Osteophyte resection navigation method, system, terminal device and storage medium
By acquiring the real-time coordinates of the arthroscopic handle and spatial alignment with the target bone model, and combining image segmentation and visual rendering techniques, the problem of distinguishing osteophytes from normal bone under arthroscopy was solved, achieving precision and safety in osteophyte removal.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIJING JISHUITAN HOSPITAL
- Filing Date
- 2026-04-29
- Publication Date
- 2026-07-21
AI Technical Summary
Under arthroscopy, it is difficult to accurately distinguish between osteophytes and normal bone, which makes the extent of osteophyte removal highly subjective and prone to under-removal or over-removal, resulting in postoperative limited mobility or joint instability.
By acquiring the real-time coordinates of the arthroscopic handle, the real-time coordinates of the drill bit tip are determined, and spatial alignment is performed in conjunction with the target bone model. Image segmentation and visual rendering techniques are used to distinguish between osteophytes to be removed and normal bone tissue, providing real-time visual guidance.
It improves the precision of osteophyte removal, effectively avoids the removal of normal bone, reduces the risk of mis-cutting, and enhances surgical outcomes.
Smart Images
Figure CN122423960A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of navigation-assisted technology, and in particular to a method, system, terminal device, and storage medium for osteophyte removal navigation. Background Technology
[0002] Osteophytes, commonly known as bone spurs, are extra bony protrusions that grow along the edges of bones due to long-term wear or degeneration. Currently, due to the narrow joint space, the narrow field of view under arthroscopy, and the complex anatomical structure, it is difficult to identify bony landmarks and accurately distinguish the boundary between osteophytes and adjacent normal bone in real-time endoscopic images. This leads to a high degree of subjectivity in the extent of osteophyte removal, which can easily result in under-removal or over-removal of osteophytes, causing residual osteophytes that may restrict postoperative mobility or damage normal bone, leading to joint instability. Summary of the Invention
[0003] In view of this, embodiments of this application provide a method, system, terminal device, and storage medium for osteophyte resection navigation, which can effectively improve the problem of difficulty in accurately distinguishing osteophytes from normal bone in real-time microscopic images.
[0004] In a first aspect, embodiments of this application provide a navigation method for osteophyte resection, comprising: The navigation observation interface displays the virtual skeleton model corresponding to the target skeleton model; Obtain the first real-time coordinates of the arthroscopic handle, and determine the second real-time coordinates of the drill bit tip of the arthroscopic handle based on the first real-time coordinates; Under the condition that the second real-time coordinates are the same as the bone coordinates of the target bone model, the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates is determined, and the bone type includes osteophytes to be removed and normal bone. Based on the bone type, the bone region of the virtual skeleton model corresponding to the target bone coordinates is rendered to provide real-time visual guidance for the operator.
[0005] In a first possible embodiment of the first aspect, determining the second real-time coordinates of the drill tip of the arthroscopic handle based on the first real-time coordinates includes: Obtain the pre-calibrated relative coordinate relationship between the arthroscopic handle and the tip of the drill bit; Based on the relative coordinate relationship, the first real-time coordinates are converted into the second real-time coordinates.
[0006] In a second possible embodiment of the first aspect, the arthroscopic handle is provided with an optical tracer, and the acquisition of the pre-calibrated relative coordinate relationship between the arthroscopic handle and the tip of the drill bit includes: The tip of the grinding drill bit is marked by a marker probe of an optical tracker to obtain the coordinates of the grinding drill bit tip. Obtain the positioning data of the optical tracker on the optical tracer to obtain the coordinates of the arthroscopic handle; The relative coordinate relationship is determined based on the coordinates of the drill bit tip and the coordinates of the arthroscopic handle.
[0007] In a third possible embodiment of the first aspect, the method further includes: Obtain the real-time coordinates of the target skeleton model, and spatially align the target skeleton model and the virtual skeleton model based on the real-time coordinates.
[0008] In a fourth possible embodiment of the first aspect, prior to determining the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates, the method includes: The virtual bone model is divided into the osteophytes to be removed and the normal bone tissue by image segmentation. With the target bone model and the virtual bone model spatially aligned, determine the coordinate set of the osteophyte to be removed and the coordinate set of the normal bone corresponding to the normal bone. Determining the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates includes: If the coordinates of the target bone fall within the coordinate set of the osteophyte to be removed, the bone type is determined to be the osteophyte to be removed. If the target bone coordinates fall within the normal bone coordinate set, the bone type is determined to be the normal bone.
