A navigation method, device and electronic equipment for hip replacement surgery

Abstract

The application discloses a navigation method and device for hip replacement surgery and electronic equipment, and relates to the field of medical engineering. In the method, a three-dimensional bone model of a patient before hip replacement surgery and a first target position of a to-be-implanted prosthesis of the patient in the three-dimensional bone model are acquired; a marker coordinate system is established according to a plurality of reference marker points; a patient position of the patient and a tool position of a handheld tool in a surgery space are acquired; a mapping relationship between the marker coordinate system and an image coordinate system is established through image registration, the image registration comprises coarse registration and fine registration, and the image coordinate system is a coordinate system in which the three-dimensional bone model is located; a second target position of the to-be-implanted prosthesis in the surgery space is determined according to the mapping relationship; and the patient position, the tool position and the second target position are comprehensively used to guide a doctor to perform hip replacement surgery. Through coarse registration and fine registration, the accuracy of image registration is improved, and the accuracy of prosthesis implantation is improved.

Description

Technical Field

[0001] This application relates to the field of medical engineering, specifically to a navigation method, device, and electronic device for hip replacement surgery. Background Technology

[0002] With advancements in medical technology, hip replacement surgery has become an effective treatment for severe osteoarthritis, hip dysplasia, and severe hip trauma. This surgery involves replacing the damaged hip joint with an artificial prosthesis, aiming to restore joint function and relieve pain. Through this procedure, many patients are able to regain a good quality of life and mobility.

[0003] Currently, although hip replacement surgery has achieved some success, some technical limitations remain, especially in image registration for surgical navigation. Image registration is the process of aligning the patient's actual body structure with pre-acquired medical images (such as CT or MRI images), a crucial step for ensuring accurate prosthesis placement. However, existing navigation systems use a single registration method during image registration, resulting in low accuracy and inaccurate positioning of the prosthesis during surgery.

[0004] Therefore, there is an urgent need for a navigation method, device, and electronic equipment for hip replacement surgery. Summary of the Invention

[0005] This application provides a navigation method, device, and electronic device for hip replacement surgery, which improves the accuracy of image registration through coarse and fine registration, thereby improving the accuracy of prosthesis implantation.

[0006] A first aspect of this application provides a navigation method for hip replacement surgery. The method includes: acquiring a three-dimensional skeletal model of a patient before hip replacement surgery and a first target position of the patient's prosthesis to be implanted in the three-dimensional skeletal model; determining multiple reference marker points in a surgical space and establishing a marker coordinate system based on the multiple reference marker points; acquiring the patient's position and the tool position of a handheld tool in a handheld power system in the surgical space; establishing a mapping relationship between the marker coordinate system and the image coordinate system through image registration, wherein the image registration includes coarse registration and fine registration, and the image coordinate system is the coordinate system where the three-dimensional skeletal model is located; determining a second target position of the prosthesis to be implanted in the surgical space based on the mapping relationship; and guiding the surgeon to perform the hip replacement surgery by combining the patient's position, the tool position, and the second target position.

[0007] By employing the aforementioned technical solution, a three-dimensional skeletal model of the patient before hip replacement surgery and the first target position of the prosthesis to be implanted are obtained. A marked coordinate system is established in the surgical space, and the real-time positions of the patient and the handheld instrument are acquired. Then, a mapping relationship between the marked coordinate system and the image coordinate system is established through image registration, thereby determining the second target position of the prosthesis in the surgical space. Finally, by combining the patient's position, the instrument's position, and the second target position, the surgeon is guided to perform a precise hip replacement surgery. This method utilizes three-dimensional models and navigation technology to provide surgeons with intuitive and real-time surgical guidance, enabling precise control of the implantation position and angle of the prosthesis, reducing surgical errors. Simultaneously, by establishing a mapping relationship between the surgical space and the image space, seamless integration of surgical navigation and preoperative planning is achieved, improving the planning and controllability of the surgery. Under the guidance of the navigation system, surgeons can complete key surgical steps more accurately and safely. In summary, this method provides an accurate, intelligent, and safe navigation solution for hip replacement surgery, helping to improve surgical quality, surgical precision, and reduce risks.

[0008] Optionally, establishing the mapping relationship between the marker coordinate system and the image coordinate system through image registration specifically includes: performing coarse registration on the marker coordinate system and the image coordinate system to obtain a first transformation matrix; and performing fine registration on the marker coordinate system and the image coordinate system based on the first transformation matrix to obtain a second transformation matrix.

[0009] By adopting the above technical solution, a strategy combining coarse and fine registration is used to establish the mapping relationship between the marker coordinate system and the image coordinate system. First, coarse registration quickly obtains the first transformation matrix between the two coordinate systems. Then, fine registration is performed based on this to obtain a more accurate second transformation matrix. This step-by-step registration method improves registration accuracy and ensures the real-time performance and reliability of the navigation system. Through two-stage registration, this technical solution establishes a spatial mapping relationship between the marker coordinate system and the image coordinate system, laying the foundation for precise positioning of the implantable prosthesis and smooth surgical navigation.

