Pose determination method and apparatus, storage medium, and electronic device

Abstract

The application discloses a pose determination method and device, a storage medium and an electronic device. It relates to the technical field of medical treatment. The method comprises the following steps: acquiring a target vector set based on preoperative planning data of a target object, wherein the target vector set at least comprises a first normal vector of a femur tracer corresponding to the target object, a second normal vector of a tibia tracer corresponding to the target object, and third normal vectors of multiple osteotomy planes corresponding to the target object; determining a target optical axis vector of an optical navigator based on the target vector set; and obtaining target pose information of the optical navigator based on the target optical axis vector. Through the application, the problem that the accuracy of determining the pose is relatively low due to the determination of the pose of the optical navigator based on artificial experience in the related art is solved.

Description

Technical Field

[0001] This application relates to the field of medical technology, and more specifically, to a pose determination method and apparatus, a storage medium, and an electronic device. Background Technology

[0002] Total knee arthroplasty (TKA) is one of the most effective surgical interventions for treating end-stage knee joint diseases. In recent years, the introduction of surgical robot systems based on optical navigation has significantly improved osteotomy precision and surgical repeatability, and is gradually becoming an important development direction in modern orthopedic surgery. In robot-assisted TKA systems, the optical navigation device (NDI) serves as the core sensor for spatial perception. By actively tracking reflective optical tracers fixed to the femur, tibia, and the end effector of the robotic arm, it establishes a precise spatial mapping relationship between surgical instruments, anatomical structures, and the kinematics of the robotic arm, providing continuous and reliable pose feedback for autonomous osteotomy. However, many related technologies rely on surgeon experience or simple spatial positioning rules for NDI pose planning, resulting in a high risk of blind spots.

[0003] There is currently no effective solution to the problem that the accuracy of pose determination for optical navigators is relatively low due to the reliance on human experience in related technologies. Summary of the Invention

[0004] The main objective of this application is to provide a pose determination method, apparatus, storage medium, and electronic device to solve the problem in related technologies where the pose determination of an optical navigator is based on human experience, resulting in relatively low accuracy in pose determination.

[0005] To achieve the above objectives, according to one aspect of this application, a pose determination method is provided. The method includes: obtaining a target vector set based on preoperative planning data of a target object, wherein the target vector set includes at least: a first normal vector of a femoral tracer corresponding to the target object, a second normal vector of a tibial tracer corresponding to the target object, and third normal vectors of multiple osteotomy planes corresponding to the target object; determining a target optical axis vector of an optical navigator based on the target vector set; and obtaining target pose information of the optical navigator based on the target optical axis vector.

[0006] Further, determining the target optical axis vector of the optical navigator based on the target vector set includes: determining whether there is an optimal solution for the optical axis vector of the optical navigator based on the target vector set and a first angle threshold corresponding to each normal vector in the target vector set; if there is an optimal solution for the optical axis vector of the optical navigator, then calculating the target optical axis vector based on the target vector set and the first angle threshold; if there is no optimal solution for the optical axis vector of the optical navigator, then adjusting the target parameters, and determining the target optical axis vector based on the adjusted target parameters, wherein the target parameters include at least one of the following: the first angle threshold, the first normal vector, and the second normal vector.

[0007] Further, based on the target vector set and the first angle threshold corresponding to each normal vector in the target vector set, determining whether the optical axis vector of the optical navigator has an optimal solution includes: calculating an initial optical axis vector based on multiple normal vectors in the target vector set; determining whether the initial optical axis vector satisfies a first preset condition, and if the initial optical axis vector satisfies the first preset condition, determining whether the initial optical axis vector satisfies a second preset condition, wherein the second preset condition is set based on the first angle threshold; if the initial optical axis vector satisfies both the first and second preset conditions, then it is determined that the optical axis vector of the optical navigator has the optimal solution.

[0008] Furthermore, after determining whether the initial optical axis vector satisfies the first preset condition, the method further includes: if the initial optical axis vector does not satisfy the first preset condition, adjusting the initial optical axis vector based on a preset adjustment step size; repeatedly executing the step of determining whether the adjusted initial optical axis vector satisfies the first preset condition until the current optical axis vector satisfies the first preset condition or reaches a preset first iteration number.

[0009] Further, determining whether the initial optical axis vector satisfies the first preset condition includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the maximum angle value and the minimum angle value; determining whether the target difference between the maximum angle value and the minimum angle value is less than a preset second angle threshold; if the target difference is less than the second angle threshold, then determining that the initial optical axis vector satisfies the first preset condition.

