Double-reference quantitative positioning method for surgical guide plate

Abstract

The invention discloses a double-reference quantitative positioning method for a surgical guide plate, and relates to the technical field of surgical navigation positioning. Reconstructing a three-dimensional model according to surgical navigation positioning of a target surgical site of a patient, designing a personalized surgical guide plate, and simulating assembly of the surgical guide plate and the three-dimensional model; fixing the body position of a patient, then erecting an optical tracking system and calibrating, and then attaching a surgical guide plate to a surgical site for preliminary positioning; calculating the initial positioning deviation of the surgical guide plate through an optical tracking system and judging whether the position of the surgical guide plate is adjusted or not; after the position of the operation guide plate is confirmed, target site positioning is started, and an optical tracking system monitors deviation in real time in the whole operation process; the maximum deviation value of intraoperative optical registration is recorded, image review evaluation can be achieved after an operation, positioning precision is evaluated, and data are reserved for subsequent optimization; the double-reference quantitative positioning method for the operation guide plate is suitable for multi-department operation auxiliary positioning, and abnormal displacement can be captured in time.

Description

Technical Field

[0001] This invention relates to the field of surgical navigation and positioning technology, and in particular to a dual-reference quantitative positioning method for a surgical guide. Background Technology

[0002] In the field of minimally invasive surgery, such as orthopedics, dentistry, and interventional radiology, precise positioning of the surgical guide is a core element in ensuring surgical efficacy and reducing complications. As a tool to assist in surgical path planning, the positioning accuracy of the surgical guide directly determines the success rate of the surgery.

[0003] Current optical-assisted positioning methods can only statically display the position of the guide plate and cannot dynamically monitor and warn of guide plate displacement during surgery; at the same time, they lack a three-dimensional coordinate deviation calculation model, and optical data cannot be converted into quantifiable accuracy indicators, making it difficult to guide surgeons to make precise adjustments. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-reference quantitative positioning method for surgical guides. Through a three-step method of preoperative image calibration, intraoperative reference registration, and real-time dynamic verification, the surgical guide is accurately aligned with the target surgical site, solving the problem that traditional surgical guide positioning relies on the doctor's experience and is prone to deviation.

[0005] To achieve the above objectives, the present invention provides a dual-reference quantitative positioning method for a surgical guide, comprising the following steps: S1. Reconstruct a three-dimensional model based on the surgical navigation positioning of the patient's target surgical site, design a personalized surgical guide, and simulate the assembly of the surgical guide with the three-dimensional model in medical image processing software. S2. After fixing the patient's position, set up and calibrate the optical tracking system, and then attach the surgical guide to the surgical site for initial positioning; S3. Calculate the initial positioning deviation of the surgical guide using the optical tracking system of S2 and determine whether to adjust the position of the surgical guide. After S4 and S3 confirm the position of the surgical guide plate, the surgical positioning needle is introduced. After confirming that it has reached the target site, the surgical positioning is completed and the surgery can begin. During the surgery, the optical tracking system monitors the deviation in real time throughout the entire process. S5. Record the maximum deviation value of intraoperative optical registration, combine it with the postoperative imaging review results, evaluate the positioning accuracy, and retain the data for subsequent optimization.

[0006] Preferably, in step S11, a thin-slice CT or MRI scan is performed on the patient's target surgical site, with a slice thickness not exceeding 0.6 mm, to obtain image data including the lesion, surrounding anatomical structures, and surface feature points. S12. Import the image data from S11 into medical image processing software, reconstruct a three-dimensional model of the patient's surgical site, and mark the target surgical point, surgical path, and several non-collinear reference points. S13. Design a personalized surgical guide plate with surgical channel, reference positioning groove and optical reflective markers. The reflective markers are distributed in a triangle and the diameter of the reflective markers is set to 3-5mm. The surface is matte and a high-reflectivity near-infrared coating is sprayed only on the side facing the optical tracking camera. S14. Simulate guide plate assembly in medical image processing software and record the theoretical coordinates of each reflective marker point. This serves as a reference benchmark for intraoperative registration.

[0007] Preferably, the specific process of S2 is as follows: S21. Use a positioning frame to fix the patient's position in the same way as the preoperative scan, and expose the reference point; S22. Set up and calibrate the optical tracking system so that the optical tracking camera can clearly capture the reflective markings on the guide plate; S23. Place the surgical guide plate onto the patient's surgical site, so that the reference positioning groove and the reference point are engaged to achieve preliminary mechanical positioning.

