A method and system for patient reference repositioning and osteotomy information revision

Abstract

This invention provides a method and system for patient reference repositioning and osteotomy information correction. The method includes: obtaining an initial position coordinate system O for patient reference. track and the coordinate system O of the calibration components cal ; Obtain the coordinate system transformation matrix M between the patient reference and the calibration component. ref2cali ; Obtain images of the patient's bony regions and the relative positional relationship between the fixation components M cali ; Obtain the position P of the detection component in the coordinate system of the fixed component. verify2cali And the coordinate system transformation matrix M between the patient reference and the calibration component ref2cali ; Obtain the position P of the detection component in the patient coordinate system verify2ref The method determines whether the patient reference has shifted. This invention provides a patient reference relocation and osteotomy information correction method that solves the technical problem in related technologies where the tracker position cannot be calibrated in real time after movement.

Description

Technical Field

[0001] This invention relates to the field of surgical navigation and positioning technology, specifically to a method and system for patient reference repositioning and osteotomy information correction. Background Technology

[0002] Orthopedic surgical navigation and positioning systems can accurately correlate a patient's imaging data with the affected area, assisting the surgeon in executing the surgical plan and guiding the surgeon in operating surgical instruments. Therefore, orthopedic surgical navigation and positioning systems are increasingly used in orthopedic surgeries to make orthopedic surgeries more precise, rapid, and safe.

[0003] To accurately correlate a patient's imaging data with their lesion site, a tracker needs to be fixed around the lesion site. This tracker must be rigidly connected to the patient; once registration is complete, the tracker must not move, otherwise it will cause deviations in surgical execution. Therefore, monitoring for movement of the tracker on the patient during surgery is crucial. The current standard monitoring method involves fixing a calibration pin with a conical hole next to the tracker on the patient. A handheld tracker is placed into the conical hole to obtain the relative positional relationship between the handheld tracker and the tracker on the patient. During surgery, if movement of the tracker on the patient is suspected, the handheld tracker is placed back into the conical hole of the calibration pin, and the difference in relative position between the two measurements is used to determine if movement has occurred.

[0004] However, current monitoring methods can only determine whether movement has actually occurred after the tracker on the patient is suspected to have moved. They cannot monitor whether the tracker has moved in real time to alert doctors in advance, nor can they recalibrate the tracker's position after movement is detected.

[0005] Therefore, existing technologies need further development. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method and system for patient reference repositioning and osteotomy information correction, so as to solve the technical problem in related technologies that the position of the tracker after movement cannot be calibrated in real time.

[0007] To achieve the above technical objectives, the present invention adopts the following technical solution: A method for patient reference repositioning and osteotomy information correction is provided, comprising: obtaining the initial position coordinate system O for patient reference. track and the coordinate system O of the calibration components cal ; Initial position coordinate system O based on patient reference track and the coordinate system O of the calibration components cal Obtain the coordinate system transformation matrix M of the patient reference and calibration components.ref2cali ;Pre-defined registration matrix M based on patient reference and patient bony region images reg To obtain images of the patient's bony regions and the relative positional relationship between the fixation components M cali ; Obtain the position P of the detection component in the fixed component coordinate system verify2cali And the coordinate system transformation matrix M of the patient reference and calibration components ref2cali Based on the position P of the detection component in the fixed component coordinate system verify2cali And the coordinate system transformation matrix M of the patient reference and calibration components ref2cali Obtain the position P of the detection component in the patient coordinate system. verify2ref Based on the relative positional relationship between the patient's bony regions and the fixation components M cali And the position P of the detection component in the patient coordinate system verify2ref It determines whether the patient reference has shifted; if the patient reference has shifted, it outputs a shift warning, and based on the relative positional relationship M between the patient's bony region image and the fixation components. cali The patient's reference position was corrected.

[0008] Furthermore, the position P of the detection component in the patient coordinate system is obtained. verify2ref The method also includes: P verify2ref =inv(M ref2cali )*P verify2cali .