[0010] Further, determining whether the initial optical axis vector satisfies the second preset condition includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the angle value corresponding to each normal vector; if the angle value corresponding to each normal vector is less than or equal to the first angle threshold, then it is determined that the initial optical axis vector satisfies the second preset condition.

[0011] Further, adjusting the initial optical axis vector based on a preset adjustment step size includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the angle value corresponding to each normal vector; determining the target normal vector corresponding to the maximum angle value based on the angle value corresponding to each normal vector; and adjusting the initial optical axis vector based on the target normal vector and the preset adjustment step size.

[0012] Further, based on the target normal vector and the preset adjustment step size, the initial optical axis vector is adjusted, including: calculating the target normal vector, the preset adjustment step size, and the initial optical axis vector to obtain a calculated initial optical axis vector; calculating the target angle value between the calculated initial optical axis vector and the initial optical axis vector; if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and multiple normal vectors in the target vector set is greater than or equal to the target angle value, then the calculated initial optical axis vector is determined as the adjusted initial optical axis vector.

[0013] Furthermore, the method further includes: if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and the multiple normal vectors in the target vector set is less than the target angle value, then the preset adjustment step size is adjusted to obtain the adjusted preset adjustment step size; the steps of calculating the target normal vector, the adjusted preset adjustment step size, and the initial optical axis vector are repeated until the difference between the maximum and minimum angle values ​​among the angles between the currently obtained initial optical axis vector and the multiple normal vectors in the target vector set is greater than or equal to the target angle value, or the preset second iteration number is reached.

[0014] Further, based on the target optical axis vector, the target pose information of the optical navigator is obtained, including: acquiring the position parameter information of the target object and the position information of the center point of the knee joint envelope circle corresponding to the target object; acquiring the working distance constraint condition of the optical navigator, wherein the working distance constraint condition includes at least: a distance threshold between the lens of the optical navigator and the position information of the center point of the knee joint envelope circle and a tracking height threshold corresponding to the optical navigator; and obtaining the target pose information based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint condition, and the target optical axis vector.

[0015] Furthermore, the method further includes: if the position height of the optical navigator determined based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint condition, and the target optical axis vector does not meet the working distance constraint condition, then the position information of the center point of the knee joint envelope circle is adjusted.

[0016] Furthermore, the method further includes: determining a target osteotomy surface from the plurality of osteotomy planes, wherein the probability of the target osteotomy surface shifting is greater than a preset threshold; and correcting the initial third normal vector in the target osteotomy surface based on a weight bias matrix to obtain the third normal vector of the target osteotomy surface.

[0017] To achieve the above objectives, according to another aspect of this application, a pose determination device is provided. The device includes: an acquisition unit, configured to acquire a target vector set based on preoperative planning data of a target object, wherein the target vector set includes at least: a first normal vector of a femoral tracer corresponding to the target object, a second normal vector of a tibial tracer corresponding to the target object, and third normal vectors of a plurality of osteotomy planes corresponding to the target object; a first determination unit, configured to determine a target optical axis vector of an optical navigator based on the target vector set; and a processing unit, configured to obtain target pose information of the optical navigator based on the target optical axis vector.

[0018] Further, the first determining unit includes: a judging subunit, configured to determine whether there is an optimal solution for the optical axis vector of the optical navigator based on the target vector set and a first angle threshold corresponding to each normal vector in the target vector set; a first calculating subunit, configured to calculate the target optical axis vector based on the target vector set and the first angle threshold if the optimal solution exists for the optical axis vector of the optical navigator; and a determining subunit, configured to adjust the target parameters and determine the target optical axis vector based on the adjusted target parameters if the optimal solution does not exist for the optical axis vector of the optical navigator, wherein the target parameters include at least one of the following: the first angle threshold, the first normal vector, and the second normal vector.

[0019] Further, the judgment subunit includes: a first calculation module, used to calculate based on multiple normal vectors in the target vector set to obtain an initial optical axis vector; a judgment module, used to judge whether the initial optical axis vector satisfies a first preset condition, and if the initial optical axis vector satisfies the first preset condition, to judge whether the initial optical axis vector satisfies a second preset condition, wherein the second preset condition is set based on the first angle threshold; and a first determination module, used to determine that the optical axis vector of the optical navigator has the optimal solution if the initial optical axis vector satisfies both the first and second preset conditions.