[0008] Preferably, the setup and calibration of the optical tracking system in S2 are as follows: The optical tracking camera is set up at 0.5-1.5m in the surgical field of view, with the optical axis angle between the two cameras set to 3°~15°, covering all reflective markers without obstruction; The optical tracking system is calibrated using standard calibration kits. The calibration process includes camera intrinsic parameter calibration and extrinsic parameter calibration. Data transmission is performed via wired Ethernet.

[0009] Preferably, the specific process of S3 is as follows: S31. Calculate the deviation of a single marker point on the surgical guide: According to the theoretical three-dimensional coordinates recorded in S14, The actual three-dimensional coordinates captured during the operation are ,in , Given the number of reflective markers, the three-dimensional coordinate deviation of a single marker is... The calculation formula is: ; S32. Calculate the overall registration deviation. The arithmetic mean of the deviations of all marked points is used as the expression, and the calculation formula is: ; S33, when When it meets the surgical precision requirements, no adjustment is needed; when If the required surgical precision is not met, the position of the surgical guide plate is finely adjusted.

[0010] Preferably, the specific process of S4 is as follows: S41. Slowly advance the surgical positioning needle along the surgical channel of the surgical guide, and the optical tracking system continuously monitors the coordinates of the reflective markers until the surgical guide is accurately positioned. S42. If an increase in coordinate deviation is detected during the operation, the system will issue an audio-visual warning. The surgeon will pause the positioning process and re-register and adjust. The operation will continue after the deviation meets the requirements. S43. Verify the position of the surgical positioning pin through intraoperative imaging to confirm that the surgical guide plate has not shifted or distorted during the operation.

[0011] Preferably, the specific content of S42 is as follows: Suppose two consecutive sampling times during the operation , The corresponding overall registration deviations are as follows: , The sampling time interval is Calculate the rate of change of deviation The formula is: ; Set early warning threshold ,when If the optical tracking system detects abnormal displacement of the surgical guide, it will immediately issue an audible and visual warning, prompting the surgeon to pause the operation and make adjustments.

[0012] Preferably, the positioning accuracy in S5 is assessed by combining intraoperative deviation data with postoperative imaging results, using relative error. The formula for evaluating positioning accuracy is: ; in, This represents the maximum global registration deviation during the operation. This refers to the actual surgical deviation measured by postoperative imaging. The positioning method is determined to be stable and reliable; if Analyze the causes of deviations and generate an optimization report.

[0013] Therefore, the dual-reference quantitative positioning method for surgical guides described above has the following advantages compared with the prior art: 1. This application introduces a dual-reference marking system and a high-precision optical tracking system. Combined with a precise coordinate deviation calculation model, the optical tracking system captures and provides real-time data feedback on the guide plate's attitude, upgrading the passive positioning of the guide plate to active verification positioning. It is also compatible with digital data from preoperative planning, achieving closed-loop control of planning-positioning-real-time verification during surgery. The optical tracking system uses near-infrared optical positioning technology, which can achieve high-frequency, low-noise acquisition of the three-dimensional coordinates of the marked points, providing reliable data support for formulaic accuracy calculation. 2. This application is applicable to clinical surgical guide positioning scenarios such as orthopedics, dentistry, and interventional radiology. The core is to achieve precise alignment between the surgical guide and the target feature positioning point through a three-step method of preoperative image calibration, intraoperative benchmark registration, and real-time dynamic verification. This solves the problem that traditional surgical guide positioning relies on the doctor's experience and is prone to deviation. The positioning accuracy can be controlled within ±0.5mm, meeting the accuracy requirements of clinical minimally invasive surgery.