[0009] Furthermore, the method for determining whether the patient reference has shifted is as follows: obtain the real-time position P' of the detection component. verify2ref,i Based on the real-time position P' of the detection component verify2ref,i Calculate the patient reference offset value, wherein the method for calculating the patient reference offset value is as follows: Among them, P verify2ref To detect the position of the component in the patient coordinate system, P′ verify2ref,j The real-time position of the detection component (1) is n, which is the detection time period. If the offset value is greater than the preset value, the patient reference will be offset.

[0010] Furthermore, the method for correcting the position of the patient reference includes: connecting the calibration component to the fixing component when the offset value exceeds a preset threshold; and re-measuring the coordinate system transformation matrix M' between the patient reference and the calibration component. ref2cali Based on the relative positional relationship between the patient's bony regions and the fixation components M cali Recalculate the registration matrix M' between the patient reference and the patient's bony region images. reg And the position P of the detection component in the patient coordinate system verify2ref '.

[0011] Furthermore, the registration matrix M' of the patient reference and the patient's bony region images is calculated. reg The methods include: M' reg =inv(M' ref2cali )*M cali .

[0012] Furthermore, the method for calculating the position of the detection component in the patient coordinate system includes: P verify2ref '=inv(M ref2cali ')*P verify2cali .

[0013] Furthermore, the patient reference repositioning and osteotomy information correction method also includes: real-time recording of the status of surgical osteotomy information {S}. i ,i=1,...,n}, where the surgical state S i ={Err move,i ,P verify2ref ′,P point,i ,P line,i ,P plate,i Real-time detection of offset value Err move Is it greater than the first preset value? If the offset value Err move If the value is greater than the first preset value, then the registration matrix M' is recalculated. reg and the position P of the detection component verify2ref ';Update the status of the surgical osteotomy information S' i Positional elements in the text.

[0014] A patient reference repositioning and osteotomy information correction system includes: a first data acquisition unit, used to acquire the initial position coordinate system O of the patient reference. track and the coordinate system O of the calibration components cal The first calculation unit is used for the initial position coordinate system O based on the patient reference. track and the coordinate system O of the calibration components cal Obtain the coordinate system transformation matrix M of the patient reference and calibration components. ref2cali The registration unit is used for the registration matrix M based on patient reference and patient bony region images. reg To obtain images of the patient's bony regions and the relative positional relationship between the fixation components M cali The second data acquisition unit is used to obtain the position P of the detection component in the fixed component coordinate system. verify2cali And the coordinate system transformation matrix M of the patient reference and calibration components ref2caliThe second calculation unit is used to calculate the position P of the detection component in the fixed component coordinate system. verify2cali And the coordinate system transformation matrix M of the patient reference and calibration components ref2cali Obtain the position P of the detection component in the patient coordinate system. verify2ref ; Detection unit, the detection unit block is used for the relative positional relationship between the patient's bony region image and the fixation components M cali And the position P of the detection component in the patient coordinate system verify2ref The system determines whether the detection component has shifted; the output unit outputs a shift indication based on the relative positional relationship between the patient's bony region image and the fixation component. cali The patient's reference position was corrected.

[0015] Furthermore, the patient reference repositioning and osteotomy information correction system also includes: a patient reference; a detection component for monitoring whether the position of the patient reference changes; a fixation component, one end of which is fixed at a preset position, and the other end of which is detachably connected to the detection component away from the preset position; and a calibration component, which is detachably connected to the other end of which is detachably connected to the fixation component away from the preset position, and is used to calibrate the position of the patient reference.

[0016] A computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps of any of the above patient reference relocation and osteotomy information correction methods.

[0017] Beneficial effects:

[0018] 1. The patient reference repositioning and osteotomy information correction method of the present invention can monitor the patient reference (i.e., tracker) on the patient in real time. Once the position change is detected to exceed the permissible value, the doctor can be alerted that the tracker has moved, thereby reducing the surgical risk.