[0020] Furthermore, the device further includes: a first adjustment unit, configured to adjust the initial optical axis vector based on a preset adjustment step size if the initial optical axis vector does not meet the first preset condition after determining whether the initial optical axis vector meets the first preset condition; and a first execution unit, configured to repeatedly execute the step of determining whether the adjusted initial optical axis vector meets the first preset condition until the current optical axis vector meets the first preset condition or reaches a preset first iteration number.

[0021] Further, the judgment module includes: a first calculation submodule, used to calculate the angle between the initial optical axis vector and multiple normal vectors in the target vector set, to obtain the maximum angle value and the minimum angle value; a judgment submodule, used to determine whether the target difference between the maximum angle value and the minimum angle value is less than a preset second angle threshold; and a first determination submodule, used to determine that the initial optical axis vector satisfies the first preset condition if the target difference is less than the second angle threshold.

[0022] Further, the judgment module includes: a second calculation submodule, used to calculate the angle between the initial optical axis vector and multiple normal vectors in the target vector set, to obtain the angle value corresponding to each normal vector; and a second determination submodule, used to determine that the initial optical axis vector satisfies the second preset condition if the angle value corresponding to each normal vector is less than or equal to the first angle threshold.

[0023] Further, the first adjustment unit includes: a second calculation subunit, used to calculate the angle between the initial optical axis vector and multiple normal vectors in the target vector set, to obtain the angle value corresponding to each normal vector; a determination subunit, used to determine the target normal vector corresponding to the maximum angle value based on the angle value corresponding to each normal vector; and an adjustment subunit, used to adjust the initial optical axis vector based on the target normal vector and the preset adjustment step size.

[0024] Further, the adjustment subunit includes: a second calculation module, used to calculate the target normal vector, the preset adjustment step size, and the initial optical axis vector to obtain the calculated initial optical axis vector; a third calculation module, used to calculate the target angle value between the calculated initial optical axis vector and the initial optical axis vector; and a second determination module, used to determine the calculated initial optical axis vector as the adjusted initial optical axis vector if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and multiple normal vectors in the target vector set is greater than or equal to the target angle value.

[0025] Furthermore, the device further includes: a second adjustment unit, configured to adjust the preset adjustment step size if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and the multiple normal vectors in the target vector set is less than the target angle value; and a second execution unit, configured to repeatedly execute the steps of calculating the target normal vector, the adjusted preset adjustment step size, and the initial optical axis vector until the difference between the maximum and minimum angle values ​​among the angles between the currently obtained initial optical axis vector and the multiple normal vectors in the target vector set is greater than or equal to the target angle value, or until a preset second iteration number is reached.

[0026] Further, the processing unit includes: a first acquisition subunit, used to acquire position parameter information of the target object and position information of the center point of the knee joint envelope circle corresponding to the target object; a second acquisition subunit, used to acquire the working distance constraint conditions of the optical navigator, wherein the working distance constraint conditions include at least: a distance threshold between the lens of the optical navigator and the position information of the center point of the knee joint envelope circle and a tracking height threshold corresponding to the optical navigator; and a processing subunit, used to obtain the target pose information based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint conditions, and the target optical axis vector.

[0027] Furthermore, the device further includes a third adjustment unit, configured to adjust the position information of the center point of the knee joint envelope circle if the position height of the optical navigator determined based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint condition, and the target optical axis vector does not meet the working distance constraint condition.

[0028] Furthermore, the device further includes: a second determining unit, configured to determine a target osteotomy surface from the plurality of osteotomy planes, wherein the probability of the target osteotomy surface shifting is greater than a preset threshold; and a correcting unit, configured to correct the initial third normal vector in the target osteotomy surface based on a weight bias matrix to obtain the third normal vector of the target osteotomy surface.

[0029] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is running, it controls the device where the storage medium is located to execute the above-described pose determination method.

[0030] According to another aspect of the embodiments of this application, an electronic device is provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the above-described pose determination method when it runs.

[0031] According to another aspect of the embodiments of this application, a computer program product is provided, including a computer program or instructions that, when executed by a processor, implement the pose determination method described above.

[0032] In this embodiment, the following steps are employed: based on the preoperative planning data of the target object, a target vector set is obtained, wherein the target vector set includes at least: the first normal vector of the femoral tracer corresponding to the target object, the second normal vector of the tibial tracer corresponding to the target object, and the third normal vectors of the multiple osteotomy planes corresponding to the target object; based on the target vector set, the target optical axis vector of the optical navigator is determined; based on the target optical axis vector, the target pose information of the optical navigator is obtained, thus solving the technical problem in related technologies where the pose of the optical navigator is determined based on human experience, resulting in relatively low accuracy in pose determination.