[0010] Optionally, the coarse registration of the marker coordinate system and the image coordinate system to obtain the first transformation matrix specifically includes: obtaining a first set of points in the image coordinate system and a corresponding second set of points in the marker coordinate system, wherein the first set of points includes multiple first feature points, and the second set of points includes multiple second feature points corresponding to the first feature points, and the number of first feature points and second feature points is the same; constructing a first error function, wherein the first error function includes a transformation matrix, and the first error function represents the sum of errors between each third feature point and its corresponding second feature point after coordinate transformation, wherein the third feature point is the feature point corresponding to the first feature point after transformation by the transformation matrix; solving the first error function to obtain the first transformation matrix, wherein the first transformation matrix is ​​the transformation matrix corresponding to the minimum of the first error function.

[0011] By employing the above technical solution, the initial alignment of the marker coordinate system and the image coordinate system is quickly achieved during coarse registration through feature point matching and error function optimization. First, feature points in both coordinate systems are acquired, establishing a point-to-point correspondence. Then, an error function is constructed, representing the sum of errors between the two sets of feature points after coordinate transformation. Finally, by minimizing the error function, the optimal transformation matrix (the first transformation matrix) is solved, achieving coarse registration between the marker coordinate system and the image coordinate system. This method utilizes limited feature point information to complete coarse registration through mathematical optimization. Simultaneously, the introduction of the error function provides an objective and quantitative evaluation index for coarse registration. By adjusting the transformation matrix to minimize the error, the accuracy and reliability of coarse registration are ensured, providing high-quality basic data for subsequent fine registration, accelerating the response speed of the navigation system, and laying a solid foundation for real-time guided surgery.

[0012] Optionally, the step of performing fine registration of the marker coordinate system and the image coordinate system based on the first transformation matrix to obtain a second transformation matrix specifically includes: obtaining a third set of points in the marker coordinate system; transforming the third set of points to the image coordinate system using the first transformation matrix to obtain a fourth set of points; calculating the distance between the target point and each of the three-dimensional points included in the three-dimensional skeleton model, wherein the target point is any one of the multiple points included in the fourth set of points; sorting the distances by size to obtain the minimum distance, and determining a matching point based on the minimum distance, wherein the matching point is the three-dimensional point in the three-dimensional skeleton model corresponding to the minimum distance; constructing a second error function by using the target point and the matching point as a matching point pair, wherein the second error function represents the sum of the distances between the fourth set of points and the matching point in the three-dimensional skeleton model; solving the second error function to obtain a second transformation matrix, wherein the second transformation matrix is ​​the transformation matrix corresponding to the minimum of the second error function.

[0013] By employing the above technical solution, fine registration of the marker coordinate system and the image coordinate system is achieved based on coarse registration. First, the transformation matrix obtained from coarse registration is applied to the marker coordinate system, transforming it to the image coordinate system. Then, for each transformed target point, the nearest point in the 3D skeletal model is found as the matching point, constructing a matching point pair. Next, an error function is established, representing the sum of distances between the transformed target point and the matching point in the 3D skeletal model. Finally, by minimizing the error function, the second transformation matrix for fine registration is solved. Compared to coarse registration, fine registration considers more point cloud information, further reducing registration errors through dense matching and iterative optimization, providing a more accurate and detailed mapping relationship. Simultaneously, the transformation matrix obtained from fine registration also provides a more precise spatial reference for surgical navigation, making the real-time positioning of handheld tools and the implanted prosthesis more accurate. In summary, the fine registration method improves the spatial mapping accuracy of the navigation system, laying a solid foundation for achieving high-quality surgical guidance.

[0014] Optionally, the step of integrating the patient's position, the tool's position, and the second target position to guide the doctor in performing surgery specifically includes: acquiring the spatial position and posture information of the handheld tool in the surgical space; mapping the spatial position and posture information of the handheld tool to the three-dimensional skeletal model in real time, and updating the virtual position of the handheld tool in the three-dimensional skeletal model.

[0015] By employing the aforementioned technical solution, the spatial position and posture information of the handheld tool are acquired and mapped in real-time to a 3D skeletal model, dynamically updating the tool's position and posture within the model while simultaneously considering the patient's, tool's, and prosthesis's target location. This real-time mapping and virtual display provides surgeons with intuitive and accurate surgical navigation information, significantly improving the precision and safety of the procedure. Surgeons can observe the navigation interface to understand the spatial relationship of the handheld tool relative to the patient's anatomical structures and perform precise operations based on preoperative planning. This technical solution creates an information-rich and user-friendly navigation environment, greatly enhancing the precision, safety, and standardization of hip replacement surgery.

[0016] Optionally, the step of mapping the spatial position and posture information of the handheld tool to the three-dimensional skeletal model in real time and updating the virtual position of the handheld tool in the three-dimensional skeletal model specifically includes: marking multiple optical markers on the handheld tool; capturing multiple optical markers using a binocular vision navigation camera and establishing a handheld tool coordinate system based on the multiple optical markers; and mapping the handheld tool coordinate system to the image coordinate system based on the spatial position and posture information to update the virtual position of the handheld tool in the three-dimensional skeletal model.

[0017] By employing the above technical solution, a tracking scheme based on binocular vision and optical markers is used to achieve real-time mapping between the handheld tool and the 3D skeletal model. First, multiple optical markers are marked on the handheld tool, forming a specific geometric distribution. Then, these optical markers are captured in real-time by a binocular vision navigation camera, establishing a coordinate system for the handheld tool. Finally, based on position and pose information, the coordinate system of the handheld tool is mapped to the image coordinate system, achieving real-time positioning and rendering of the handheld tool within the 3D skeletal model. This technical solution achieves high-precision tracking of the handheld tool, meeting the real-time and accuracy requirements of surgical navigation.

