Intraoperative three-dimensional data acquisition equipment

Abstract

The invention relates to the technical field of medical digital imaging and surgical navigation, and discloses intraoperative three-dimensional data acquisition equipment, which can realize high-precision three-dimensional data acquisition of an intraoperative target under the condition of no ionizing radiation by integrating a structured light projection imaging module, an optical tracking module and a data processing module; the structured light module rapidly obtains dense full-field three-dimensional point cloud data, the optical tracking module calculates the six-degree-of-freedom pose of the device relative to an operation coordinate system in real time, the data processing module establishes rigid transformation between a structured light local coordinate system and the operation coordinate system, point cloud is aligned and fused, and the three-dimensional point cloud is obtained. And outputting the standardized three-dimensional data to a navigation / robot system. According to the method, the radiation risk is remarkably reduced, the data acquisition efficiency and the registration precision are greatly improved, the three-dimensional information of the implant or the anatomical structure can be dynamically updated in real time, the method is particularly suitable for scenes needing to quantify shapes and poses, and the accuracy and the safety of surgical navigation are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical digital imaging and surgical navigation, and in particular to a three-dimensional data acquisition device and method for acquiring a target three-dimensional surface point cloud in a rapid, non-contact and non-ionizing radiation manner and real-time alignment in a surgical coordinate system during surgery. BACKGROUND

[0002] In computer-assisted surgery and robot-assisted surgery, the navigation system needs to continuously obtain the real three-dimensional information of the anatomical structure and the implant in the surgical field to support path planning, posture correction and assembly evaluation. Existing solutions mainly include: first, using a positioning pointer to sample point by point to measure the contour and register with the preoperative image. This method is tedious, sparse and discontinuous; second, relying on intraoperative C-arm / CT rescan to infer the position of the implant, but the device is large in size, there is ionizing radiation, and it is difficult to obtain shape details at high frequency. Especially in the context of adjusting the spinal rod system, the pre-bent connecting rod needs to be matched with the spatial position of the implanted screw with high precision. Traditional methods are difficult to quantify the curvature and spatial trend of the connecting rod in real time, which is prone to matching deviation. Therefore, there is an urgent need for a device and method that can quickly acquire high-precision three-dimensional point cloud in the surgical field and real-time alignment in the surgical coordinate system. SUMMARY

[0003] The present application provides an intraoperative three-dimensional data acquisition device to solve the defects of the prior art.

[0004] The present application provides an intraoperative three-dimensional data acquisition device, comprising:

[0005] A structured light projection imaging module for acquiring three-dimensional point cloud data of an intraoperative target;

[0006] An optical tracking module, the optical tracking module and the structured light projection imaging module are integrated together, the optical tracking module is used for acquiring six-degree-of-freedom pose data of itself in the surgical coordinate system;

[0007] A data processing module, the data processing module is in communication connection with the optical tracking module and the structured light projection imaging module respectively, the data processing module is used for receiving the three-dimensional point cloud data of the intraoperative target and the six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system, and aligning and fusing the three-dimensional point cloud data of the intraoperative target with the six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system to obtain three-dimensional data of the intraoperative target, and transmitting the three-dimensional data of the intraoperative target to a surgical navigation system.

[0008] The application provides an intraoperative three-dimensional data acquisition device, a structured light projection imaging module comprises a structured light projector, an imaging device and a three-dimensional reconstruction module, the structured light projector is fixedly connected with the imaging device, a fixed coordinate conversion relationship is arranged between the relative position and the baseline distance of the structured light projector and the imaging device, the imaging device is in communication connection with the three-dimensional reconstruction module, the structured light projector is used for projecting a preset grating coding pattern to the surface of an intraoperative target, the imaging device is used for capturing a deformed pattern of the surface of the intraoperative target after modulation, and the three-dimensional reconstruction module is used for receiving the deformed pattern of the surface of the intraoperative target after modulation, and performing structured light decoding and three-dimensional reconstruction based on the deformed pattern to obtain three-dimensional point cloud data of the intraoperative target.