[0033] In this application, by extracting the normal vectors of key targets such as the femoral tracer and the osteotomy plane of the tibial tracer, a unified multi-target observation constraint system is constructed, and the optimal optical axis direction of the optical navigator is calculated accordingly, thereby generating the target pose information of the optical navigator. The target vector set helps to ensure that the observation direction of the optical navigator simultaneously meets the visibility constraints of all key targets, avoiding the manual positioning method that relies on subjective experience in related technologies, reducing tracking fluctuations caused by insufficient viewing angle, and thus achieving the technical effect of improving the accuracy of pose determination. Attached Figure Description

[0034] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0035] Figure 1 This is a hardware structure block diagram of a computer terminal for implementing a pose determination method according to an embodiment of this application;

[0036] Figure 2 This is a flowchart of a pose determination method provided according to an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the pose determination method provided in the embodiments of this application. Figure 1 ;

[0038] Figure 4 This is a schematic diagram of the pose determination method provided in the embodiments of this application. Figure 2 ;

[0039] Figure 5 This is a schematic diagram of the pose determination method provided in the embodiments of this application. Figure 3 ;

[0040] Figure 6 This is a schematic diagram of a pose determination device provided according to an embodiment of this application;

[0041] Figure 7This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0042] 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 skilled in the art without creative effort should fall within the scope of protection of the present application.

[0043] 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.

[0044] It should be noted that the information collected in this application (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) are information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of this data all comply with relevant regulations and standards, do not violate public order and good morals, and provide corresponding access points for users to choose to authorize or refuse. For example, this system has interfaces with relevant users or organizations, providing users with corresponding access points to choose to agree to or refuse automated decision results; if the user chooses to refuse, the process proceeds to the expert decision-making stage.

[0045] Example 1

[0046] According to an embodiment of this application, a method embodiment for pose determination is also provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0047] The method embodiment provided in Embodiment 1 of this application can be executed on a mobile terminal, computer terminal, or similar computing device. Figure 1 A hardware block diagram of a computer terminal (or mobile device) for implementing a pose determination method is shown. Figure 1 As shown, the computer terminal 10 (or mobile device) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0048] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or mobile device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0049] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the pose determination method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the pose determination method described above. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0050] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0051] The display may be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or mobile device).

[0052] Under the aforementioned operating environment, this application provides the following: Figure 2 The pose determination method is shown. Figure 2 This is a flowchart of a pose determination method according to Embodiment 1 of this application. The pose determination method includes:

[0053] Step S201: Based on the preoperative planning data of the target object, obtain the target vector set, wherein the target vector set includes at least: the first normal vector of the femoral tracer corresponding to the target object, the second normal vector of the tibial tracer corresponding to the target object, and the third normal vectors of the multiple osteotomy planes corresponding to the target object.

[0054] Optionally, a three-dimensional anatomical model can be constructed based on the CT or MRI image data of the patient (i.e., the target object mentioned above). Then, based on the three-dimensional anatomical model, the fixed position of the femoral tracer at the distal end of the femur and its normal orientation are calculated to obtain the first normal vector. Based on the tilt angle and rotation reference of the platform surface in the tibial osteotomy plan, the installation direction of the tibial tracer at the proximal end of the tibia is deduced to generate the second normal vector. And based on the cutting parameters of the planned osteotomy plane, the normal vector of each osteotomy surface in the femoral or tibial coordinate system is calculated to obtain the third normal vector.

[0055] It should be noted that the multiple osteotomy planes include six osteotomy planes: tibial plateau, anterior femoral condyle, anterior oblique femoral, distal femoral, posterior oblique femoral, and posterior femoral condyle.

[0056] Step S202: Determine the target optical axis vector of the optical navigator based on the target vector set.

[0057] Optionally, based on the target vector set obtained in step S201, a unified observation constraint model is constructed, comprising eight targets: a femoral tracer, a tibial tracer, and six osteotomy planes. The normal vector of each target corresponds to a conical feasible observation region centered on that direction and constrained by a preset threshold angle (e.g., 45°). This indicates that if the optical axis of the optical navigator is located within this cone, stable identification and tracking of the target can be guaranteed.

[0058] For example, the target vector set N is the set of normal vectors, which includes the first normal vector of the femoral tracer. The second normal vector of the tibial tracer The third normal vector of the six osteotomy planes For sets V Each vector in Define its visibility constraints, the optical axis vector of the optical navigator. Must with Maintain a certain angle (i.e., a preset threshold angle) to ensure high-precision recognition. For each Generate a sphere on the unit sphere with As the axis, Feasible cones with half vertex angles Calculate all cones on a unit sphere. public intersection area This allows us to obtain the target optical axis vector of the optical navigator.