[0018] Optionally, after guiding the doctor to perform the hip replacement surgery by combining the patient's position, the tool's position, and the second target position, the method further includes: acquiring key parameters of the handheld tool, including the applied force, operating angle, and cutting depth; determining whether the key parameters are greater than or equal to a preset safety threshold; and issuing a warning message to the doctor if the key parameters are determined to be greater than or equal to the preset safety threshold.

[0019] By employing the above-mentioned technical solution, key parameters of the handheld tool, such as applied force, operating angle, and cutting depth, are acquired during the hip replacement surgery procedure, and these parameters are monitored and alerted in real time. By setting preset safety thresholds, the system determines whether the current surgical operation exceeds these thresholds. If an exceedance is detected, a warning message is sent to the surgeon, reminding them to adjust the surgical procedure. Through real-time monitoring and alerts of the key parameters of the handheld tool, this technical solution forms a comprehensive safety protection mechanism, minimizing human error and operational risks, and providing patients with safer and more reliable hip replacement treatment.

[0020] A second aspect of this application provides a navigation device for hip replacement surgery, the device comprising an acquisition module and a processing module, wherein: the acquisition module is configured to acquire a three-dimensional skeletal model of the patient before hip replacement surgery and a first target position of the patient's prosthesis to be implanted in the three-dimensional skeletal model; the processing module is configured to determine multiple reference marker points in the surgical space and establish a marker coordinate system based on the multiple reference marker points; the acquisition module is further configured to acquire the patient's position and the tool position of a handheld tool in a handheld power system in the surgical space; the processing module is further configured to establish a mapping relationship between the marker coordinate system and the image coordinate system through image registration, the image registration including coarse registration and fine registration, the image coordinate system being the coordinate system of the three-dimensional skeletal model; the processing module is further configured to determine a second target position of the prosthesis to be implanted in the surgical space based on the mapping relationship; the processing module is further configured to guide the surgeon in performing the hip replacement surgery by combining the patient's position, the tool position, and the second target position.

[0021] A third aspect of this application provides an electronic device including a processor, a memory, a user interface, and a network interface, wherein the memory is used to store instructions, the user interface and the network interface are both used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any of the foregoing.

[0022] A fourth aspect of this application provides a computer-readable storage medium storing instructions that, when executed, perform the method described in any of the preceding descriptions.

[0023] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0024] 1. By acquiring a 3D skeletal model of the patient before hip replacement surgery and the first target position of the prosthesis to be implanted, a marked coordinate system is established in the surgical space, and the real-time positions of the patient and handheld instruments are obtained. Then, through image registration, a mapping relationship between the marked coordinate system and the image coordinate system is established, thereby determining the second target position of the prosthesis in the surgical space. Finally, by combining the patient position, instrument position, and second target position, the method guides the surgeon to perform a precise hip replacement surgery. This method utilizes 3D modeling and navigation technology to provide surgeons with intuitive and real-time surgical guidance, enabling precise control of the implantation position and angle of the prosthesis, reducing surgical errors. Simultaneously, by establishing a mapping relationship between the surgical space and the image space, seamless integration of surgical navigation and preoperative planning is achieved, improving the planning and controllability of the surgery. Under the guidance of the navigation system, surgeons can complete key surgical steps more accurately and safely. In summary, this method provides an accurate, intelligent, and safe navigation solution for hip replacement surgery, helping to improve surgical quality, surgical precision, and reduce risks.

[0025] 2. During coarse registration, the initial alignment of the marker coordinate system and the image coordinate system is quickly achieved through feature point matching and error function optimization. First, feature points in both coordinate systems are acquired, establishing a point-to-point correspondence. Then, an error function is constructed, representing the sum of errors between the two sets of feature points after coordinate transformation. Finally, by minimizing the error function, the optimal transformation matrix (the first transformation matrix) is obtained, achieving coarse registration between the marker coordinate system and the image coordinate system. This method utilizes limited feature point information to complete coarse registration through mathematical optimization. Simultaneously, the introduction of the error function provides an objective and quantitative evaluation index for coarse registration. By adjusting the transformation matrix to minimize the error, the accuracy and reliability of coarse registration are ensured, providing high-quality basic data for subsequent fine registration, accelerating the response speed of the navigation system, and laying a solid foundation for real-time guided surgery.

[0026] 3. Building upon coarse registration, fine registration between the marker coordinate system and the image coordinate system is achieved. First, the transformation matrix obtained from coarse registration is applied to the marker coordinate system, transforming it to the image coordinate system. Then, for each transformed target point, the nearest point in the 3D skeletal model is found as the matching point, constructing a matching point pair. Next, an error function is established, representing the sum of distances between the transformed target point and the matching point in the 3D skeletal model. Finally, by minimizing the error function, the second transformation matrix for fine registration is obtained. Compared to coarse registration, fine registration considers more point cloud information. Through dense matching and iterative optimization, it further reduces registration errors and provides a more accurate and detailed mapping relationship. Simultaneously, the transformation matrix obtained from fine registration provides a more precise spatial reference for surgical navigation, making the real-time positioning of handheld tools and the implanted prosthesis more accurate. In summary, the fine registration method improves the spatial mapping accuracy of the navigation system, laying a solid foundation for achieving high-quality surgical guidance. Attached Figure Description

[0027] Figure 1 This is a schematic flowchart of a navigation method for hip replacement surgery disclosed in an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of a navigation method for hip replacement surgery disclosed in an embodiment of this application;

[0029] Figure 3 This is another product schematic diagram of a navigation method for hip replacement surgery disclosed in an embodiment of this application;

[0030] Figure 4 This is a schematic diagram of a navigation device for hip replacement surgery disclosed in an embodiment of this application;

[0031] Figure 5 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application.