[0009] The application provides an intraoperative three-dimensional data acquisition device, an optical tracking module comprises an NDI optical tracking camera device and a plurality of NDI optical reflective marker balls, the plurality of NDI optical reflective marker balls form a specific spatial layout and are located in the visual range of the NDI optical tracking camera device, the NDI optical tracking camera device is used for emitting infrared light and receiving infrared light reflected by the plurality of NDI optical reflective marker balls to identify the spatial positions of the plurality of NDI optical reflective marker balls in real time, and then six-degree-of-freedom pose data of the optical tracking module in a surgical coordinate system is obtained in real time.

[0010] The application provides an intraoperative three-dimensional data acquisition device, the specific spatial layout formed by the plurality of NDI optical reflective marker balls is a non-collinear layout.

[0011] The application provides an intraoperative three-dimensional data acquisition device, the six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system comprises position data and orientation data of the optical tracking module in the surgical coordinate system.

[0012] The application provides an intraoperative three-dimensional data acquisition device, further comprising a handheld shell, one end of the handheld shell is fixedly connected with the optical tracking module, the other end of the handheld shell is fixedly connected with the structured light projection imaging module, and the data processing module is arranged in the handheld shell.

[0013] The application provides an intraoperative three-dimensional data acquisition device, the plurality of NDI optical reflective marker balls in the optical tracking module are detachably fixed to one end of the handheld shell.

[0014] The intraoperative three-dimensional data acquisition device provided by the application further comprises a communication module, which is arranged in the handheld shell and is used to realize the communication connection between the data processing module and the optical tracking module and the structured light projection imaging module.

[0015] The application further provides an intraoperative three-dimensional data acquisition method realized by the intraoperative three-dimensional data acquisition device.

[0016] The internal parameters and external parameters of the structured light projection imaging module are calibrated to determine the local coordinate system thereof;

[0017] The relationship between the surgical coordinate system and the optical tracking module is calibrated;

[0018] The rigid transformation relationship between the local coordinate system of the structured light projection imaging module and the optical tracking module in the surgical coordinate system is established;

[0019] The three-dimensional point cloud data of the intraoperative target is acquired by using the structured light projection imaging module;

[0020] The six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system is acquired by using the optical tracking module;

[0021] Based on the rigid transformation relationship between the local coordinate system of the structured light projection imaging module and the optical tracking module in the surgical coordinate system, the three-dimensional point cloud data of the intraoperative target and the six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system are aligned and fused to obtain the three-dimensional data of the intraoperative target.

[0022] The application further provides a surgical navigation method, which comprises the following steps.

[0023] The three-dimensional data of the intraoperative target is obtained based on the above-mentioned intraoperative three-dimensional data acquisition method;

[0024] The navigation parameters are updated and / or the surgical navigation scheme is adjusted according to the three-dimensional data of the intraoperative target.

[0025] The application has at least the following beneficial effects:

[0026] (1) High precision and high efficiency: the structured light realizes dense three-dimensional point cloud reconstruction, and the six-degree-of-freedom pose measurement of the optical tracking ensures the high-precision alignment / recalibration of the point cloud and the surgical coordinate system;

[0027] (2) Real-time dynamic: the target shape can be refreshed in real time according to the change of the surgical field and fed back to the navigation system in a closed loop;

[0028] (3) No radiation, easy to deploy: the optical scheme is adopted to avoid ionizing radiation and reduce the complexity of equipment occupation and arrangement;

[0029] (4) Good scalability: modular, standardized interface can be connected with multiple navigation / robot platforms, suitable for customized joint prosthesis, revision surgery, spinal rod system adjustment, individualized prosthesis matching, tumor resection boundary evaluation and other scenes. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the three-dimensional data acquisition device in the present application, 1: handheld shell, 2: projector, 3: imaging camera, 4: data processing module, 5: optical tracking camera device, 6: retroreflective marker ball, 7: communication module.

[0031] Figure 2 It is an example diagram of the relationship between the structure light imaging geometry and the calibration.

[0032] Figure 3 An example diagram showing the non-collinear layout of several NDI optical retroreflective marker balls and their detachable relationship with the handheld shell.

[0033] Figure 4 It shows the rigid transformation relationship of the structure light module local coordinate system to the surgical coordinate system.

[0034] Figure 5 It is a flow chart of the intraoperative three-dimensional data acquisition method.