[0009] In a fifth possible embodiment of the first aspect, rendering the bone region of the virtual skeleton model corresponding to the target bone coordinates based on the bone type includes: When the bone type is the osteophyte to be removed, the bone region is rendered with a first preset color; Under the condition that the bone type is normal bone, the bone region corresponding to the target bone coordinates is rendered as a second preset color.
[0010] In a sixth possible embodiment of the first aspect, it further includes: When the bone type corresponding to the target bone coordinate changes from the osteophyte to be removed to normal bone, the first preset color is changed to the third preset color. When all bone regions of the virtual skeleton model are rendered in the third preset color, a message indicates that the osteophyte removal is complete.
[0011] Secondly, embodiments of this application provide a navigation system for osteophyte resection, comprising: The real-time display module is used to display the virtual skeleton model corresponding to the target skeleton model in the navigation observation interface; The coordinate acquisition module is used to acquire the first real-time coordinates of the arthroscopic handle and determine the second real-time coordinates of the drill bit tip of the arthroscopic handle based on the first real-time coordinates. The type determination module is used to determine the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates, under the condition that the second real-time coordinates are the same as the bone coordinates of the target bone model. The bone type includes osteophytes to be removed and normal bone. The real-time rendering module is used to render the bone region of the virtual skeleton model corresponding to the target bone coordinates based on the bone type, providing real-time visual guidance for the operator.
[0012] Thirdly, embodiments of this application provide a terminal device, the terminal device including a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the above-described osteophyte resection navigation method.
[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described osteophyte resection navigation method.
[0014] The embodiments of this application have the following beneficial effects: This embodiment of a osteophyte resection navigation method includes: acquiring the first real-time coordinates of an arthroscopic handle; determining the second real-time coordinates of the drill tip of the arthroscopic handle based on the first real-time coordinates; determining the bone type corresponding to the target bone coordinates, where the second real-time coordinates are the same as the bone coordinates of the target bone model, the bone type including osteophytes to be resected and normal bone; displaying a virtual bone model corresponding to the target bone model on a navigation observation interface; and rendering the bone region of the virtual bone model corresponding to the target bone coordinates based on the bone type, providing real-time visual guidance for the operator. Based on the above scheme, this osteophyte resection navigation method can effectively distinguish between osteophytes to be resected and normal bone, and provide the operator with visual differentiation between osteophytes to be resected and normal bone, improving the osteophyte resection effect and effectively avoiding the resection of normal bone. Attached Figure Description
[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 This paper illustrates a first flowchart of the osteophyte resection navigation method according to an embodiment of this application; Figure 2 This paper illustrates a second flowchart of the osteophyte resection navigation method according to an embodiment of this application. Figure 3 This application shows a diagram of bone spur segmentation markers in a virtual skeleton model according to an embodiment of the present application; Figure 4 This paper illustrates a rendering diagram of a virtual skeleton model according to an embodiment of this application. Figure 5 The diagram shows a structural schematic of a bone spur removal navigation system according to an embodiment of this application.
[0017] Explanation of key component symbols: 200 - Osteophyte Removal Navigation System; 210 - Real-time Display Module; 220 - Coordinate Acquisition Module; 230 - Type Determination Module; 240 - Real-time Rendering Module. Detailed Implementation
[0018] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.
[0019] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0020] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.
[0021] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.
[0022] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0023] Osteoarthritis of the elbow is a common disease among manual laborers and athletes, with an incidence rate between 2% and 22.6%. It manifests as abnormal osteophyte formation around the joint, leading to limited joint movement and pain. Arthroscopic elbow arthroplasty can effectively improve joint mobility and function. The main steps include osteophyte removal, synovial debridement, and joint capsule release. Osteophyte removal is a crucial step in the procedure, but deviations in the location and extent of removal may result in residual symptoms or joint instability. Due to the narrow field of vision and complex anatomical structures under elbow arthroscopy, precise osteophyte removal requires a high level of surgeon experience.
[0024] To address the aforementioned issues, this application provides a method, system, terminal device, and storage medium for osteophyte removal navigation. This method can locate the real-time position of the drill bit tip. When the drill bit tip contacts the target bone model, it determines whether the contact area consists of osteophytes to be removed and normal bone. Based on the determination result, the contact area is visually rendered, with different colors used for the osteophytes and normal bone. This provides an intuitive navigation interface for the operator and effectively reduces the risk of incorrect removal.