[0032] Explanation of reference numerals in the attached drawings: 401, acquisition module; 402, processing module; 500, electronic device; 501, processor; 502, communication bus; 503, user interface; 504, network interface; 505, memory. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0034] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0035] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. 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 indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0036] This application provides a navigation method for hip replacement surgery, referring to... Figure 1 , Figure 1 This is a flowchart illustrating a navigation method for hip replacement surgery provided in an embodiment of this application. The method is applied to a server. In this embodiment, the server is a type of computer hardware used to provide background services for the hip replacement surgery navigation program. The server can be a single server, a server cluster consisting of multiple servers, or a cloud computing service center. The method includes steps S101 to S106, as follows:

[0037] Step S101: Obtain the three-dimensional skeletal model of the patient before hip replacement surgery and the first target position of the patient's implantable prosthesis in the three-dimensional skeletal model.

[0038] In step S101, firstly, a doctor performs a CT or MRI scan on the patient to obtain tomographic images of the patient's hip joint area. These tomographic images are then transmitted to a server via a network. The transmission method can be wireless communication, wired communication, Bluetooth, or WiFi. Wireless communication involves sending images to the server via a wireless network (such as WLAN or cellular network); wired communication involves transmitting images from the imaging device to the server via a dedicated fiber optic cable or Ethernet network; Bluetooth establishes a connection between the imaging device and the server and transmits images; and WiFi sends images to the server via WiFi. After receiving the images, the server uses image processing algorithms, such as threshold segmentation, to extract the bone contours from the tomographic images. Based on the extracted bone contours, the server uses a 3D reconstruction algorithm, such as Marching Cubes, to generate a 3D bone model of the patient's hip joint area.

[0039] Simultaneously, the server obtains the first target position of the patient's implantable prosthesis in a three-dimensional skeletal model. The first target position refers to the ideal placement and orientation of the prosthesis to achieve optimal biomechanical performance. This first target position is predetermined by the doctor and transmitted to the server.

[0040] Step S102: Determine multiple reference marker points in the surgical space, and establish a marker coordinate system based on the multiple reference marker points.

[0041] In step S102, before the surgery begins, the surgeon installs multiple reference markers on the skin surface of the patient's hip. These reference markers can be skin-attached patches. An optical navigation system, including an infrared camera and workstation, is set up in the surgical space. The infrared camera is aimed at the surgical area and tracks the position of the reference markers in real time. The optical navigation system uses stereoscopic vision technology, capturing images of the reference markers from different angles using two or more cameras to obtain their three-dimensional spatial coordinates. The optical navigation system transmits the acquired reference marker position data to a server. The server selects at least three non-collinear points from the reference marker position data as target reference markers. The server establishes a three-dimensional coordinate system, i.e., the marker coordinate system, with one of the target reference markers as the origin.

[0042] Step S103: Obtain the patient's position and the tool position of the handheld tool in the handheld power system within the surgical space.

[0043] In step S103, as Figure 2 As shown, Figure 2This embodiment of the application shows a product diagram of the handheld power system. The server also installs corresponding reference markers on the handheld tool of the handheld power system. An optical tracking system, including multiple infrared cameras and a workstation, is set up in the surgical space. The cameras are aimed at the surgical area to collect real-time position information of the patient and the markers on the tool. The optical tracking system uses spatial geometry and triangulation algorithms to calculate the three-dimensional coordinates of each reference marker. The optical tracking system transmits the collected position data to the server, using the three-dimensional coordinates of the patient's reference markers as the patient's position and the three-dimensional coordinates of the handheld tool's reference markers as the tool's position.

[0044] In one possible implementation, such as Figure 2 and Figure 3 As shown, the handheld tool is an electric bone drill 1, which includes a housing 6, a battery box 12, a navigation and tracking device 3, and a power assembly. The battery box 12 is detachably installed at the lower part of the housing 6. Specifically, the battery box 12 is installed at the lower part of the housing 6 via a sliding groove and is detached via a button 11. In this embodiment, the battery box 12 has wireless communication capabilities. The navigation and tracking device 3 is fixedly installed at the tail of the electric bone drill 1. The navigation and tracking device 3 also includes a signal receiver 5. The signal receiver 5 is installed inside the housing 6 and sealed by a rear cover 4. Four tracking reflectors 2 are provided at the front and rear of the navigation and tracking device 3. The power assembly includes a motor 15, a bearing 7, an output shaft 8, a release sleeve 9, and a connector shaft 10. Different drill bits with different functions are replaceably installed on the connector shaft 10. A trigger 14 and a safety button 15 are provided on the handheld part of the housing 6. The motor 15 is either a stepper motor or a servo motor, which is not limited here.

[0045] Step S104: Establish the mapping relationship between the marker coordinate system and the image coordinate system through image registration. Image registration includes coarse registration and fine registration. The image coordinate system is the coordinate system where the three-dimensional skeleton model is located.