[0059] Step S203: Based on the target optical axis vector, obtain the target pose information of the optical navigator.

[0060] Optionally, after obtaining the target optical axis vector, the optical navigator is further translated and adjusted within the reachable workspace of the corresponding direction based on the target optical axis vector. This ensures that the observation range of the optical navigator can completely cover the spherical region formed by the knee joint movement, thereby obtaining the target pose information of the optical navigator. For example, by translating the position of the optical navigator along the X, Y, and Z directions, the workspace of the navigator is ultimately made to fully encompass the target knee joint region, thus ensuring the continuous visibility and tracking stability of all optical markers.

[0061] In summary, by extracting the normal vectors of key targets such as the femoral tracer and the osteotomy plane of the tibial tracer, a unified multi-target observation constraint system is constructed. Based on this system, the optimal optical axis direction of the optical navigator is calculated, thereby generating the target pose information of the optical navigator. The target vector set helps ensure that the observation direction of the optical navigator simultaneously meets the visibility constraints of all key targets, avoiding the reliance on subjective experience for manual positioning in related technologies. This reduces tracking fluctuations caused by insufficient viewing angle, thus achieving the technical effect of improving the accuracy of pose determination.

[0062] Optionally, in the pose determination method provided in this application embodiment, determining the target optical axis vector of the optical navigator based on the target vector set includes: determining whether there is an optimal solution for the optical axis vector of the optical navigator based on the target vector set and a first angle threshold corresponding to each normal vector in the target vector set; if there is an optimal solution for the optical axis vector of the optical navigator, then calculating based on the target vector set and the first angle threshold to obtain the target optical axis vector; if there is no optimal solution for the optical axis vector of the optical navigator, then adjusting the target parameters, and determining the target optical axis vector based on the adjusted target parameters, wherein the target parameters include at least one of the following: the first angle threshold, the first normal vector, and the second normal vector.

[0063] In some embodiments, a hierarchical judgment and adaptive adjustment strategy is adopted to ensure that a feasible solution for the optical axis quantity of the optical navigator can be obtained.

[0064] First, based on the target vector set and the first angle threshold corresponding to each normal vector in the target vector set, it is calculated to determine whether there is an optimal solution for the optical axis vector of the optical navigator.

[0065] For example, for the target vector set V Each vector in Define its visibility constraints, the optical axis vector of the optical navigator. Must with Maintain a certain angle (i.e., a preset threshold angle) to ensure high-precision recognition. For each Generate a sphere on the unit sphere with As the axis, A feasible cone with a half vertex angle (i.e., the first angle threshold mentioned above). Calculate all cones on a unit sphere. public intersection area If the common intersection region is empty, it is determined that the optical axis vector of the optical navigator does not have an optimal solution.

[0066] Then, if it is determined that there is no optimal solution for the optical axis vector of the optical navigator, an adaptive adjustment mechanism is activated to adjust the target parameters. It should be noted that the target parameters include at least one of the following: a first angle threshold, a first normal vector, and a second normal vector.

[0067] In some embodiments, a three-level progressive adjustment mechanism may be adopted:

[0068] The first level of adjustment involves angle threshold relaxation: This means adjusting the first angle threshold. Before adjusting the first angle threshold, inactive osteotomy planes can be identified. Then, the first angle threshold corresponding to these inactive osteotomy planes is gradually relaxed in preset steps (e.g., 5°), for example, from 45° to 50°, 55°, until the intersection is non-empty. It should be noted that inactive osteotomy planes can be osteotomy surfaces that have not yet been executed and are not involved in the robotic arm's operation.

[0069] The second level of adjustment involves fine-tuning the tracer normal: If no feasible solution is found after the first level of relaxation, it is determined that the normal direction may deviate from the expected direction due to tracer installation deviation. Within a safe range (e.g., ±3°), the femoral tracer normal or the tibial tracer normal is slightly rotated and adjusted, and the intersection is recalculated.

[0070] It should be noted that if a feasible solution cannot be obtained after two levels of adjustment, a prompt message will be triggered. It is recommended that the surgeon check whether the tracer fixation is loose or whether it is blocked by soft tissue, and provide the nearest neighbor feasible direction, that is, the candidate optical axis direction that is closest to the optimal solution under the current constraints.

[0071] Finally, an adjusted target vector set is determined based on the adjusted target parameters, and the target optical axis vector is calculated using this set. It should be noted that if an optimal solution exists for the optical axis vector of the optical navigator, the target optical axis vector is calculated directly from the target vector set.