[0025] The following examples illustrate the navigation method for osteophyte removal.
[0026] Figure 1A flowchart of a osteophyte resection navigation method according to an embodiment of this application is shown. Exemplarily, the osteophyte resection navigation method includes the following steps: S110 displays the virtual skeleton model corresponding to the target skeleton model on the navigation observation interface.
[0027] Exemplary, a virtual skeleton model is a three-dimensional digital skeletal geometry model constructed preoperatively that is strictly matched to the patient's joint structure and size. For example, in one implementation, CT data in DICOM (Digital Imaging and Communications in Medicine) format can be imported into MIMICS software for three-dimensional bone reconstruction to obtain a virtual skeleton model.
[0028] In this embodiment, by constructing and displaying a virtual skeleton model in real time, the limitations of arthroscopic field of view are compensated for, and the accuracy of operation is improved. The virtual skeleton model can support multi-view rotation, scaling and other adjustments. When the tip of the drill bit contacts the target skeleton model, that is, when the second real-time coordinate of the drill bit tip is the same as the bone coordinate of the target skeleton model, the virtual skeleton model and the virtual model of the drill bit tip can be displayed simultaneously in the navigation observation interface, which further facilitates the operator's observation and operation.
[0029] In one embodiment, the real-time coordinates of the target skeleton model are obtained, and the target skeleton model and the virtual skeleton model are spatially aligned based on the real-time coordinates to achieve registration between the virtual skeleton model and the real target skeleton model. This allows for seamless adaptation to the target skeleton model during surgery or experiment, ensuring the accuracy of navigation visualization results.
[0030] In this embodiment, when the target bone model is a 3D-printed bone model intended for osteophyte removal experiments, pre-defined coarse registration points on the humerus of the bone model can be marked and positioned using probes to complete the initial alignment. A preliminary coordinate mapping between the target bone model and the virtual bone model is quickly established using a small number of coarse registration points, significantly improving subsequent registration efficiency. Subsequently, multiple marker points are uniformly marked on the bone surface for fine registration. Algorithms such as Iterative Closest Point (ICP) are used to minimize the spatial error between the physical marker points and the corresponding points on the virtual bone model, accurately correcting the initial alignment deviation and ultimately determining the relative position of the bone tracer and the bone model. Based on this relative position, the target bone model and the virtual bone model can be spatially aligned. When the target bone model is a joint bone of a patient during surgery, the spatial alignment can be performed based on the coordinate error between the bone coordinates of the target bone model and the corresponding position coordinates of the virtual bone model, transformed from the image spatial coordinate system.
[0031] S120, acquire the first real-time coordinates of the arthroscopic handle, and determine the second real-time coordinates of the drill tip of the arthroscopic handle based on the first real-time coordinates.
[0032] Exemplarily, the arthroscopic handle is equipped with an optical tracer, which is the core sensing component for real-time tracking of the spatial coordinates of the arthroscopic handle. By rigidly fixing multiple non-collinear infrared reflective spheres or active LED markers to the arthroscopic handle, and in conjunction with an external optical tracker, its spatial coordinates can be uniquely identified to obtain the first real-time coordinates. This external optical tracker includes, but is not limited to, infrared cameras, high-speed vision sensors, etc.
[0033] As an example, the tip of the drill bit is the physical point of action for directly performing osteophyte removal. When the navigation confirms that the coordinates of the tip coincide with the area of the osteophyte to be removed, a visual guidance prompt is triggered.
[0034] In one embodiment, such as Figure 2 As shown, determining the second real-time coordinates of the drill bit tip includes the following steps: S121, Obtain the pre-calibrated relative coordinate relationship between the arthroscopic handle and the drill bit tip.
[0035] In one embodiment, the tip of the drill bit is marked by a marker probe of an optical tracker to obtain the coordinates of the drill bit tip; the positioning data of the optical tracker on the optical tracer is obtained to obtain the coordinates of the arthroscopy handle; and the relative coordinate relationship is determined based on the coordinates of the drill bit tip and the coordinates of the arthroscopy handle.
[0036] In this embodiment, the spatial coordinates of the drill bit tip in the optical coordinate system are first precisely located using the marker probe of the optical tracker. The marker probe is used to contact or bind to the drill bit tip being located, thereby being identified by the optical tracker and indirectly obtaining the spatial coordinates of the drill bit tip. Then, the coordinates of the arthroscope handle provided by the optical tracer are simultaneously acquired. By calculating the coordinate difference between the drill bit tip coordinates and the arthroscope handle coordinates, the relative coordinate relationship is obtained, completing the calibration of the arthroscope handle and the drill bit tip. Thus, during navigation, the real-time coordinates of the drill bit tip can be calculated solely based on the real-time coordinates of the arthroscope handle.