[0046] In step S104, coarse registration is performed on the marker coordinate system and the image coordinate system to obtain the first transformation matrix; based on the first transformation matrix, fine registration is performed on the marker coordinate system and the image coordinate system to obtain the second transformation matrix.

[0047] In one possible implementation, coarse registration is performed between the marker coordinate system and the image coordinate system to obtain a first transformation matrix. Specifically, this includes: obtaining a first set of points in the image coordinate system and a corresponding second set of points in the marker coordinate system; the first set of points includes multiple first feature points, and the second set of points includes multiple second feature points corresponding to the first feature points, with the number of first and second feature points being the same; constructing a first error function, which includes a transformation matrix, representing the sum of errors between each third feature point and its corresponding second feature point after coordinate transformation; and solving the first error function to obtain a first transformation matrix, which is the transformation matrix corresponding to the minimum first error function.

[0048] Specifically, in the image coordinate system, the server selects a set of feature points as the first set of points P, denoted as {p1, p2, ..., pn}. These feature points are obvious anatomical landmarks on the 3D skeletal model, such as the edge of the acetabulum and the center of the femoral head. In the marker coordinate system, the server collects the second set of points Q corresponding to the first set of points, denoted as {q1, q2, ..., qn}. This step can be achieved by manually marking and uploading to the server or by the server automatically recognizing the points. The first set of points includes multiple first feature points, and the second set of points includes multiple second feature points. The number of first feature points is the same as the number of second feature points, and each first feature point corresponds one-to-one with each second feature point.

[0049] Next, the server constructs a first error function E(T), representing the sum of errors between the third set of points S and the second set of points Q obtained after transforming the first set of points P. Wherein:

[0050] ;

[0051] Where E(T) is the first error function, T is the transformation matrix to be determined, pi is the i-th first feature point in P, qi is the i-th first feature point in Q, and ||.|| represents the Euclidean distance.

[0052] The server represents the transformation matrix T as a homogeneous transformation matrix containing the rotation matrix R and the translation vector t. T = [R, t; 0, 1], where R is a 3x3 rotation matrix and t is a 3x1 translation vector. The server uses Singular Value Decomposition (SVD) to solve for the first transformation matrix T1 that minimizes the error function E(T). Specifically, the server calculates the center point p of P and Q. m and q m And compute the decentralized point sets P' and Q', i.e., p'i = pi - p m , q'=qi-q m Next, the server calculates matrix H.

[0053] ;

[0054] Here, ^T denotes the transpose matrix. After obtaining matrix H, the server performs singular value decomposition on matrix H, resulting in H = U * ∑ * V^T, where U and V are orthogonal matrices, and ∑ is a diagonal matrix. Based on this, the server calculates the rotation matrix R = V * U^T and the translation vector t = q. m -R*p m The calculated rotation matrix R and translation vector t are then combined into a first transformation matrix T1, where T1 = [R, t; 0, 1].

[0055] In one possible implementation, based on the first transformation matrix, the marker coordinate system and the image coordinate system are precisely registered to obtain a second transformation matrix. Specifically, this includes: obtaining a third set of points in the marker coordinate system; transforming the third set of points to the image coordinate system using the first transformation matrix to obtain a fourth set of points; calculating the distance between the target point and each of the three-dimensional points included in the 3D skeleton model, where the target point is any one of the multiple points included in the fourth set; sorting the distances by size to obtain the minimum distance, and determining the matching point based on the minimum distance, where the matching point is the 3D point in the 3D skeleton model corresponding to the minimum distance; constructing a second error function using the target point and the matching point as a matching point pair, where the second error function represents the sum of the distances between the fourth set of points and the matching point in the 3D skeleton model; and solving the second error function to obtain the second transformation matrix, which is the transformation matrix corresponding to the minimum value of the second error function.

[0056] Specifically, during the fine registration process, the server acquires a new set of points on the patient's bone surface, serving as the third set of points. These points can be obtained using probes from the surgical navigation system. The third set of points is typically large, distributed across different areas of the bone surface to provide sufficient registration information. Using the first transformation matrix obtained from coarse registration, the server transforms the third set of points from the marker coordinate system to the image coordinate system, resulting in the fourth set of points. The fourth set of points corresponds one-to-one with the third set, but due to errors in the first transformation matrix, their positions in the image coordinate system still deviate from their actual positions. Therefore, the server iterates through each point in the fourth set, treating it as a target point. For each target point, it calculates its distance to all points in the 3D bone model, using Euclidean distance. The server sorts the calculated distances, finds the minimum distance, and uses the 3D point in the 3D bone model corresponding to the minimum distance as the matching point. The matching point is the point on the 3D bone model closest to the target point, representing the ideal position of the target point on the 3D bone model. The server pairs each target point with its corresponding matching point and constructs a second error function, which represents the sum of distances between all matching point pairs. The second error function includes a new transformation matrix, which iterates over the first transformation matrix. The formula for the second iteration function is as follows:

[0057] ;

[0058] Where T is the transformation matrix, the initial value is the first transformation matrix, αi is the i-th point in the third group of points, and βi is the matching point corresponding to the i-th target point.