[0014] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0015] Figure 1 This is an overall flowchart of a dual-reference quantitative positioning method for a surgical guide according to the present invention; Figure 2 This is a flowchart of the preoperative preparation for a dual-reference quantitative positioning method for a surgical guide according to the present invention. Figure 3 This is a diagram showing the intraoperative deviation of a dual-reference quantitative positioning method for a surgical guide according to the present invention. Detailed Implementation

[0016] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0017] Example like Figures 1-3 As shown, a dual-reference quantitative positioning method for a surgical guide according to the present invention includes the following steps: S1. Reconstruct a three-dimensional model based on the surgical navigation positioning of the patient's target surgical site, design a personalized surgical guide, and simulate the assembly of the surgical guide with the three-dimensional model in medical image processing software. S11. Perform thin-slice CT (computed tomography) or MRI (magnetic resonance imaging) scans on the patient's target surgical site. The slice thickness should not exceed 0.6 mm to obtain image data including the lesion, surrounding anatomical structures, and surface feature points. S12. Import the image data from S11 into medical image processing software, reconstruct a three-dimensional model of the patient's surgical site, and mark the target location feature points, surgical path, and several non-collinear reference points. S13. Design a personalized surgical guide plate with surgical channel, reference positioning groove and optical reflective markers. The reflective markers are distributed in a triangle and the diameter of the reflective markers is set to 3-5mm. The surface is matte to avoid stray light reflection. A high-reflectivity near-infrared coating is sprayed only on the side facing the optical tracking camera to ensure tracking stability. S14. Simulate guide plate assembly in medical image processing software and record the theoretical coordinates of each reflective marker point. , as a reference benchmark for intraoperative registration; S2. After fixing the patient's position, set up and calibrate the optical tracking system, and then attach the surgical guide to the surgical site for initial positioning; S21. Use a positioning frame to fix the patient's position in the same way as the preoperative scan, and expose the reference point; S22. Set up and calibrate the optical tracking system so that the optical tracking camera can clearly capture the reflective markings on the guide plate; The setup and calibration of the optical tracking system are as follows: The optical tracking camera is set up at 0.5-1.5m in the surgical field of view, with the optical axis angle between the two cameras set to 3°~15°, covering all reflective markers without obstruction; The optical tracking system is calibrated using standard calibration kits. The calibration process includes camera intrinsic parameter calibration and extrinsic parameter calibration to ensure that the tracking accuracy does not exceed 0.1mm, the sampling frequency is not less than 10Hz, and the data transmission is carried out via wired Ethernet with a delay of not more than 20ms to avoid signal loss in wireless transmission. S23. Place the surgical guide plate onto the patient's surgical site, so that the reference positioning groove and the reference point are engaged to achieve preliminary mechanical positioning; S3. Calculate the initial positioning deviation of the surgical guide using the optical tracking system of S2 and determine whether to adjust the position of the surgical guide. S31. Calculate the deviation of a single marker point on the surgical guide: According to the theoretical three-dimensional coordinates recorded in S14, The actual three-dimensional coordinates captured during the operation are ,in , Given the number of reflective markers, the three-dimensional coordinate deviation of a single marker is... The calculation formula is: ; S32. Calculate the overall registration deviation. The arithmetic mean of the deviations of all marked points is used as the expression, and the calculation formula is: ; S33, when When it meets the surgical positioning accuracy requirements, no adjustment is needed; when Sometimes, the surgical positioning accuracy requirements are not met, and the position of the surgical guide plate needs to be finely adjusted; After S4 and S3 confirm the position of the surgical guide plate, the surgical positioning needle is introduced. After confirming that the needle has reached the target site, the guide plate is positioned and the surgery can begin. During the surgery, the optical tracking system monitors the deviation in real time. S41. Slowly advance the surgical positioning needle (Kirschner wire) along the surgical guide, while the optical tracking system continuously monitors the coordinates of the reflective markers. S42. If a sudden increase in coordinate deviation is detected during the operation, the system will issue an audio-visual warning. The surgeon will pause the positioning process and re-register and adjust. The operation will continue after the deviation meets the requirements. Suppose two consecutive sampling times during the operation , The corresponding overall registration deviations are as follows: , The sampling time interval is Calculate the rate of change of deviation The formula is: ; Set early warning threshold (Calibrated according to clinical surgical precision requirements), when If the optical tracking system detects abnormal displacement of the surgical guide, it will immediately issue an audible and visual warning, prompting the surgeon to pause the operation and make adjustments. S43. Verify the position of the surgical positioning needle through intraoperative imaging, and complete the surgical positioning after confirming that it has reached the target site. S5. Record the maximum deviation value of intraoperative optical registration, combine it with the postoperative imaging review results, evaluate the positioning accuracy and retain the data for subsequent optimization; The accuracy of positioning was assessed by combining intraoperative deviation data with postoperative imaging results, using relative error. The formula for evaluating positioning accuracy is: ; in, This represents the maximum global registration deviation during the operation. This refers to the actual surgical deviation measured by postoperative imaging. The positioning method is determined to be stable and reliable; if Analyze the causes of deviations (positional changes, equipment calibration, operational errors) and generate an optimization report.