[0019] 2. The patient reference repositioning and osteotomy information correction method of the present invention can recalibrate the position of the tracker after detecting that the tracker has moved, thereby continuing the operation and avoiding re-registration, which can significantly save operation time. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the examination component of the patient reference repositioning and osteotomy information correction system used in an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the calibration component of the patient reference repositioning and osteotomy information correction system used in an embodiment of the present invention;

[0022] Figure 3 This is a flowchart of the patient reference repositioning and osteotomy information correction method used in the embodiments of the present invention;

[0023] Figure 4 This is a schematic diagram of the patient reference repositioning and osteotomy information correction system used in an embodiment of the present invention;

[0024] Figure 5 This is a flowchart of the patient reference repositioning and osteotomy information correction method used in Embodiment 1 of the present invention.

[0025] The above figures include the following reference numerals:

[0026] 1. Detection component; 2. Fixation component; 3. Patient reference; 4. Calibration component. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] According to embodiments of the present invention, a method for patient reference repositioning and osteotomy information correction is provided. Please refer to [link to relevant documentation]. Figures 1 to 5 ,include:

[0029] S100 obtains the initial position coordinate system O of patient reference 3. track and the coordinate system O of calibration component 4 cal ;

[0030] S200 is based on the initial position coordinate system O of patient reference 3. track and the coordinate system O of calibration component 4 cal Obtain the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4. ref2cali ;

[0031] S300 is based on the preset registration matrix M of the patient reference 3 and the patient's bony region image. reg Obtaining images of the patient's bony region and the relative positional relationship between the fixation component 2 and M. cali ;

[0032] S400 obtains the position P of the detection component 1 in the coordinate system of the fixed component 2. verify2cali And the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4 ref2cali ;

[0033] S500 is based on the position P of the detection component 1 in the coordinate system of the fixed component 2. verify2cali And the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4 ref2cali The position P of detection component 1 in the patient coordinate system is obtained. verify2ref ;

[0034] It should be noted that the position P of detection component 1 in the patient coordinate system is obtained. verify2ref The method also includes: obtaining the position P of the detection component 1 in the coordinate system of the fixed component 2 before the operation. verify2cali The coordinate system transformation matrix M between the patient reference 3 and the calibration component 4 ref2cali Then, the position P of the detection component under patient reference 3 is calculated. verify2ref =inv(M ref2cali )*P verify2cali .

[0035] S600 is based on the image of the patient's bony region and the relative positional relationship between the fixation component 2 and M. cali And the position P of the detection component 1 in the patient coordinate system verify2ref Determine whether the patient reference 3 has shifted;

[0036] It should be noted that the method for determining whether the patient reference 3 has shifted is as follows:

[0037] S610 acquires the real-time position P' of the detection component 1. verify2ref,i ;

[0038] S620 is based on the real-time position P' of the detection component 1. verify2ref,i Calculate the offset value of the patient reference 3, wherein the offset value is calculated as follows:

[0039] Among them, P verify2ref To detect the position of component (1) in the patient coordinate system, P′ verify2ref,j To detect the real-time position of component (1), n ​​is the detection time period;

[0040] S630 If the offset value is greater than the preset value, then the patient reference 3 will shift.

[0041] In this way, the patient reference 3 is judged to have shifted based on the relative position of the patient reference 3 and the fixing component 2, and the shift value can more intuitively display the degree of shift.

[0042] S700 If the patient reference 3 is mentioned, an offset prompt is output, and based on the image of the patient's bony region and the relative positional relationship between the fixation component 2 and M, the offset prompt is displayed.cali The position of the patient reference 3 is corrected.

[0043] Specifically, the method for correcting the position of the patient reference 3 includes:

[0044] S710 When the offset value exceeds the preset threshold, connect the calibration component 4 to the fixing component 2;

[0045] S720 remeasures the coordinate system transformation matrix M' between the patient reference 3 and the calibration component 4. ref2cali ;

[0046] S730 is based on the image of the patient's bony region and the relative positional relationship between the fixation component 2 and M. cali The registration matrix M' of the patient reference 3 and the patient's bony region image was recalculated. reg And the position P of the detection component 1 in the patient coordinate system. verify2ref '.