[0059] The server finds the optimal transformation matrix, or second transformation matrix, by minimizing the second error function. The optimization process is iterative, updating the transformation matrix in each iteration to continuously reduce the distance between the target point and the matching point. This iteration continues until the error meets the convergence condition or the maximum number of iterations is reached. The final transformation matrix obtained is the second transformation matrix.

[0060] Step S105: Determine the second target position of the implant to be placed in the surgical space based on the mapping relationship.

[0061] In step S105, the server transforms the first target position from the image coordinate system to the marked coordinate system based on the mapping relationship between the marked coordinate system and the image coordinate system established using image registration in step S104, i.e., the second transformation matrix, thereby obtaining the position and orientation of the prosthesis to be implanted in the marked coordinate system. The transformed position and orientation represent the target position of the prosthesis to be implanted relative to the patient's actual anatomical structure, i.e., the second target position.

[0062] Step S106: Based on the patient's position, the tool's position, and the second target position, guide the doctor to perform the hip replacement surgery.

[0063] In step S106, the spatial position and posture information of the handheld tool in the surgical space are obtained; the spatial position and posture information of the handheld tool are mapped to the three-dimensional skeleton model in real time, and the virtual position of the handheld tool in the three-dimensional skeleton model is updated.

[0064] In one possible implementation, the spatial position and posture information of the handheld tool are mapped to the three-dimensional skeletal model in real time, and the virtual position of the handheld tool in the three-dimensional skeletal model is updated. Specifically, this includes: marking multiple optical markers on the handheld tool; capturing multiple optical markers using a binocular vision navigation camera and establishing a handheld tool coordinate system based on the multiple optical markers; and mapping the handheld tool coordinate system to the image coordinate system based on the spatial position and posture information to update the virtual position of the handheld tool in the three-dimensional skeletal model.

[0065] Specifically, optical markers are manually installed on each handheld tool. A binocular vision navigation camera is set up in the operating room. The binocular vision navigation camera acquires images of the surgical space using infrared or visible light, capturing the optical markers on the handheld tool in real time and transmitting the image data to the server for processing. Based on the two-dimensional information in the image data, the server calculates the three-dimensional coordinates of each marker using triangulation principles and establishes a handheld tool coordinate system using the known relative positions of the optical markers on the handheld tool. The server uses the mapping relationship (second transformation matrix) between the marker coordinate system and the image coordinate system established in step S104 to associate the handheld tool coordinate system with the image coordinate system. Through this mapping relationship, the server transforms the position and orientation information of the handheld tool from the handheld tool coordinate system to the image coordinate system. The transformed position and orientation information represents the real-time position and orientation of the handheld tool relative to the patient's three-dimensional skeletal model. The server fuses the transformed handheld tool position and orientation information with the three-dimensional skeletal model to generate a virtual representation of the handheld tool within the three-dimensional skeletal model. The virtual handheld tool, along with the three-dimensional skeletal model, is displayed on the navigation system's screen, reflecting the real-time position and orientation of the handheld tool relative to the patient's anatomical structures. The server updates the position and orientation of the virtual handheld tool at a certain frequency (e.g., 40 frames per second) to ensure that the navigation information is synchronized with the actual surgical procedure.

[0066] In one possible implementation, after step S106, the method further includes: acquiring key parameters of the handheld tool, including the applied force, operating angle, and cutting depth; determining whether the key parameters are greater than or equal to a preset safety threshold; and if the key parameters are determined to be greater than or equal to the preset safety threshold, issuing a warning message to the doctor.

[0067] Specifically, the server acquires key parameters of the handheld tool in real time, such as the applied force, operating angle, and cutting depth, through sensors and data acquisition devices. The applied force, in this embodiment, can be understood as the force applied by the surgeon to the tool during surgery, typically measured using a force sensor, and measured in Newtons (N). The operating angle, in this embodiment, can be understood as the spatial orientation of the handheld tool relative to the patient's anatomical structure, calculated using the navigation system's tracking device and coordinate transformation, and measured in degrees (°). The cutting depth, in this embodiment, can be understood as the depth to which the handheld tool cuts, drills, or performs other operations on bone or soft tissue, measured using the navigation system's virtual scene and tomographic images, and measured in millimeters (mm). The server compares the acquired key parameters with preset safety thresholds in real time to determine if any exceedances are possible. The preset safety thresholds are pre-set based on factors such as the type of surgery, patient condition, medical experience, and guidelines, representing the safe range for surgical operations. For the applied force, the preset safety threshold is typically an upper limit, such as 50 Newtons; exceeding this value may cause excessive stress to the bone tissue, leading to fractures or other injuries. Regarding the operating angle, the preset safety threshold is usually a range of angles, such as ±5 degrees. Exceeding this range may deviate from the optimal surgical path and increase the risk of complications. Regarding the preset safety threshold, it is usually an upper limit of depth, such as 10 millimeters. Exceeding this depth may damage critical anatomical structures, such as nerves and blood vessels.

[0068] If the server determines that any critical parameter exceeds a preset safety threshold, it will send a warning message to the doctor, reminding them to adjust the surgical procedure. The warning message can be presented in various ways, such as text prompts on the navigation display, sound alarms, or vibration feedback, ensuring that the doctor can detect it promptly.