[0035] Figure 6 It is a schematic diagram of the application scene, where A is a spinal rod system, and B is an individualized prosthesis matching. DETAILED DESCRIPTION

[0036] Example one: overall structure of the device (see Figure 1 ). The device includes a structured light projection imaging module, an optical tracking module, a data processing module 4, a handheld shell 1, and a communication module 7. The handheld shell 1 is fixedly installed with the structured light projection imaging module and the optical tracking module at both ends, and the data processing module 4 and the communication module 7 are arranged inside the handheld shell 1. The structured light projection imaging module is composed of a projector 2 and an imaging camera 3 with a fixed baseline (see Figure 2 ), and its internal and external parameters are obtained by factory calibration; the optical tracking module is composed of a non-collinear retroreflective marker ball 6 as a rigid body layout, and a external optical tracking camera device 5 is used to real-time solve the six degrees of freedom pose of the device relative to the surgical coordinate system; the data processing module 4 is used to run structured light decoding, three-dimensional reconstruction, coordinate transformation, filtering and registration algorithms, and the data is output to the external navigation / robot system through the communication module 7.

[0037] Example 2: Structure light 3D reconstruction. The projector 2 projects fringe / random dot coded pattern to the intraoperative target surface, the imaging camera 3 synchronously captures the deformed image sequence; the data processing module 4 performs phase unwrapping / corresponding point matching on the images to obtain the dense 3D point cloud. Preferably, the working distance can be set to 20-40 cm, and narrowband filtering and exposure synchronization can be used to suppress ambient light and flicker interference.

[0038] Example 3: Pose measurement and coordinate alignment. The retro-reflective marker balls 6 of the optical tracking module are arranged in a rigid body with three or more non-collinear points, and the external tracking camera device 5 emits / receives infrared light and calculates the spatial position of the retro-reflective marker balls 6, thereby obtaining the six-degree-of-freedom pose of the device relative to the surgical coordinate system. By calibrating the board or spatial reference, the rigid transformation relationship between the local coordinate system of the structure light module and the surgical coordinate system is established (see Figure 4 ), and each frame of point cloud is converted to the surgical coordinate system according to the corresponding time pose and completed online stitching and fusion.

[0039] Example 4: Application examples (see Figure 5 and Figure 6 ). Taking the assembly and installation of joint revision prostheses as an example, the surgeon uses the device to sequentially scan the bone bed / residual bone surface, the pose of the installed fixation member, and the shape of the prosthesis to be installed; the data processing module 4 reconstructs the dense point cloud and extracts elements such as joint surface normal, boundary contour, and positioning hole. Automatically registered with the preoperative model and quantified deviation (RMSE / angle / minimum gap), the deviation and grinding / translation / rotation suggestions are returned to the navigation / robot system to update the assembly path and force line, allowing the surgeon to quickly assess the fit and generate a revision strategy.

[0040] Example 5: Application examples (see Figure 5 and Figure 6 ). Taking the installation of a spinal rod system as an example, the surgeon uses the device to sequentially scan the installed screw position and the shape of the pre-bent connecting rod, and the data processing module 4 extracts features such as the connecting rod axis / curvature and compares them with the preoperative planning model to quantify the deviation and return it to the robot / navigation system for updating the path and mechanical parameters to guide the installation angle and force correction. In the individualized prosthesis replacement scenario, the device is used to verify the three-dimensional shape of the prosthesis and match it with the bone bed, quickly assess the fit, and generate revision suggestions / strategies.

[0041] Example 6: Anti-interference and sterilization. To avoid interference between the structure light and the optical tracking, the structure light and the tracking are divided into different wavebands, and preferably use different near-infrared wavebands (e.g., structure light ≈ 850 nm, tracking ≈ 780 nm), and are synchronized with time division and narrowband filtering to suppress mutual interference; the retro-reflective marker balls 6 are detachably fixed to the handheld housing 1 (see Figure 3), facilitate high-level sterilization processing (high temperature and high pressure / low temperature plasma); preferably, the communication module 7 adopts gigabit Ethernet in wired mode and supports PTP clock synchronization; in wireless mode, it adopts 5 / 6 GHz encrypted transmission and has heartbeat keep-alive and automatic reconnection when offline, to adapt to different operating room layouts and ensure low-latency transmission and link stability.