[0072] In some embodiments, calculating the target optical axis vector based on the target vector set includes: establishing a world coordinate system in three-dimensional space, and specifying the Z-direction vectors of the normal vectors in the target vector set within the world coordinate system, respectively. Find the value of the normal direction Z of the optical navigation device in the world coordinate system, and let it be denoted as . satisfy:

[0073]

[0074]

[0075]

[0076] It should be noted that the objective function of this optimization problem is to minimize the sum of the angles between the normals of all eight targets and the candidate optical axis. Essentially, it is to find an optical axis direction that is "centered" in the feasible region so that the optical navigator can achieve optimal balance in observing all key targets, and avoid bias to one side, which would cause other targets to enter the edge of the field of view and result in signal attenuation or false tracking.

[0077] By constructing a multi-objective unified constraint model and combining it with a hierarchical adaptive adjustment mechanism, the feasibility of solving the optical axis of the optical navigator is effectively improved: when the initial angle threshold leads to no feasible solution, the observation requirements of the inactive osteotomy surface are relaxed first, and the tracer normal is finely adjusted in a small range when necessary, so as to reconstruct the feasible region; on this basis, by minimizing the average angle between the optical axis and the normals of the eight targets, the navigator orientation with optimal balanced coverage is solved, which effectively avoids the local occlusion problem caused by the traditional manual placement being biased towards a certain area.

[0078] Optionally, in the pose determination method provided in this application embodiment, determining whether the optical axis vector of the optical navigator has an optimal solution based on the target vector set and the first angle threshold corresponding to each normal vector in the target vector set includes: calculating an initial optical axis vector based on multiple normal vectors in the target vector set; determining whether the initial optical axis vector satisfies a first preset condition, and if the initial optical axis vector satisfies the first preset condition, determining whether the initial optical axis vector satisfies a second preset condition, wherein the second preset condition is set based on the first angle threshold; if the initial optical axis vector satisfies both the first and second preset conditions, then it is determined that the optical axis vector of the optical navigator has an optimal solution.

[0079] In some embodiments, the eight target vectors (z1~z8) of the normal vector in the target vector set in the world coordinate system are obtained, the eight target vectors are normalized, and their geometric center direction is calculated as the initial optical axis vector, for example, the initial optical axis vector is z.

[0080] Then, it is determined whether the initial optical axis vector satisfies the first preset condition. For example, the angle between the current z and z1~z8 is calculated, and it is determined whether the angle between z and z1~z8 is within a preset threshold range. If it is within the preset threshold range, the initial optical axis vector is determined to satisfy the first preset condition. It should be noted that the first preset condition is used to indicate that the difference in the observation angle of the eight observed targets relative to the optical axis is small, that is, the optical axis is not significantly biased towards a certain target (such as the femur or a certain osteotomy surface), but is evenly centered in the observation direction of all targets.

[0081] If the initial optical axis meets the first preset condition, it is further verified whether it meets the second preset condition, that is, whether the angle between z and z1~z8 corresponds to the first angle threshold. It should be noted that the second preset condition ensures that each target is within the effective observation cone of the optical navigator, avoiding attenuation of reflected signals, increased positioning errors, or tracking loss due to excessively large angles.

[0082] If the initial optical axis vector satisfies both the first and second preset conditions, it is determined that the optical axis vector of the optical navigator has an optimal solution.

[0083] By determining whether there is an optimal solution for the optical axis vector of the optical navigator, the computational complexity and response time of the algorithm are reduced, the delay caused by blind iteration is avoided, and the efficiency of subsequently determining the optical axis vector of the optical navigator is improved.

[0084] Optionally, in the pose determination method provided in the embodiments of this application, after determining whether the initial optical axis vector meets the first preset condition, the method further includes: if the initial optical axis vector does not meet the first preset condition, adjusting the initial optical axis vector based on a preset adjustment step size; repeatedly executing the step of determining whether the adjusted initial optical axis vector meets the first preset condition until the current optical axis vector meets the first preset condition or reaches a preset first iteration number.

[0085] In some embodiments, a preset adjustment step size is set to control the magnitude of each directional correction; a maximum allowed number of iterations (i.e., the first iteration number mentioned above) is set. The initial optical axis vector is adjusted according to the preset adjustment step size, and then it is determined whether the adjusted initial optical axis vector meets a first preset condition. If the first preset condition is not met, the step of adjusting the initial optical axis vector based on the preset adjustment step size is repeated until the current optical axis vector meets the first preset condition or the preset first iteration number is reached.