[0069] Reference Figure 4This application also provides a navigation device for hip replacement surgery. The device is a server, comprising an acquisition module 401 and a processing module 402. The acquisition module 401 acquires a three-dimensional skeletal model of the patient before hip replacement surgery and a first target position of the patient's implantable prosthesis within the three-dimensional skeletal model. The processing module 402 determines multiple reference marker points in the surgical space and establishes a marker coordinate system based on these reference marker points. The acquisition module 401 also acquires the patient's position and the position of the handheld tool in the handheld power system within the surgical space. The processing module 402 further establishes a mapping relationship between the marker coordinate system and the image coordinate system through image registration, including coarse registration and fine registration, with the image coordinate system being the coordinate system of the three-dimensional skeletal model. The processing module 402 also determines a second target position of the implantable prosthesis in the surgical space based on the mapping relationship. Finally, the processing module 402 integrates the patient's position, the tool's position, and the second target position to guide the surgeon in performing the hip replacement surgery.

[0070] In one possible implementation, the processing module 402 establishes a mapping relationship between the marker coordinate system and the image coordinate system through image registration. Specifically, the processing module 402 performs coarse registration on the marker coordinate system and the image coordinate system to obtain a first transformation matrix; and the processing module 402 performs fine registration on the marker coordinate system and the image coordinate system based on the first transformation matrix to obtain a second transformation matrix.

[0071] In one possible implementation, the processing module 402 performs coarse registration of the marker coordinate system and the image coordinate system to obtain a first transformation matrix. Specifically, this includes: the acquisition module 401 acquiring a first set of points in the image coordinate system and a corresponding second set of points in the marker coordinate system. The first set of points includes multiple first feature points, and the second set of points includes multiple second feature points corresponding to the first feature points. The number of first feature points and second feature points is the same. The processing module 402 constructs a first error function, which includes a transformation matrix. The first error function represents the sum of errors between each third feature point and its corresponding second feature point after coordinate transformation. The third feature point is the feature point corresponding to the first feature point after transformation by the transformation matrix. The processing module 402 solves the first error function to obtain a first transformation matrix, which is the transformation matrix corresponding to the minimum first error function.

[0072] In one possible implementation, the processing module 402 performs fine registration of the marker coordinate system and the image coordinate system based on the first transformation matrix to obtain a second transformation matrix. Specifically, this includes: the acquisition module 401 acquiring a third set of points in the marker coordinate system, transforming the third set of points to the image coordinate system using the first transformation matrix to obtain a fourth set of points; the processing module 402 calculating the distance between the target point and each of the three-dimensional points included in the three-dimensional skeleton model, where the target point is any one of the multiple points included in the fourth set of points; the processing module 402 sorting the distances by size to obtain the minimum distance, and determining the matching point based on the minimum distance, where the matching point is the three-dimensional point in the three-dimensional skeleton model corresponding to the minimum distance; the processing module 402 constructing a second error function by using the target point and the matching point as a matching point pair, where the second error function represents the sum of the distances between the fourth set of points and the matching points in the three-dimensional skeleton model; and the processing module 402 solving the second error function to obtain a second transformation matrix, which is the transformation matrix corresponding to the minimum of the second error function.

[0073] In one possible implementation, the processing module 402 integrates the patient's position, the tool's position, and the second target position to guide the doctor in performing the surgery. Specifically, the processing module 402 acquires the spatial position and posture information of the handheld tool in the surgical space, and maps the spatial position and posture information of the handheld tool to the three-dimensional skeleton model in real time, and updates the virtual position of the handheld tool in the three-dimensional skeleton model.

[0074] In one possible implementation, the processing module 402 maps the spatial position and posture information of the handheld tool to the three-dimensional skeletal model in real time and updates the virtual position of the handheld tool in the three-dimensional skeletal model. Specifically, the processing module 402 marks multiple optical markers on the handheld tool; the processing module 402 captures multiple optical markers through a binocular vision navigation camera and establishes a coordinate system for the handheld tool based on the multiple optical markers; the processing module 402 maps the coordinate system of the handheld tool to the image coordinate system based on the spatial position and posture information to update the virtual position of the handheld tool in the three-dimensional skeletal model.

[0075] In one possible implementation, after the processing module 402 guides the doctor to perform hip replacement surgery by integrating the patient's position, the tool's position, and the second target position, the method further includes: the acquisition module 401 acquiring key parameters of the handheld tool, including the applied force, the operating angle, and the cutting depth; the processing module 402 determining whether the key parameters are greater than or equal to a preset safety threshold; and if it is determined that the key parameters are greater than or equal to the preset safety threshold, issuing a warning message to the doctor.

[0076] It should be noted that the above embodiments of the apparatus are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0077] This application also provides an electronic device. (See reference...) Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 500 may include: at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502.

[0078] The communication bus 502 is used to enable communication between these components.

[0079] The user interface 503 may include a display screen and a camera. Optionally, the user interface 503 may also include a standard wired interface and a wireless interface.

[0080] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0081] The processor 501 may include one or more processing cores. The processor 501 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 505, and by calling data stored in memory 505. Optionally, the processor 501 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 501 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 501 and may be implemented as a separate chip.

[0082] The memory 505 may include random access memory (RAM) or read-only memory. Optionally, the memory 505 may include a non-transitory computer-readable storage medium. The memory 505 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 505 may also be at least one storage device located remotely from the aforementioned processor 501. (Refer to...) Figure 5 The memory 505, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a navigation method used in hip replacement surgery.

