; and determining the accuracy of the knee replacement surgery navigation system based on the error between the first standard plane and the second standard plane. The present invention controls the laser tracker to emit a laser to the laser reflector, thereby determining the first standard plane and the second standard plane, and determining the accuracy of the knee replacement surgery navigation system based on the error between the first standard plane and the second standard plane. The invention can accurately determine the accuracy of the knee replacement surgery navigation system, provide a reference for users, and facilitate users to conduct a horizontal comparison of the system accuracy of knee replacement surgery navigation systems from different manufacturers.

[0182] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 embodiments of the present application.

Claims

1. A method for measuring the accuracy of a knee replacement surgery navigation system, characterized in that: include: In a knee replacement surgery navigation system, when a first laser reflector is placed in at least three first recessed portions of a first test piece of an accuracy measurement device, photographing the first test piece to obtain a first image, the first test piece including a first optical array; Identifying a characteristic 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 characteristic region of the first optical array; selecting three of the first coordinates to determine a first plane; When second laser reflecting elements are placed on three second recessed portions of a second test piece of the precision measuring device, photographing the second test piece to obtain a second image, the second test piece comprising a second optical array; Identifying a characteristic region of the second optical array in the second image, and determining a second coordinate of each second laser reflecting element in a spatial coordinate system based on the characteristic region of the second optical array; determining a second plane based on the three second coordinates; When it is determined in the knee replacement surgical navigation system that the first plane is coplanar with the second plane, controlling the laser tracker to emit a laser toward 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; controlling the laser tracker to emit laser light toward each of the second laser reflecting elements to obtain second standard coordinates of the three second laser reflecting elements 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; The accuracy of the knee replacement surgery navigation system is determined based on an error between the first standard plane and the second standard plane.

2. The accuracy measurement method of the knee replacement surgery navigation system according to claim 1, characterized in that: The first test piece includes a plurality of first groove points where an optical probe can be placed, and the second test piece includes a plurality of second groove points where an optical probe can be placed. In the knee replacement surgery navigation system, when first laser reflectors are placed in at least three first recessed portions of a first test piece of the accuracy measurement device, before photographing the first test piece to obtain a first image, the method further includes: In the knee replacement surgery navigation system, whenever the tip of the optical probe is placed at the first groove point of the first test piece, the first test piece is photographed to obtain a third image, thereby obtaining a plurality of the third images; calibrating the first test piece based on all the third images; Whenever the tip of the optical probe is placed at the second groove point of the second test piece, photographing the second test piece to obtain a fourth image, thereby obtaining a plurality of fourth images; The second test piece is calibrated based on all the fourth images.

3. The accuracy measurement method of the knee replacement surgery navigation system according to claim 1, characterized in that: Determining the accuracy of the knee 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; calculating an angle between the first standard plane and the second standard plane; An accuracy of the knee replacement surgical navigation system is determined based on the distance and the angle.

4. The accuracy measurement method of the knee replacement surgery navigation system according to claim 1, characterized in that: The selecting the three first coordinates to determine the first plane includes: Divide all the first coordinates into a first selection group and a second selection group according to a preset rule, wherein 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; selecting two of the first coordinates from the first selection group and selecting one of the first coordinates from the second selection group, to obtain three selected first coordinates; The first plane is determined based on the three selected first coordinates.

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

6. The accuracy measurement method of the knee replacement surgery navigation system according to claim 5, characterized in 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.

7. The accuracy measurement method of the knee replacement surgery navigation system according to claim 5 or 6, characterized in that: 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 reflector placed on the first recessed portion of the support member of each first test member are selected at least once.

8. The accuracy measurement method of the knee replacement surgery navigation system according to claim 1, characterized in that: The method further comprises: When the first laser reflectors are placed on at least three first recessed portions of the first test piece of the accuracy measurement device, controlling the CT device to photograph the first test piece to obtain a CT image of the first test piece; inputting the CT image into the knee replacement surgery navigation system; In the knee replacement surgery navigation system, determining the coordinates of all the first laser reflectors in a spatial coordinate system based on the CT image; The CT image is displayed, and the coordinates of the first laser reflector in the space coordinate system are marked in the CT image.

9. The accuracy measurement method of the knee replacement surgery navigation system according to claim 1, characterized in that: The accuracy measurement method uses an accuracy measurement device for a knee replacement surgery navigation system, and the accuracy measurement device for a knee replacement surgery navigation system includes a first test piece and a second test piece; The first test piece includes a first body, at least four supporting members disposed on the first body, a plurality of first groove points for placing optical probes, and a first optical array, wherein a first end of the supporting member away from the first body includes a first recessed portion for placing a first laser reflector, and the first ends of at least three of the supporting members are at different distances from the surface of the first body; The second test piece includes a second body and a second optical array provided on the second body, wherein the second body includes a plurality of second groove points for placing optical probes and at least three second recessed portions for placing second laser reflecting elements; When the second laser reflecting elements are placed one by one in the second recessed portions, the second recessed portions can make the centers of all the second laser reflecting elements on a preset plane, and the preset plane is parallel to the surface of the second body close to the second laser reflecting elements.

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

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