[0037] S122, convert the first real-time coordinates into the second real-time coordinates based on the relative coordinate relationship.
[0038] In this embodiment, the relative coordinate relationship is the coordinate difference between the drill bit tip coordinate and the arthroscopy handle coordinate. The second real-time coordinate can be obtained by calculating the coordinates of the arthroscopy handle and the coordinate difference, thus achieving real-time positioning of the drill bit tip.
[0039] S130, under the condition that the second real-time coordinates are the same as the bone coordinates of the target bone model, determine the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates. The bone type includes osteophytes to be removed and normal bone.
[0040] Exemplary examples show that the target bone model is either the patient's joint bone during surgery or a 3D-printed bone model intended for osteophyte removal experiments. When the target bone model is the patient's joint bone during surgery, after fixing the position of the target bone model, real-time 3D images of the bone can be acquired during surgery to establish an image space coordinate system. The coordinates of the target bone model in the image space coordinate system can then be determined. Based on the coordinate transformation relationship between the image space coordinate system and the real space coordinate system of the target bone model, which is the scaling ratio between the virtual image and the real space, the coordinates in the image space coordinate system are transformed to the bone coordinates of the target bone model.
[0041] In one embodiment, when the target bone model is a 3D-printed bone model intended for osteophyte removal experiments, the target bone model can be fixed to the edge of the operating table using a clamp. An optical tracer of a different model than that used on the arthroscopic handle is placed on the target bone model to locate the bone coordinates of the target bone model.
[0042] In one embodiment, before determining the bone type, the virtual bone model is divided into osteophytes to be removed and normal bone by image segmentation; with the target bone model and the virtual bone model spatially aligned, the coordinate set of the osteophytes to be removed and the coordinate set of normal bone corresponding to the normal bone are determined.
[0043] In this embodiment, image segmentation is used to remove the ulna and radius from the virtual skeleton model, and the humerus portion is saved in STL (Standard Tessellation Language) format. Through manual marking, the humerus is segmented and marked as osteophytes to be removed and normal bone, and saved separately in STL format. For example, as... Figure 3 The image shows the segmentation and marking of osteophytes in a virtual skeleton model. Image A on the left is the front view of the virtual skeleton model after osteophyte segmentation and marking, and Image A on the left is the rear view. Blue represents normal bone, and pink represents the marked osteophytes to be removed. Simultaneously, after spatially aligning the target skeleton model and the virtual skeleton model, the coordinate sets of the osteophytes to be removed and the coordinate sets of normal bone are determined and saved. The coordinate set of the osteophytes to be removed includes all coordinates corresponding to the osteophyte removal area, and the coordinate set of normal bone includes all coordinates corresponding to the normal bone area. These coordinates will be compared with the target bone coordinates later to determine the bone type of the target bone.
[0044] In another embodiment, if the target bone coordinates fall within the coordinate set of the osteophyte to be removed, the bone type is determined to be the osteophyte to be removed. If the target bone coordinates fall within the coordinate set of normal bone, the bone type is determined to be normal bone.
[0045] In this embodiment, the virtual bone model reconstructed from preoperative CT is precisely segmented into two geometric types—the osteophytes to be removed and normal bone—by manual marking, and each is assigned an independent coordinate set. The coordinates of the drill tip in physical space can be obtained in real time. When the drill tip contacts the target bone model, the coordinates of the target bone are directly compared to whether they fall into the pre-stored coordinate set of the osteophytes to be removed or the normal bone coordinate set. This avoids misidentification caused by perspective distortion, occlusion, or deformation in traditional image overlay, significantly improving the certainty of type identification. Combined with subsequent visual feedback, this ensures the accuracy and safety of the operation, which removes only osteophytes without damaging the bone.
[0046] S140 renders the bone region of the virtual skeleton model corresponding to the target bone coordinates based on bone type, providing real-time visual guidance for the operator.
[0047] In one embodiment, when the bone type is osteophyte to be removed, the bone region is rendered with a first preset color; when the bone type is normal bone, the bone region corresponding to the target bone coordinates is rendered with a second preset color.