[0018] The specific implementation process is illustrated below: 1. Patient image acquisition and preprocessing; Assist the patient to assume a prone position, use a vacuum pad to fix the chest and abdomen, adjust the position so that the target surgical segment (such as L3-L4 pedicle) is in a horizontal position, and mark the approximate surgical area on the body surface.

[0019] CT scan parameters: 64-slice spiral CT scan was used, with the scanning range covering one vertebral body above and below the target surgical segment, slice thickness 0.6mm, slice spacing 0.3mm, tube voltage 120kV, tube current 200mA, and reconstruction matrix 512×512 to ensure clear image display of lesions, pedicle canals and bony landmarks on the body surface (anterior superior iliac spine and spinous process).

[0020] Image data export: Export the scan data in DICOM format and store it on the medical workstation. Remove image slices that are affected by motion artifacts and metal artifacts to ensure data integrity.

[0021] 2. Three-dimensional model reconstruction and surgical planning; Software import: Open Mimics software, import DICOM data, and reconstruct a 3D model of the target surgical site (bone and skin surface). Set the model resolution to 0.1mm.

[0022] Marking reference points: Mark three non-collinear bony reference points on the 3D model, including the apex of the left anterior superior iliac spine. The apex of the right anterior superior iliac spine Target vertebral spinous process apex Record the theoretical three-dimensional coordinates of each point. .

[0023] Surgical path planning: Based on the location of the lesion, the target surgical location point (midpoint of the lateral edge of the pedicle) and the surgical path are determined on the model, and the path parameters are recorded.

[0024] 3. Personalized surgical guide design and fabrication; Guide plate structure design: Customized guide plates are designed based on 3D models, including three core structures: The surgical positioning needle channel has an inner diameter of 3.5 mm, is coaxial with the planned path, and has a smooth inner wall with a tolerance of ±0.05 mm. There are 3 reference positioning slots, and... , , Bony landmarks are matched with concave and convex surfaces, with a groove depth of 2mm, conforming to the curvature of the bone surface; Three optical reflective markers, each 4 mm in diameter, are arranged in an equilateral triangle with a spacing of 20 mm. A near-infrared high-reflectivity coating with a wavelength of 800 nm is applied only to the side facing the optical tracking camera.

[0025] Surgical guide material and preparation: Medical-grade PEEK resin was selected, which has good biocompatibility and high rigidity. It was prepared by 3D printing with a printing accuracy of ±0.02mm. After printing, the support structure was removed, the inner wall of the channel and the edge of the positioning groove were polished, and it was sterilized by high pressure steam (134℃, 20min) for later use.

[0026] Surgical guide pre-registration: Simulate the assembly of the surgical guide with the 3D model in the software, confirm that the positioning groove and the reference point are completely aligned, and that the surgical positioning needle channel is consistent with the planned path. Record the theoretical coordinates of the three reflective marker points. Save it as a CSV file and import it into the optical tracking system.

[0027] 4. Preparation of optical tracking system and auxiliary equipment; Equipment inspection: Optical tracking system, including dual camera module, signal processing unit, calibration kit (including 3 reflective markers, known coordinate deviation ≤ ±0.01mm), Ethernet data cable; check the cleanliness of the camera lens, and ensure that the reflective markers are free from wear and the coating is not peeling off.

[0028] Preparation of auxiliary equipment: Prepare a positioning frame, medical alcohol wipes, sterile tape, suture needles, 3.5mm surgical positioning needles, C-arm X-ray machine, and ultrasound machine. All equipment is sterilized and placed in the designated position in the operating room.

[0029] 5. Operating room setup and patient positioning are fixed; Equipment setup: Set up the optical tracking camera on the head side of the operating table, 1.0m away from the target surgical area. Adjust the camera angle so that the optical axis of the two cameras is 5°, covering all reflective markers without obstruction. Fix the camera on the bracket and tighten the screws to prevent shaking during the operation.