[0047] Specifically, the registration matrix M' of the patient reference 3 and the patient's bony region image is calculated. reg The methods include: M' reg =inv(M' ref2cali )*M cali ;

[0048] Specifically, the method for calculating the position of the detection component 1 in the patient coordinate system includes: P verify2ref '=inv(M ref2cali ')*P verify2cali .

[0049] Specifically, patient reference 3 is the tracker.

[0050] In this way, the fixation component 2 can be securely installed on the patient's bony structure and has mounting interfaces for the calibration component 4 and the detection component 1. One end of the calibration component 4 is detachably mounted on the fixation component 2, and the other end is rigidly fixed with at least three identifiable optical markers. One end of the detection component 1 is detachably mounted on the fixation component 2, and the other end is rigidly fixed with one identifiable optical marker. First, the calibration component 4 is installed on the fixation component 2, and the coordinate system O of the calibration component 4 is obtained. cal， Based on the initial position coordinate system O of patient reference 3 track and the coordinate system O of calibration component 4 cal Obtain the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4. ref2cali And based on the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4 ref2caliDetermine whether the real-time position of patient reference 3 has changed. If the position of patient reference 3 changes, determine the coordinate system transformation matrix M between patient reference 3 and the calibration component 4. ref2cali The position of the patient reference 3 was calibrated, which solved the technical problem in related technologies that it was impossible to calibrate the position of the tracker after movement in real time.

[0051] In the patient reference relocation and osteotomy information correction method of this embodiment, the method further includes: real-time recording of the state {S} of surgical osteotomy information. i ,i=1,...,n}, where the surgical state S i ={Err move,i ,P verify2ref ′,P point,i ,P line,i ,P plate,i};

[0052] Specifically, surgical status S i Including but not limited to: the location P of the collected bone / cartilage surface point The location of the implanted screw, P line The plane position P where the oscillating saw has already cut the bone. plate The current reference offset value Err move And the location P of the detection component under patient reference (first reference). verify2ref '.

[0053] Real-time detection of the offset value Err move Is it greater than a first preset value? If the offset value Err move If the value is greater than the first preset value, then the registration matrix M' is recalculated. reg and the position P of the detection component verify2ref '; Update the status S of the surgical osteotomy information. i The positional element in the image. Thus, based on the image of the patient's bony region and the relative positional relationship M between the fixation component 2... cali It can correct the information of bone resection, solving the technical problem in related technologies that cannot calibrate the position of the tracker after movement in real time.

[0054] This embodiment also provides a patient reference repositioning and osteotomy information correction system, see [link to documentation]. Figure 4 The patient reference repositioning and osteotomy information correction system includes:

[0055] The first data acquisition unit, the data acquisition module, is used to obtain the initial position coordinate system O of the patient reference 3. track and the coordinate system O of calibration component 4 cal ;

[0056] The first calculation unit, the first calculation module, is used to calculate the initial position coordinate system O based on the patient reference 3. track and the coordinate system O of calibration component 4 cal Obtain the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4. ref2cali ;

[0057] Registration unit, the registration unit being used for registration matrix M based on the patient reference 3 and the patient's bony region image. reg Obtaining images of the patient's bony region and the relative positional relationship between the fixation component 2 and M. cali ;

[0058] The second data acquisition unit is used to obtain the position P of the detection component 1 in the coordinate system of the fixed component 2. verify2cali And the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4 ref2cali ;

[0059] The second calculation unit is used to calculate the position P of the detection component 1 in the coordinate system of the fixed component 2. verify2cali And the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4 ref2cali The position P of detection component 1 in the patient coordinate system is obtained. verify2ref ;

[0060] The detection unit block is used to determine the relative positional relationship M between the patient's bony region image and the fixation component 2. cali And the position P of the detection component 1 in the patient coordinate system verify2ref Determine whether the detection component 1 has shifted;

[0061] An output unit is used to output an offset prompt.