[0048] In this embodiment, the bone type identification result is instantly mapped to intuitive visual feedback. When the drill tip touches the area to be removed, the corresponding virtual bone model is locally rendered in real time with a first preset color, forming a strong visual cue. Once it crosses the boundary and touches normal bone, the area immediately switches to a second preset color, different from the first preset color, to trigger the operator to stop the action in a conspicuous manner. This rendering uses dynamic coloring based on three-dimensional coordinates to accurately represent the three-dimensional solid structure, avoiding misjudgments caused by single-view occlusion. For example, in one embodiment, such as Figure 4 The image shows a rendering diagram of a virtual skeleton model. When the drill tip comes into contact with the osteophyte, the osteophyte area can be rendered in green. To easily distinguish between bone marrow and normal bone, the normal bone area can be rendered in blue at the same time. The navigation observation interface can also indicate that the osteophyte removal operation can be performed.
[0049] In another embodiment, when the bone type corresponding to the target bone coordinates changes from the osteophyte to be removed to normal bone, the first preset color is changed to a third preset color. When all bone regions in the virtual skeleton model are rendered in the third preset color, a message indicating that osteophyte removal is complete is displayed.
[0050] In this embodiment, when the drill tip removes the osteophyte and comes into contact with normal bone, the normal bone changes from blue to yellow in the navigation observation interface, indicating that bone removal should be stopped, the operating position changed, or the operation ended. Once the operation is satisfactory, the drill tip touches the target bone model; if the normal bone in the navigation observation interface is all yellow, it can be determined that the osteophyte has been completely removed. By implementing a contact-based color-changing design, when the drill tip touches normal bone, the bone color in the navigation observation interface changes from blue to a striking yellow, effectively preventing over-removal.
[0051] In one implementation, when the target bone model is a 3D-printed bone model intended for osteophyte removal experiments, after the osteophyte removal is completed, the manipulated 3D-printed bone model can be scanned and reconstructed using a 3D scanner and saved as an STL (Stereolithography) file. The pre- and post-operative STL files are imported into Geomagicstudio software, and Boolean operations are performed to obtain the actual osteophyte model removed from the 3D-printed bone model. By comparing the planned osteophyte with the actual removed osteophyte, the proportions of the osteophyte removal area and volume are obtained.
[0052] Exemplary, the osteophyte area removal rate of a 3D-printed bone model can be calculated based on the area occupied by the planned osteophytes and the area occupied by the osteophytes in the actual target bone model after osteophyte removal, and the osteophyte volume removal rate can be calculated based on the actual volume of the removed osteophytes and the planned osteophyte volume.
[0053] The formula for calculating the osteophyte area removal rate is: ; In the formula, This indicates the rate of osteophyte removal. This indicates the area occupied by the planned osteophytes. This indicates the area occupied by the osteophytes in the actual target bone model after the osteophytes were removed.
[0054] The formula for calculating the osteophyte volume removal rate is: ; This indicates the rate of bone spur removal. This indicates the actual volume of osteophytes removed. This indicates the planned volume of the osteophyte.
[0055] In this embodiment, based on extensive experimental statistics, the average area removal rate reached 97.2%, while the typical acceptable osteophyte volume removal rate is 85%. The average osteophyte volume removal rate in this application is 96%, representing a significant improvement compared to previous navigation-assisted methods. In addition to the significantly improved removal rate, no over-removal was observed in the experimental statistics; in other words, the portion marked as normal bone in the navigation settings was well protected.
[0056] Figure 5 A schematic diagram of a bone spur resection navigation system 200 according to an embodiment of this application is shown. Exemplarily, the bone spur resection navigation system 200 includes: The real-time display module 210 is used to display the virtual skeleton model corresponding to the target skeleton model on the navigation observation interface.
[0057] The coordinate acquisition module 220 is used to acquire the first real-time coordinates of the arthroscopic handle and determine the second real-time coordinates of the drill tip of the arthroscopic handle based on the first real-time coordinates.
[0058] The type determination module 230 is used to determine the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates, under the condition that the second real-time coordinates are the same as the bone coordinates of the target bone model. The bone type includes osteophytes to be removed and normal bone.
[0059] The real-time rendering module 240 is used to render the bone region of the virtual skeleton model corresponding to the target bone coordinates based on the bone type, so as to provide real-time visual guidance for the operator.
[0060] It is understood that the device in this embodiment corresponds to the osteophyte resection navigation method in the above embodiments, and the options in the above embodiments are also applicable to this embodiment, so they will not be described again here.