[0030] Patient placement: Assist the patient to assume a prone position and place them on a pre-shaped vacuum mat. Adjust the position to match the preoperative CT scan. Fix the limbs with restraint straps to ensure that the positional error is ≤±1mm. Use C-arm fluoroscopy to initially confirm the position of the target vertebra and mark the reference point area.

[0031] 6. Dual-reference registration and guide plate positioning; Preliminary mechanical positioning: The surgeon holds the sterile surgical guide and aligns the three reference positioning slots on the guide with the body surface. , , Apply bony landmarks and gently press the guide plate to ensure the positioning groove is fully engaged. The bottom surface of the guide plate should fit tightly against the skin. Press the edge of the guide plate with your fingers to confirm that there is no looseness.

[0032] Optical coordinate acquisition: Activate the optical tracking system to capture the actual three-dimensional coordinates of the three reflective markers on the guide plate. The system automatically records three sets of coordinate data and removes outliers (data points with deviation > ±0.2mm).

[0033] Registration accuracy calculation: Calculate the deviation of a single marker point and the overall registration deviation.

[0034] Accuracy Judgment and Adjustment: If If the positioning requirements are met; The surgeon fine-tunes the guide plate position (each adjustment ≤ 0.3mm), repeats optical coordinate acquisition and registration accuracy calculation, until... Meets the requirements.

[0035] Guide plate fixation: Surgical positioning pin insertion: The surgeon holds the 3.5mm surgical positioning pin, keeping it advancing in a straight line to avoid rotation or deviation. During advancement, the optical tracking system data is observed. After fixation, coordinates are collected again for confirmation. No change, guide plate displacement ≤ ±0.2mm. After confirming that there is no error, fix the surgical positioning pin to complete the surgical guide plate positioning operation.

[0036] 7. Surgical execution and real-time dynamic verification; Real-time deviation monitoring: The optical tracking system continuously collects the coordinates of the reflective markers and calculates the rate of change of deviation. The system has a preset warning threshold. .

[0037] Anomaly Warning and Handling: If Continue to advance; if The system immediately issues an audible and visual warning. The surgeon pauses the procedure, checks the guide plate's fixation (whether it's loose or displaced), and the camera's field of view (whether it's obstructed). After troubleshooting, the surgeon re-registers and confirms the alignment. Then we will continue to push forward.

[0038] 8. Postoperative evaluation stage; Deviation data recording: Export intraoperative data from the optical tracking system and record the overall registration deviation. Initial value, maximum value during surgery The number of warnings and the results of their handling.

[0039] Guide plate removal and disposal: Remove the surgical guide plate positioning pin and the surgical guide plate; the guide plate is then disposed of after being rendered harmless for future use or discarded.

[0040] Postoperative imaging follow-up: CT scan of the target surgical site was performed on the patient (parameters were the same as before the operation), and the actual surgical deviation was measured after the operation. (The three-dimensional distance between the actual location point and the planned target point).

[0041] Relative error calculation: Calculate the relative error ,like The positioning method is determined to be stable and reliable; if Analyze the causes of deviations (positional changes, equipment calibration, operational errors) and generate an optimization report.

[0042] Therefore, the present invention adopts a dual-reference quantitative positioning method for surgical guides as described above. Through a three-step method of preoperative image calibration, intraoperative reference registration, and real-time dynamic verification, the surgical guide is accurately aligned with the target surgical site, solving the problem that traditional surgical guide positioning relies on the doctor's experience and is prone to deviation.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A dual-reference quantitative positioning method for a surgical guide, characterized in that, Includes the following steps: S1. Reconstruct a three-dimensional model based on the surgical navigation positioning of the patient's target surgical site, design a personalized surgical guide, and simulate the assembly of the surgical guide with the three-dimensional model in medical image processing software. S2. After fixing the patient's position, set up and calibrate the optical tracking system, and then attach the surgical guide to the surgical site for initial positioning; S3. Calculate the initial positioning deviation of the surgical guide using the optical tracking system of S2 and determine whether to adjust the position of the surgical guide. After S4 and S3 confirm the position of the surgical guide, the surgical guide positioning needle is introduced. Once the target position is confirmed, the surgical guide is positioned and the surgery can begin. During the surgery, the optical tracking system monitors the deviation in real time. S5. Record the maximum deviation value of intraoperative optical registration, combine it with the postoperative imaging review results, evaluate the positioning accuracy, and retain the data for subsequent optimization.