[0062] Thus, the calibration component 4 is first installed on the fixed component 2, and the first data acquisition unit acquires the coordinate system O of the calibration component 4. cal， The first calculation unit is based on the initial position coordinate system O of patient reference 3. track and the coordinate system O of calibration component 4 cal Obtain the coordinate system transformation matrix M between the patient reference 3 and the calibration component 4. ref2cali The detection unit uses the coordinate transformation matrix M between the patient reference 3 and the calibration component 4. ref2cali Determine whether the real-time position of patient reference 3 has changed. If the position of patient reference 3 changes, determine the coordinate system transformation matrix M between patient reference 3 and the calibration component 4. ref2caliThe position of the patient reference 3 was calibrated, which solved the technical problem in related technologies that it was impossible to calibrate the position of the tracker after movement in real time.

[0063] In the patient reference repositioning and osteotomy information correction system of this embodiment, the patient reference repositioning and osteotomy information correction system further includes: a patient reference 3; a detection component 1, the detection component 1 being used to monitor whether the position of the patient reference 3 changes; a fixing component 2, one end of the fixing component 2 being fixed at a preset position, and the other end of the fixing component 2 away from the preset position being detachably connected to the detection component 1; and a calibration component 4, the calibration component 4 being detachably connected to the other end of the fixing component 2 away from the preset position, and the calibration component 4 being used to calibrate the position of the patient reference 3.

[0064] Specifically, during the surgery, after the patient reference 3 is fixed by the connector, the fixation component 2 is inserted near the patient reference 3 using a special tool, and the detection component 1 is installed on the fixation component 2. In this way, since the detection component 1 is installed on the fixation component 2, the position of the detection component 1 is fixed and cannot be moved. At the same time, there is a fixed conversion relationship between the detection component 1 and the patient reference 3. Therefore, the relative position of the detection component 1 and the patient reference 3 can be used to determine whether the patient reference 3 has moved, thus solving the technical problem in the prior art that it is impossible to monitor whether the tracker has moved in real time.

[0065] Preferably, the inspection component 1 is a monitoring reflective ball, the fixing component 2 is a fixing nail, and the calibration component 4 is a calibration tracker.

[0066] In practice, one end of the fixing component 2 can be firmly fixed to the patient, and the other end of the fixing component 2 has a dedicated interface that allows for high-precision repeated installation of the calibration component and the monitoring reflective ball, so that the monitoring reflective ball and the calibration component are in the same position in the same coordinate system.

[0067] This embodiment also provides a computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the various steps of the patient reference repositioning and osteotomy information correction method as described in any of the preceding embodiments.

[0068] Example 1:

[0069] In this embodiment, calibration component 4 is installed at a preset position; the coordinate system O of calibration component 4 is obtained. cal Based on the tracker's initial position coordinate system O track and calibration component 3 coordinate system O cal Obtain the coordinate system transformation matrix M between the tracker and the calibration component 4. ctThe calibration component 4 is installed on the fixed component 2, and the initial position coordinate system O of the tracker is obtained through the optical camera. track and the coordinate system O of calibration component 4 cal Through a series of mathematical and physical transformations performed by an optical camera, the coordinate system transformation matrix M can be used. ct By transforming the coordinate systems of the two, if a movement of the tracker's position is detected, the coordinate transformation matrix M can be used. ct Re-registering the tracker improved the accuracy of navigation during orthopedic surgery.

[0070] It should be noted that the coordinate system O of the calibration component 4 is obtained. cal Then, the calibration component 4 is moved from the preset position; a monitoring reflective ball is installed at the preset position; the relative position of the tracker and the monitoring reflective ball is detected in real time; if the relative position of the tracker and the monitoring reflective ball changes, the real-time position of the tracker changes. In this way, during the surgery, the optical camera monitors the relative position of the tracker and the monitoring reflective ball in real time. When the relative position exceeds the allowable value, the software will pop up a reminder to alert the doctor that the tracker has moved.