[0042] Those of ordinary skill in the art can make equivalent replacements, function mergers or splits, parameter range adjustments, and other combined extensions to the module form, algorithm flow, or interface protocol without departing from the spirit and essence of the present application, and all fall within the protection scope of the present application.

[0043] In an embodiment, the function of the three-dimensional reconstruction module can be integrated and realized by the data processing module 4.

[0044] Structured light three-dimensional scanning technology belongs to non-contact optical measurement technology. By projecting a specific coded grating onto a target object and collecting the deformed pattern by an imaging device, high-precision three-dimensional surface point cloud (preferably dense point cloud) is obtained through phase decoding / corresponding point matching and three-dimensional reconstruction. Based on the principle of structured light scanning, high-precision point cloud data of the surface of the target object can be obtained within a few seconds, realizing real-time digitization of the shape of the intraoperative implant (such as a customized prosthesis, a pre-bent connecting rod, etc.).

[0045] In an embodiment, the optical tracking module includes an NDI optical tracking camera device (such as an NDI Polaris camera) and a plurality of NDI optical reflective marker balls, which are detachably fixed to the other end of the handheld shell relative to the structured light projection imaging module (for easy disassembly, cleaning, sterilization, etc.), and form a specific non-collinear spatial layout (which corresponds to a rigid body marker of the NDI optical tracking system) among the plurality of NDI optical reflective marker balls and are located within the visual range of the NDI optical tracking camera device. The NDI optical tracking camera device is used to emit infrared light and receive infrared light reflected by the plurality of NDI optical reflective marker balls to identify the spatial positions of the plurality of NDI optical reflective marker balls in real time, and further calculate the six-degree-of-freedom pose data (including position data and orientation data) of the optical tracking module in the surgical coordinate system.

[0046] During the surgery, the NDI optical tracking camera emits and receives infrared light to identify the spatial position of the NDI optical retro-reflective marker balls, and accordingly calculates the six-degree-of-freedom pose of the optical tracking module (three-dimensional data acquisition device) in real time. The relative positions between the NDI optical retro-reflective marker balls on the handheld shell are known and fixed at the time of manufacture, and the rigid transformation matrix of the three-dimensional data acquisition device coordinate system relative to the NDI tracking coordinate system can be obtained through calibration. Once the local three-dimensional point cloud of the intraoperative target is obtained by the structured light projection imaging module, the point cloud coordinates can be converted to the surgical coordinate system and fused online according to the rigid transformation and the current pose.

[0047] Preferably, to improve the positioning accuracy, at least three NDI optical retro-reflective marker balls can be installed on the handheld shell to form a non-collinear layout, thereby improving the stability and uniqueness of tracking; the NDI optical retro-reflective marker balls are generally small balls made of highly reflective material with a diameter of 4-6 mm, which can be detachably fixed on the handheld shell for cleaning and sterilization.

[0048] By integrating the optical tracking module, the three-dimensional data acquisition device acquires the six-degree-of-freedom pose of itself relative to the surgical coordinate system while collecting three-dimensional point cloud data, which can accurately align the reconstructed three-dimensional point cloud data with the anatomical coordinate system of the surgical area, ensuring the consistency of the virtual model and the actual surgical scene.

[0049] In an embodiment, the data processing module can include a high-speed image processor or an embedded computing module. The data processing module can be connected with the imaging device in the structured light projection imaging module to receive the collected image sequence and run the structured light decoding and three-dimensional reconstruction algorithm to calculate the coded pattern in the image into dense three-dimensional point cloud data. At the same time, the data processing module communicates with the optical tracking module to obtain the six-degree-of-freedom pose information of the three-dimensional data acquisition device.

[0050] Through fusion calculation, the data processing module can convert the reconstructed target point cloud to the global coordinate system of the surgical robot / navigation system and align and fuse online, and then perform subsequent filtering, registration or model fitting processing. For example, when scanning the pre-bent link of the spine, the data processing module can extract the geometric features such as the link axis or curvature in the point cloud, and compare them with the target link model planned preoperatively to calculate the deformation deviation. For another example, for an individually customized implant prosthesis, the data processing module can generate a digital three-dimensional model of the prosthesis according to the point cloud reconstruction result, and match and evaluate the pose planned for the surgery.