[0086] It should be noted that if the current optical axis vector meets the first preset condition, then it is further verified whether it meets the second preset condition.

[0087] Through the above embodiments, the optical axis is gradually corrected towards the direction most deviating from the target by a preset step size, and its geometric visibility is attempted to be restored within a limited number of iterations. This helps to alleviate the problem of initial direction deviation, improves the robustness and convergence of the initial solution without increasing computational complexity, and ensures that subsequent accuracy verification (second preset condition) can continue to be executed within a reasonable and feasible range, avoiding the algorithm from being directly interrupted due to invalid initial direction.

[0088] Optionally, in the pose determination method provided in this application embodiment, determining whether the initial optical axis vector satisfies the first preset condition includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the maximum angle value and the minimum angle value; determining whether the target difference between the maximum angle value and the minimum angle value is less than a preset second angle threshold; if the target difference is less than the second angle threshold, then determining that the initial optical axis vector satisfies the first preset condition.

[0089] In some embodiments, the angle between the initial optical axis vector and multiple normal vectors in the target vector set is calculated. For example, eight targets (z1~z8) in the world coordinate system are obtained, i.e., multiple normal vectors in the target vector set. The angle between the current z (i.e., the initial optical axis vector) and z1~z8 is calculated and stored in a list. The maximum value, minimum value and corresponding index of the list are obtained. It is determined that max(list)-min(list)<α (α is a preset second angle threshold). If the target difference is less than the second angle threshold, the initial optical axis vector is determined to satisfy the first preset condition.

[0090] By calculating the range of angles between the initial optical axis and the normals of the eight targets, and determining whether it is less than a preset second angle threshold, it is helpful to effectively assess the distribution balance of the optical axis direction among multiple targets, and avoid the risk of local observation caused by severe bias towards a certain target.

[0091] Optionally, in the pose determination method provided in the embodiments of this application, determining whether the initial optical axis vector satisfies the second preset condition includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set, and obtaining the angle value corresponding to each normal vector; if the angle value corresponding to each normal vector is less than or equal to the first angle threshold, then it is determined that the initial optical axis vector satisfies the second preset condition.

[0092] In some embodiments, if the initial optical axis vector satisfies a first preset condition, it is determined whether the initial optical axis vector satisfies a second preset condition. Specifically, the angle between the current z (i.e., the initial optical axis vector) and z1~z8 is calculated, and a first angle threshold is obtained for each normal vector in the target vector set. It is then determined whether the angle between the current z (i.e., the initial optical axis vector) and z1~z8 is all less than or equal to the first angle threshold. If the angle value corresponding to each normal vector is less than or equal to the first angle threshold, then the initial optical axis vector is determined to satisfy the second preset condition.

[0093] If the initial optical axis vector satisfies the second preset condition, it means that an optimal solution exists; if it does not satisfy the second preset condition, it means that an optimal solution does not exist.

[0094] Provided that the initial optical axis meets the first preset condition, by verifying whether the angle between it and the normals of the eight targets does not exceed their respective first angle thresholds, it is ensured that all key observation targets are within the working range of the optical navigator, avoiding the risk of tracking failure due to individual targets exceeding the limits. This judgment mechanism is simple and clear, based on clinically acceptable physical constraints, effectively filtering out optical axis directions that are evenly distributed but practically unusable, thus improving the reliability and clinical applicability of the planning results.

[0095] Optionally, in the pose determination method provided in this application embodiment, adjusting the initial optical axis vector based on a preset adjustment step size includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the angle value corresponding to each normal vector; determining the target normal vector corresponding to the maximum angle value based on the angle value corresponding to each normal vector; and adjusting the initial optical axis vector based on the target normal vector and the preset adjustment step size.

[0096] In some embodiments, adjusting the initial optical axis vector according to a preset adjustment step size further includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set, and finding the target normal vector with the largest angle. It should be noted that the target normal vector represents the observation direction that is most away from the current optical axis.

[0097] Then, the current optical axis is linearly superimposed along the target normal direction corresponding to the maximum included angle with a preset adjustment step size, so that the optical axis gradually moves closer to the least visible target, that is, the optical axis direction is dynamically updated. (where j is the index of the normal vector that produces the maximum angle), update the optical axis direction to move it closer to the direction of maximum deviation, where, The adjusted initial optical axis vector, To preset the adjustment step size, The target normal vector.