[0083] exist Figure 5In the illustrated electronic device 500, the user interface 503 is mainly used to provide an input interface for the user and to acquire user input data; while the processor 501 can be used to call an application program for a navigation method for hip replacement surgery stored in the memory 505. When executed by one or more processors 501, the electronic device 500 performs one or more of the methods described in the above embodiments. It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0084] This application also provides a computer-readable storage medium storing instructions. When executed by one or more processors 501, these instructions cause an electronic device 500 to perform one or more of the methods described in the above embodiments.

[0085] It should be noted that specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0086] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0087] In the various embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0088] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0089] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0090] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0091] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will be readily apparent to those skilled in the art upon consideration of the specification disclosure.

[0092] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A navigation device for hip replacement surgery, the device comprising an acquisition module (401) and a processing module (402), wherein: the acquisition module (401) is configured to acquire a three-dimensional bone model of a patient before hip replacement surgery and a first target position of a prosthesis to be implanted in the three-dimensional bone model; the processing module (402) is configured to determine a plurality of reference marker points in a surgical space and to establish a marker coordinate system according to the plurality of reference marker points; the acquisition module (401) is further configured to acquire a patient position of the patient and a tool position of a handheld tool in a handheld power device in the surgical space; the processing module (402) is further configured to establish a mapping relationship between the marker coordinate system and an image coordinate system by image registration, the image registration comprising coarse registration and fine registration, and the image coordinate system being a coordinate system in which the three-dimensional bone model is located; the processing module (402) is further configured to determine a second target position of the prosthesis to be implanted in the surgical space according to the mapping relationship; the processing module (402) is further configured to guide a doctor to perform hip replacement surgery by synthesizing the patient position, the tool position, and the second target position; and the processing module (402) establishes the mapping relationship between the marker coordinate system and the image coordinate system by image registration, and specifically comprises: the processing module (402) performs coarse registration on the marker coordinate system and the image coordinate system to obtain a first transformation matrix; the processing module (402) performs fine registration on the marker coordinate system and the image coordinate system on the basis of the first transformation matrix to obtain a second transformation matrix; the processing module (402) performs coarse registration on the marker coordinate system and the image coordinate system to obtain a first transformation matrix, and specifically comprises: the acquisition module (401) acquires a first group of points of the image coordinate system and a corresponding second group of points in the marker coordinate system, the first group of points comprising a plurality of first feature points, and the second group of points comprising a plurality of second feature points corresponding to the first feature points, the number of the first feature points being the same as that of the second feature points; the processing module (402) constructs a first error function, the first error function comprising a transformation matrix, and the first error function representing a sum of errors of each third feature point and a corresponding second feature point after coordinate transformation, the third feature point being a feature point corresponding to the first feature point after transformation by the transformation matrix; the processing module (402) solves the first error function to obtain the first transformation matrix, the first transformation matrix being a transformation matrix corresponding to a minimum value of the first error function; the processing module (402) performs fine registration on the marker coordinate system and the image coordinate system on the basis of the first transformation matrix to obtain the second transformation matrix, and specifically comprises: the acquisition module (401) acquires a third group of points of the marker coordinate system, and converts the third group of points to a fourth group of points in the image coordinate system by the first transformation matrix; the processing module (402) calculates distances between a target point and each three-dimensional point included in the three-dimensional bone model, the target point being any one of a plurality of points included in the fourth group of points; and the processing module (402) sorts the distances in size to obtain a minimum distance, and determines a matching point according to the minimum distance, the matching point being a three-dimensional point in the three-dimensional bone model corresponding to the minimum distance. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The processing module (402) constructs a second error function by taking the target points and the matching points as matching point pairs, the second error function representing a sum of distances between the fourth set of points and the matching points in the three-dimensional bone model; The processing module (402) solves the second error function to obtain a second transformation matrix, the second transformation matrix being a transformation matrix corresponding to a minimum of the second error function.

2. The apparatus of claim 1, wherein, The processing module (402) guides the doctor to perform the hip replacement surgery by comprehensively considering the patient position, the tool position and the second target position, specifically including: The acquisition module (401) acquires spatial position and attitude information of the handheld tool in the surgery space; The processing module (402) maps the spatial position and attitude information of the handheld tool with the three-dimensional bone model in real time, and updates a virtual position of the handheld tool in the three-dimensional bone model.

3. The apparatus of claim 2, wherein, The processing module (402) maps the spatial position and attitude information of the handheld tool with the three-dimensional bone model in real time, and updates a virtual position of the handheld tool in the three-dimensional bone model, specifically including: The processing module (402) marks a plurality of optical markers on the handheld tool; The processing module (402) captures the plurality of optical markers by using a binocular vision navigation camera, and establishes a handheld tool coordinate system according to the plurality of optical markers; The processing module (402) maps the handheld tool coordinate system and an image coordinate system according to the spatial position and attitude information, to update the virtual position of the handheld tool in the three-dimensional bone model.

4. The apparatus of claim 1, wherein, After the processing module (402) guides the doctor to perform the hip replacement surgery by comprehensively considering the patient position, the tool position and the second target position, the method further includes: The acquisition module (401) acquires key parameters of the handheld tool, the key parameters including a force application size, an operation angle and a cutting depth; The processing module (402) determines whether the key parameters are greater than or equal to a preset safety threshold; and if it is determined that the key parameters are greater than or equal to the preset safety threshold, the processing module (402) sends warning information to the doctor.

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