[0051] The processed data and results can be sent to an external system through a communication module of the device. The communication module can adopt a wired USB / Ethernet interface or a wireless method (such as Wi-Fi, Bluetooth, etc.) to exchange data with a surgical navigation workstation or a robot controller, so as to realize real-time uploading and feedback of data with low latency.

[0052] Based on the above intraoperative three-dimensional data acquisition device, an intraoperative three-dimensional data acquisition method can be realized, comprising:

[0053] The local coordinate system of the structured light projection imaging module is calibrated, specifically the internal parameters (focal length, principal point, distortion coefficient, etc.) and external parameters (relative pose) of the structured light projector and the camera are calibrated to determine the local coordinate system thereof;

[0054] The surgical coordinate system of the optical tracking module in the operating room is calibrated, specifically the rigid body layout of the NDI optical reflective marker ball is predefined in the NDI tracking system, a fixed relationship between the NDI camera and the device shell is established, and the pose of the NDI camera in the operating room reference / surgical coordinate system is calibrated (usually based on the surgical bed or reference frame);

[0055] A rigid transformation relationship between the local coordinate system of the structured light projection imaging module and the surgical coordinate system of the optical tracking module in the operating room is established through a calibration plate or a known spatial marker;

[0056] The structured light projection imaging module is used to obtain dense three-dimensional point cloud data of an intraoperative target, the optical tracking module is used to obtain six-degree-of-freedom pose data of the device in the surgical coordinate system; based on the established rigid transformation relationship, the point cloud is converted to the surgical coordinate system frame by frame and aligned with the pose data at the corresponding moment and online fused to obtain standardized three-dimensional data, and the standardized three-dimensional data are output to a navigation / robot system for updating navigation parameters and / or adjusting a surgical plan.

[0057] Specifically, the use process of the three-dimensional data acquisition device can be as follows:

[0058] First, initialize the NDI optical tracking system before the operation starts, fix the reference marker on the patient's skeleton (if necessary) to establish the surgical coordinate system, and add the device to the instrument list of the navigation system (the rigid body marker has been predefined).

[0059] Then, the device is held by the operator, a sterile cover is covered to ensure sterility, and the structured light projection imaging module is directed towards the target surface by holding the handheld shell. Select an appropriate working distance (for example, 20-40 cm, so that the projection pattern can cover the target area) as needed.

[0060] Next, the scanning acquisition switch of the three-dimensional data acquisition device is started, the structured light projection device projects the coded grating pattern onto the intraoperative target, and the imaging device synchronously acquires the deformed pattern image sequence. The data processing module processes the image in real time to reconstruct the three-dimensional point cloud data of the intraoperative target.

[0061] At the same time, the NDI optical tracking module continuously tracks the NDI optical reflective marker ball on the three-dimensional data acquisition device to obtain the six-degree-of-freedom position and posture of the device at each frame of image acquisition. The data processing module associates the three-dimensional point cloud data with the device pose of the corresponding frame, thereby converting the calculated point cloud to the surgical coordinate system and completing the alignment / fusion.

[0062] Application examples

[0063] In one embodiment, for intraoperative application of spinal internal fixation implant installation: the surgeon uses the device to sequentially scan the spatial positions of the implanted pedicle screws and the shape of the pre-bent connecting rod, and the obtained screw coordinates and connecting rod point cloud are transmitted to the robot-assisted surgery system. The robot system adjusts the navigation parameters according to the actual position of the screw, and matches and corrects the deviation of the originally planned connecting rod model according to the measured connecting rod shape, assisting the surgeon to optimize the connecting rod installation angle and force line, ensuring that the connecting rod is placed smoothly and the spine is reset to the expected shape.

[0064] In another embodiment, for intraoperative matching of individualized prosthesis replacement: the three-dimensional shape of the customized implanted prosthesis surface is scanned intraoperatively using the device, and it is automatically compared with the three-dimensional model designed preoperatively to quantify the error (RMSE / angle / contact gap), quickly judging the processing precision of the prosthesis and the installation fit; if there is a deviation, the surgeon can make quantitative adjustments to the prosthesis or the implanted bone bed accordingly to ensure the geometric fit and stability of the final implant.