[0071] Specifically, since the calibration component 4 occupies a large space, using the calibration component 4 to perform real-time detection of the tracker will affect the path planning of the robotic arm and the surgical field of vision. At the same time, the fixing component 2 cannot support the calibration component 4 to be fixed in the preset position for a long time without shaking. Therefore, a monitoring reflective ball is used instead of the calibration component 4 to monitor the real-time position of the tracker. If the real-time position of the tracker changes, a calibration reminder is issued, which solves the technical problem in related technologies that cannot monitor whether the tracker is moving in real time.

[0072] Understandably, if the real-time position of the tracker changes, the monitoring reflective ball is removed from the preset position; the calibration component 4 is installed at the preset position to calibrate the tracker. Thus, after detecting a change in the tracker's real-time position, the monitoring reflective ball is replaced with the calibration component 4, and the coordinate system of the calibration component 4 is used in conjunction with the tracker's real-time position coordinate system O. track 'Calibrate the real-time position of the tracker.'

[0073] It should be noted that the initial position coordinate system O of the tracker is used. track and the preset image coordinate system O image Obtain the coordinate transformation matrix M between the tracker and the preset image. ti Based on the calibration component 4 coordinate system O cal and the real-time coordinate system O of the tracker track 'Calculate the real-time conversion matrix M between the tracker and calibration component 4.ct According to the real-time conversion matrix M between the tracker and calibration component 4 ct 'Calculate the real-time conversion matrix M between the tracker and the preset image' ti '.

[0074] Specifically, by using the pre-defined registration algorithm of the orthopedic surgical navigation and positioning system, a pre-defined image coordinate system O can be obtained. image relative to the tracker's initial position coordinate system O track The transformation matrix M between ti Based on the calibration component 4-coordinate system O cal and the tracker's real-time coordinate system O track ', calculate the real-time conversion matrix M between the tracker and calibration component 3 ct According to the real-time conversion matrix M between the tracker and calibration component 3 ct 'Calculate the real-time transformation matrix M between the tracker and the preset image ti '.

[0075] Specifically, the real-time transformation matrix M between the tracker and the preset image is calculated. ti The methods include:

[0076] M ti '=(M ct '-M ct M t .

[0077] When the monitoring reflector detects movement of the tracker, the optical camera re-acquires the real-time coordinate system O of the tracker after the movement. track ', combined with the coordinate system O of calibration component 4 cal The real-time conversion matrix M between calibration component 4 and the moved tracker can be calculated. ct ', by comparing M ct With M ct The difference between the tracker and the image can be re-registered after the tracker has moved, thus avoiding the need to re-register the tracker after it has moved during the operation. This solves the technical problem in related technologies that it is impossible to calibrate the position of the tracker after it has moved in real time.

[0078] Specifically, the calibration component 4 and the fixed component 2 have a high-precision mounting interface. After repeated disassembly and reassembly, it can be assumed that the position of the calibration component 4 on the fixed component 2 remains unchanged. Therefore, the coordinate system O of the calibration component 4 obtained in step S100 can be used to determine its position. cal Calculate the real-time transformation matrix M between the tracker and calibration component 4 after the movement. ct '.

[0079] In the patient reference repositioning and osteotomy information correction method of this embodiment, if the position of the fixation component 2 changes, calibration cannot continue.

[0080] Preferably, a tracker movement warning is issued after calibration failure to remind the operator to perform manual calibration in order to avoid inaccurate surgical navigation positioning due to tracker movement.

[0081] Example 2:

[0082] See Figure 5 This embodiment provides a method for patient reference relocation and osteotomy information correction, including:

[0083] Install the tracker, and after securing the tracker with the connector, insert the fixing component 2 next to the tracker using a special tool;

[0084] Preferably, the fixing component 2 is a fixing nail.

[0085] Place calibration component 4, specifically, install the calibration tracker on the fixing pin, and obtain the coordinate system of the tracker and the calibration tracker through an optical camera;

[0086] Install the monitoring reflector, remove the calibration tracker, and install the monitoring reflector on the fixing pin.

[0087] The registration algorithm of the orthopedic surgical navigation and positioning system is used to register the tracker with the three-dimensional model of the surgical area that was pre-established before the operation.