[0061] This application also provides a terminal device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the terminal device to perform the functions of the above-described osteophyte resection navigation method or the various modules in the above-described osteophyte resection navigation system 200.
[0062] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.
[0063] Memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). Memory is used to store computer programs, and the processor can execute these programs upon receiving execution instructions.
[0064] This application also provides a computer-readable storage medium for storing computer programs used in the aforementioned terminal devices. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
[0065] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.
[0066] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0067] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application.
[0068] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.
Claims
1. A navigation method for osteophyte removal, characterized in that, include: The navigation observation interface displays the virtual skeleton model corresponding to the target skeleton model; Obtain the first real-time coordinates of the arthroscopic handle, and determine the second real-time coordinates of the drill bit tip of the arthroscopic handle based on the first real-time coordinates; Under the condition that the second real-time coordinates are the same as the bone coordinates of the target bone model, the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates is determined, and the bone type includes osteophytes to be removed and normal bone. Based on the bone type, the bone region of the virtual skeleton model corresponding to the target bone coordinates is rendered to provide real-time visual guidance for the operator.
2. The osteophyte resection navigation method according to claim 1, characterized in that, The step of determining the second real-time coordinates of the drill bit tip of the arthroscopic handle based on the first real-time coordinates includes: Obtain the pre-calibrated relative coordinate relationship between the arthroscopic handle and the tip of the drill bit; Based on the relative coordinate relationship, the first real-time coordinates are converted into the second real-time coordinates.
3. The osteophyte resection navigation method according to claim 1, characterized in that, The arthroscopic handle is equipped with an optical tracer. The step of acquiring the pre-calibrated relative coordinate relationship between the arthroscopic handle and the tip of the drill bit includes: The tip of the grinding drill bit is marked by a marker probe of an optical tracker to obtain the coordinates of the grinding drill bit tip. Obtain the positioning data of the optical tracker on the optical tracer to obtain the coordinates of the arthroscopic handle; The relative coordinate relationship is determined based on the coordinates of the drill bit tip and the coordinates of the arthroscopic handle.
4. The osteophyte resection navigation method according to claim 1, characterized in that, The method further includes: Obtain the real-time coordinates of the target skeleton model, and spatially align the target skeleton model and the virtual skeleton model based on the real-time coordinates.
5. The osteophyte resection navigation method according to claim 1, characterized in that, Before determining the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates, the process includes: The virtual bone model is divided into the osteophytes to be removed and the normal bone tissue by image segmentation. With the target bone model and the virtual bone model spatially aligned, determine the coordinate set of the osteophyte to be removed and the coordinate set of the normal bone corresponding to the normal bone. Determining the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates includes: If the coordinates of the target bone fall within the coordinate set of the osteophyte to be removed, the bone type is determined to be the osteophyte to be removed. If the target bone coordinates fall within the normal bone coordinate set, the bone type is determined to be the normal bone.
6. The osteophyte resection navigation method according to claim 1, characterized in that, The step of rendering the bone region of the virtual skeleton model corresponding to the target bone coordinates based on the bone type includes: When the bone type is the osteophyte to be removed, the bone region is rendered with a first preset color; Under the condition that the bone type is normal bone, the bone region corresponding to the target bone coordinates is rendered as a second preset color.
7. The osteophyte resection navigation method according to claim 6, characterized in that, Also includes: When the bone type corresponding to the target bone coordinate changes from the osteophyte to be removed to normal bone, the first preset color is changed to the third preset color. When all bone regions of the virtual skeleton model are rendered in the third preset color, a message indicates that the osteophyte removal is complete.
8. A navigation system for osteophyte removal, characterized in that, include: The real-time display module is used to display the virtual skeleton model corresponding to the target skeleton model in the navigation observation interface; The coordinate acquisition module is used to acquire the first real-time coordinates of the arthroscopic handle and determine the second real-time coordinates of the drill bit tip of the arthroscopic handle based on the first real-time coordinates. The type determination module is used to determine the bone type corresponding to the target bone coordinates that are the same as the second real-time coordinates, under the condition that the second real-time coordinates are the same as the bone coordinates of the target bone model. The bone type includes osteophytes to be removed and normal bone. The real-time rendering module is used to render the bone region of the virtual skeleton model corresponding to the target bone coordinates based on the bone type, providing real-time visual guidance for the operator.
9. A terminal device, characterized in that, The terminal device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the osteophyte removal navigation method according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The system contains a computer program that, when executed by a processor, implements the osteophyte removal navigation method as described in any one of claims 1-7.