[0065] Through the above steps, the hand-held structured light three-dimensional data acquisition device with integrated optical tracking module of the present application can conveniently obtain the three-dimensional data of the prosthesis and related surgical instruments intraoperatively and map them to the surgical navigation / robot system in real time. Its small size and hand-held operation are suitable for situations where the surgical field is limited and do not interfere with the operation of other instruments. The non-contact measurement of structured light scanning avoids physical contact with the implant, maintains a sterile environment, and ensures patient safety. The integrated NDI tracking enables the model data collected to be accurately aligned with the patient's anatomical coordinate system (six degrees of freedom), which can be directly used for intraoperative navigation and robot control, thereby improving the intelligence and safety of the surgery. It has been proven that the device of the present application is easy to operate, fast and accurate in data acquisition, and can significantly improve the efficiency of prosthesis matching and installation in complex orthopedic surgery, providing strong technical support for clinical practice.

[0066] The intraoperative three-dimensional data acquisition device provided by the present application has the following outstanding advantages:

[0067] 1. High-precision three-dimensional imaging capability

[0068] The use of structured light projection technology enables fast, non-contact, and dense three-dimensional scanning of target objects during surgery, allowing complete acquisition of three-dimensional point cloud data of assembled prostheses, pre-bent connecting rods, and bone surfaces. Compared to traditional contact measurement methods, this significantly improves collection efficiency and accuracy. Combined with the six-degree-of-freedom pose positioning provided by the optical tracking module, the spatial registration accuracy of three-dimensional data with the navigation system is ensured to be sub-millimeter level (≤1.0 mm).

[0069] 2. Real-time dynamic navigation support

[0070] Breaking through the limitations of traditional reliance on preoperative images or intraoperative X-rays, through the coordinated work and real-time transmission of structured light and NDI, online acquisition of intraoperative three-dimensional data and instant updating of parameters are realized, enabling the surgeon to dynamically adjust the surgical plan according to the actual anatomical structure. It is particularly suitable for precise adjustment of the nail rod system in spinal surgery, significantly improving the matching degree and stability of implants.

[0071] 3. Safe and convenient operation experience

[0072] Using a non-radiation optical imaging scheme completely avoids the ionizing radiation risk of traditional CT or C-arm devices, while simplifying device configuration. Through optimized near-infrared wavelength design (structured light ≈ 850 nm, NDI ≈ 780 nm), mutual interference is reduced and system robustness and stable operation are improved, ensuring the safe and stable operation of the system in complex surgical environments.

[0073] 4. Miniaturized handheld design

[0074] The device structure is compact and lightweight, allowing the surgeon to hold and operate it with one hand, without interfering with the placement of other instruments in the surgical area. It is suitable for narrow surgical space environments and ensures fast, accurate, and consistent acquisition with the surgical scene coordinates.

[0075] 5. Intelligent data processing

[0076] Through automated data fusion technology, human error is eliminated, ensuring data consistency. Combined with advanced ICP / CPD registration algorithms, high-precision matching of intraoperative data and preoperative models can be achieved, outputting structured navigation / robot usable results to provide reliable evidence for surgical decision-making.

[0077] 6. Wide clinical application prospects

[0078] It can be flexibly integrated into various navigation systems. In addition to spinal surgery, it can also be applied to tumor resection boundary evaluation, joint replacement, maxillofacial reconstruction, and other surgical scenarios, providing high-quality three-dimensional data support for precision medicine.

[0079] The modular interface design can be flexibly integrated into various navigation / surgical robot systems. It can be applied to joint replacement, spine surgery, fracture internal fixation, tumor resection, maxillofacial reconstruction, skull fracture reduction / defect repair and other surgical scenes, and provides innovative three-dimensional data support for precision medicine.

[0080] The present application effectively solves the deficiencies of traditional methods in efficiency, accuracy and safety through an innovative multi-modal data acquisition scheme, and provides important technical support for modern precision surgery.