[0088] The monitoring reflector ball monitors the tracker in real time to check for movement. During the surgery, the optical camera monitors the relative position of the tracker and the monitoring reflector ball in real time. When the relative position of the two exceeds the allowable value, the software will pop up a reminder to alert the doctor that the tracker has moved.

[0089] Reposition the calibration tracker for calibration and determine if calibration can be performed. If not, output calibration failure so that the tracker position can be manually adjusted.

[0090] After the doctor reinstalls the fixed tracker, removes the monitoring reflective ball, and then reinstalls the calibration component 4, the coordinate system of the tracker and calibration component 4 after the movement is obtained again through the optical camera.

[0091] Finally, through calculations, the tracker and images were recalibrated after the movement.

[0092] In practice, the methods for calibrating the tracker and calculating the image after movement include: obtaining the coordinate system O of the tracker's initial position using an optical camera. track and calibration component 4 coordinate system O cal Therefore, the transformation matrix M between the two can be obtained. ctBy using the registration algorithm of the orthopedic surgical navigation and positioning system, the image coordinate system O can be obtained. image Coordinate system O relative to the tracker's initial position track The transformation matrix M between ti When movement of the tracker is detected, the optical camera re-acquires the coordinate system O after the tracker has moved. track Because the calibration tracker has a high-precision mounting interface with the fixing pin, the position of the calibration tracker on the fixing pin can be considered unchanged after repeated disassembly and assembly, and the coordinate system O of the calibration component remains unchanged. cal No change has occurred, based on the coordinate system O after the tracker has moved. track 'and calibration component coordinate system O cal The transformation matrix M between the moved tracker and the calibrated tracker can be obtained. ct ', by comparing M ct With M ct The difference between the tracker and the image can be used to re-register the tracker after it has moved, thus avoiding the problem of re-registration after the tracker has moved.

[0093] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0094] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0095] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0096] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0097] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for patient reference repositioning and osteotomy information correction, characterized in that, include: acquiring an initial position coordinate system O of the patient reference (3) track and a coordinate system O of the calibration assembly (4) cal ; an initial position coordinate system O of the patient reference (3) track and a coordinate system O of the calibration assembly (4) cal a coordinate system conversion matrix M of the patient reference (3) and the calibration assembly (4) ref2cali is acquired Based on the patient reference (3) and the patient's bony region image, a pre-defined registration matrix M is used. reg To obtain images of the patient's bony region and the relative positional relationship between the fixation component (2) and the fixation component (2). cali ; The position P of the detection component (1) in the coordinate system of the fixed component (2) is obtained. verify2cali And the coordinate system transformation matrix M between the patient reference (3) and the calibration component (4) ref2cali ; Based on the position P of the detection component (1) in the coordinate system of the fixed component (2) verify2cali And the coordinate system transformation matrix M between the patient reference (3) and the calibration component (4) ref2cali The position P of the detection component (1) in the patient coordinate system is obtained. verify2ref ; Based on the image of the patient's bony region and the relative positional relationship between the fixation component (2) M cali and the position P of the detection component (1) in the patient coordinate system verify2ref Determine whether the patient reference (3) has shifted; If the patient reference (3) shifts, an offset prompt is output, and an M is generated based on the relative positional relationship between the image of the patient's bony region and the fixation component (2). cali The position of the patient reference (3) is corrected.

2. The patient reference repositioning and osteotomy information correction method according to claim 1, characterized in that, The position P of the detection component (1) in the patient coordinate system is obtained. verify2ref The methods include: P verify2ref =inv(M ref2cali )*P verify2cali .

3. The patient reference repositioning and osteotomy information correction method according to claim 1, characterized in that, The method for determining whether the patient reference (3) has shifted is as follows: Obtain the real-time position P' of the detection component (1). verify2ref,i ; Based on the real-time position P' of the detection component (1) verify2ref,i Calculate the offset value of the patient reference (3), wherein the method for calculating the offset value is as follows: Among them, P verify2ref To detect the position of component (1) in the patient coordinate system, P′ verify2ref,j To detect the real-time position of component (1), n ​​is the detection time period; If the offset value is greater than the preset value, then the patient reference (3) will be offset.