2. The dual-reference quantitative positioning method for a surgical guide according to claim 1, characterized in that: The specific process of S1 is as follows: S11. Perform a thin-slice CT or MRI scan on the patient's target surgical site. The slice thickness should not exceed 0.6 mm. Obtain image data including the lesion, surrounding anatomical structures, and surface feature points. S12. Import the image data from S11 into medical image processing software, reconstruct a three-dimensional model of the patient's surgical site, and mark the target surgical point, surgical path, and several non-collinear reference points. S13. Design a personalized surgical guide plate with surgical channel, reference positioning groove and optical reflective markers. The reflective markers are distributed in a triangle and the diameter of the reflective markers is set to 3-5mm. The surface is matte. The personalized surgical guide plate is coated with a high-reflectivity near-infrared coating only on the side facing the optical tracking camera. S14. Simulate guide plate assembly in medical image processing software and record the theoretical coordinates of each reflective marker point. This serves as a reference standard for intraoperative registration.

3. The dual-reference quantitative positioning method for a surgical guide according to claim 2, characterized in that: The setup and calibration of the optical tracking system in S2 are as follows: The optical tracking camera is set up at 0.5-1.5m in the surgical field of view, with the optical axis angle between the two cameras set to 3°~15°, covering all reflective markers without obstruction; The optical tracking system is calibrated using standard calibration kits. The calibration process includes camera intrinsic parameter calibration and extrinsic parameter calibration. Data transmission is performed via wired Ethernet.

4. The dual-reference quantitative positioning method for a surgical guide according to claim 3, characterized in that: The specific process of S2 is as follows: S21. Use a positioning frame to fix the patient's position in the same way as the preoperative scan, and expose the reference point; S22. Set up and calibrate the optical tracking system so that the optical tracking camera can clearly capture the reflective markings on the guide plate; S23. Place the surgical guide plate onto the patient's surgical site, so that the reference positioning groove and the reference point are engaged to achieve preliminary mechanical positioning.

5. The dual-reference quantitative positioning method for a surgical guide according to claim 4, characterized in that: The specific process of S3 is as follows: S31. Calculate the deviation of a single marker point on the surgical guide: According to the theoretical three-dimensional coordinates recorded in S14, The actual three-dimensional coordinates captured during the operation are ,in , Given the number of reflective markers, the three-dimensional coordinate deviation of a single marker is... The calculation formula is: ； S32. Calculate the overall registration deviation. The arithmetic mean of the deviations of all marked points is used as the expression, and the calculation formula is: ； S33, when When it meets the surgical precision requirements, no adjustment is needed; when If the required surgical precision is not met, the position of the surgical guide plate is finely adjusted.

6. The dual-reference quantitative positioning method for a surgical guide according to claim 5, characterized in that: The specific process of S4 is as follows: S41. Slowly advance the surgical positioning needle along the surgical channel of the surgical guide, while the optical tracking system continuously monitors the coordinates of the reflective markers. S42. If an increase in coordinate deviation is detected during the operation, the system will issue an audio-visual warning. The surgeon will pause the positioning process and re-register and adjust. The operation will continue after the deviation meets the requirements. S43. Verify the position of the surgical positioning needle through intraoperative imaging to confirm that the surgical guide has reached the expected precise positioning position.

7. The dual-reference quantitative positioning method for a surgical guide according to claim 6, characterized in that: The specific content of S42 is as follows: Suppose two consecutive sampling times during the operation , The corresponding overall registration deviations are as follows: , The sampling time interval is Calculate the rate of change of deviation The formula is: ； Set early warning threshold ,when If the optical tracking system detects abnormal displacement of the surgical guide, it will immediately issue an audible and visual warning, prompting the surgeon to pause the operation and make adjustments.

8. The dual-reference quantitative positioning method for a surgical guide according to claim 7, characterized in that: The positioning accuracy in S5 is assessed by combining intraoperative deviation data with postoperative imaging results, using relative error. The formula for evaluating positioning accuracy is: ； in, This represents the maximum global registration deviation during the operation. This refers to the actual surgical deviation measured by postoperative imaging. The positioning method is determined to be stable and reliable; if Analyze the causes of deviations and generate an optimization report.

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