[0081] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements, without departing from the spirit and essence of the present application, should also fall within the protection scope of the technical solutions of the embodiments of the present application, and do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intraoperative three-dimensional data acquisition device, characterized in that, include: The structured light projection imaging module is used to acquire three-dimensional point cloud data of the target during surgery; An optical tracking module, which is integrated with the structured light projection imaging module, is used to acquire its own six-degree-of-freedom pose data in the surgical coordinate system; The data processing module is communicatively connected to both the optical tracking module and the structured light projection imaging module. The data processing module receives the 3D point cloud data of the intraoperative target and the six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system. It then aligns and fuses the 3D point cloud data of the intraoperative target with the six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system to obtain the 3D data of the intraoperative target, and transmits the 3D data of the intraoperative target to the surgical navigation system.

2. The intraoperative three-dimensional data acquisition device according to claim 1, characterized in that, The structured light projection imaging module includes a structured light projector, an imaging device, and a 3D reconstruction module. The structured light projector and the imaging device are fixedly connected, and a fixed coordinate system transformation relationship is set between their relative positions and baseline distance. The imaging device and the 3D reconstruction module are communicatively connected. The structured light projector is used to project a preset grating-coded pattern onto the surface of the target during surgery. The imaging device is used to capture the deformed pattern modulated on the surface of the target during surgery. The 3D reconstruction module is used to receive the deformed pattern modulated on the surface of the target during surgery and perform structured light decoding and 3D reconstruction based on the deformed pattern modulated on the surface of the target during surgery to obtain the 3D point cloud data of the target during surgery.

3. The intraoperative three-dimensional data acquisition device according to claim 1, characterized in that, The optical tracking module includes an NDI optical tracking camera and several NDI optical reflective marker balls. The NDI optical reflective marker balls form a specific spatial layout and are located within the field of view of the NDI optical tracking camera. The NDI optical tracking camera is used to emit infrared light and receive infrared light reflected by the NDI optical reflective marker balls to identify the spatial position of the NDI optical reflective marker balls in real time, and then calculate the six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system in real time.

4. The intraoperative three-dimensional data acquisition device according to claim 3, characterized in that, The specific spatial arrangement formed between the plurality of NDI optical reflective marker spheres is a non-collinear arrangement.

5. The intraoperative three-dimensional data acquisition device according to claim 3, characterized in that, The six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system includes the position data and orientation data of the optical tracking module in the surgical coordinate system.

6. The intraoperative three-dimensional data acquisition device according to claim 3, characterized in that, It also includes a handheld housing, one end of which is fixedly connected to the optical tracking module, and the other end of which is fixedly connected to the structured light projection imaging module. The data processing module is located inside the handheld housing.

7. The intraoperative three-dimensional data acquisition device according to claim 6, characterized in that, Several NDI optical reflective marker balls in the optical tracking module are detachably fixed to one end of the handheld housing.

8. The intraoperative three-dimensional data acquisition device according to claim 6, characterized in that, It also includes a communication module, which is disposed inside the handheld housing, and the communication module is used to realize the communication connection between the data processing module, the optical tracking module and the structured light projection imaging module.

9. A method for intraoperative three-dimensional data acquisition based on the intraoperative three-dimensional data acquisition device according to any one of claims 1-8, characterized in that, include: The internal and external parameters of the structured light projection imaging module are calibrated, and its local coordinate system is determined. The relationship between the calibrated surgical coordinate system and the optical tracking module; Establish a rigid transformation relationship between the local coordinate system of the structured light projection imaging module and the optical tracking module in the surgical coordinate system; The structured light projection imaging module is used to acquire three-dimensional point cloud data of the target during surgery; The optical tracking module is used to acquire the six-degree-of-freedom pose data of itself in the surgical coordinate system; Based on the rigid transformation relationship between the local coordinate system of the structured light projection imaging module and the optical tracking module in the surgical coordinate system, the three-dimensional point cloud data of the intraoperative target is aligned and fused with the six-degree-of-freedom pose data of the optical tracking module in the surgical coordinate system to obtain the three-dimensional data of the intraoperative target.

10. A surgical navigation method, characterized in that, include: The intraoperative three-dimensional data acquisition method described in claim 9 is used to obtain the three-dimensional data of the intraoperative target. Based on the three-dimensional data of the intraoperative target, update the navigation parameters and / or adjust the surgical navigation plan.

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