4. The patient reference repositioning and osteotomy information correction method according to claim 1, characterized in that, The method for correcting the position of the patient reference (3) includes: When the offset value exceeds the preset threshold, the calibration component (4) is connected to the fixing component (2); Remeasure the coordinate system transformation matrix M' between the patient reference (3) and the calibration component (4). ref2cali ; Based on the image of the patient's bony region and the relative positional relationship between the fixation component (2) M cali The registration matrix M' of the patient reference (3) and the patient's bony region image was recalculated. reg and the position P of the detection component (1) in the patient coordinate system verify2ref '.

5. The patient reference repositioning and osteotomy information correction method according to claim 4, characterized in that, The registration matrix M' of the patient reference (3) and the patient's bony region image is calculated. reg The methods include: M' reg =inv(M' ref2cali )*M cali 。 6. The patient reference repositioning and osteotomy information correction method according to claim 4, characterized in that, The method for calculating the position of the detection component (1) in the patient coordinate system includes: P verify2ref '=inv(M ref2cali ')*P verify2cali 。 7. The patient reference repositioning and osteotomy information correction method according to claim 1, characterized in that, The patient reference relocation and osteotomy information correction method also includes: Real-time recording of surgical osteotomy information status {S i ,i=1,...,n}, where the surgical state S i ={Err move,i ,P verify2ref ′,P point,i ,P line,i ,P plate,i }; Real-time detection of the offset value Err move Is it greater than the first preset value? If the offset value Err move If the value is greater than the first preset value, then the registration matrix M′ is recalculated. reg and the position P of the detection component verify2ref ′; Update the status S of the surgical osteotomy information i Positional elements in the text.

8. A patient reference repositioning and osteotomy information correction system, characterized in that, The patient reference repositioning and osteotomy information correction system includes: The first data acquisition unit is used to acquire the initial position coordinate system O of the patient reference (3). track and the coordinate system O of the calibration component (4) cal ; A first calculation unit is used to establish an initial position coordinate system O based on the patient reference (3). track and the coordinate system O of the calibration component (4) cal Obtain the coordinate system transformation matrix M between the patient reference (3) and the calibration component (4). ref2cali ; Registration unit, the registration unit being used for registration matrix M based on the patient reference (3) and the patient's bony region image. reg To obtain images of the patient's bony region and the relative positional relationship between the fixation component (2) and the fixation component (2). cali ; The second data acquisition unit is used to obtain the position P of the detection component (1) in the coordinate system of the fixed component (2). verify2cali And the coordinate system transformation matrix M between the patient reference (3) and the calibration component (4) ref2cali ; The second calculation unit is used to calculate the position P of the detection component (1) in the coordinate system of the fixed component (2). verify2cali And the coordinate system transformation matrix M between the patient reference (3) and the calibration component (4) ref2cali The position P of the detection component (1) in the patient coordinate system is obtained. verify2ref ; Detection unit, the detection unit block being used for the relative positional relationship M between the patient's bony region image and the fixation component (2). cali and the position P of the detection component (1) in the patient coordinate system verify2ref Determine whether the detection component (1) has shifted; Output unit, the output unit being used to output offset prompts, based on the image of the patient's bony region and the relative positional relationship M between the fixation component (2). cali The position of the patient reference (3) is corrected.

9. The patient reference repositioning and osteotomy information correction system according to claim 8, characterized in that, The patient reference repositioning and osteotomy information correction system also includes: Patient reference (3); A detection component (1) is used to monitor whether the position of the patient reference (3) changes; A fixing component (2) is provided, one end of which is fixed at a preset position, and the other end of which is detachably connected to the detection component (1). A calibration component (4) is detachably connected to one end of the fixing component (2) away from the preset position. The calibration component (4) is used to calibrate the position of the patient reference (3).

10. A computer-readable storage medium storing computer-readable instructions thereon, characterized in that, When the computer-readable instructions are executed by a processor, they implement the steps of the patient reference repositioning and osteotomy information correction method as described in any one of claims 1-7.

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