[0098] Through the above embodiments, the optical axis vector is linearly superimposed along the target normal direction corresponding to the maximum included angle with a preset step size. This method can directionally alleviate the observation deviation between the optical axis and the target most deviated from, and gradually improve its coverage of concealed targets. This adjustment mechanism does not require complex calculations, but only relies on local extremum information, and achieves lightweight correction of the initial direction. Without destroying the overall geometric relationship, it effectively improves the observability of the optical axis.

[0099] Optionally, in the pose determination method provided in this application embodiment, the initial optical axis vector is adjusted based on the target normal vector and a preset adjustment step size, including: calculating the target normal vector, the preset adjustment step size, and the initial optical axis vector to obtain the calculated initial optical axis vector; calculating the target angle value between the calculated initial optical axis vector and the initial optical axis vector; if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and multiple normal vectors in the target vector set is greater than or equal to the target angle value, then the calculated initial optical axis vector is determined as the adjusted initial optical axis vector.

[0100] In some embodiments, to improve the accuracy of adjusting the initial optical axis vector, adjusting the initial optical axis vector based on the target normal vector and a preset adjustment step size further includes: adjusting the target normal vector based on the maximum included angle. and preset adjustment step size The current optical axis vector (e.g., the initial optical axis vector) is linearly updated to obtain the calculated initial optical axis vector. For example, the calculated initial optical axis vector is... .

[0101] Then, calculate and The angle between As the target included angle value mentioned above, and recalculated The angles between the target vector and multiple normal vectors in the target vector set are used to obtain the new maximum angle value and the new minimum angle value. The difference between the new maximum angle value and the new minimum angle value is then calculated.

[0102] Finally, based on the relationship between the difference between the new maximum and minimum included angle values ​​and the target included angle value, it is determined whether the calculated initial optical axis vector should be used as the adjusted initial optical axis vector.

[0103] If the difference between the new maximum angle value and the new minimum angle value is greater than or equal to the target angle value, it means that the adjustment has improved the deviation from the target while not significantly increasing the angle difference between the remaining targets. In other words, the adjustment is effective and smooth. Therefore, the calculated initial optical axis vector is determined as the adjusted initial optical axis vector.

[0104] By introducing a comparison between the adjustment amplitude and the distribution change, adaptive control of the step size is achieved, avoiding the oscillation or divergence problems that may be caused by simply relying on a fixed step size. It does not rely on additional parameters, but only uses the current calculation results for endogenous judgment. The logic is clear and the computation is lightweight. While ensuring the effectiveness of direction correction, it maintains the uniformity of multi-target observations and improves the stability and convergence reliability of the iterative process.

[0105] Optionally, in the pose determination method provided in this application embodiment, the method further includes: if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and the multiple normal vectors in the target vector set is less than the target angle value, then the preset adjustment step size is adjusted to obtain the adjusted preset adjustment step size; the steps of calculating the target normal vector, the adjusted preset adjustment step size, and the initial optical axis vector are repeated until the difference between the maximum and minimum angle values ​​among the angles between the currently obtained initial optical axis vector and the multiple normal vectors in the target vector set is greater than or equal to the target angle value, or the preset second iteration number is reached.

[0106] In some embodiments, if the difference between the new maximum angle value and the new minimum angle value is less than the target angle value, it indicates that the current preset adjustment step size para is too large, which may cause oscillation or divergence. Therefore, the step size is reduced by a fixed ratio (such as halving): that is, the preset adjustment step size is adjusted to obtain the adjusted preset adjustment step size.

[0107] Then, using the adjusted preset adjustment step size, the aforementioned adjustment process is repeated: based on the current optical axis vector, incremental superposition is performed along the target normal direction corresponding to the maximum included angle to calculate the candidate optical axis, and then the relationship between the difference between its included angle range and all target normals and the adjustment range is re-evaluated until the difference between the maximum and minimum included angle values ​​among the included angles between the currently obtained initial optical axis vector and multiple normal vectors in the target vector set is greater than or equal to the target included angle value, or the preset second iteration number is reached.

[0108] In some embodiments, the optical axis vector is dynamically updated to move it closer to the most deviated direction. The influence of the current step size on the direction is estimated (e.g., through the target angle value). (Measurement), if the current range dis = max(list) - min(list) is less than This indicates that the step size may be too large. The step size should be halved, and para = 0.5 × para. The iteration count i increments until the condition is met or the maximum number of iterations is reached.

[0109] By dynamically scaling the step size, a dynamic trade-off is achieved between direction correction and distribution balancing, avoiding the overshoot problem caused by a fixed step size. Furthermore, stable convergence can be achieved within a finite number of iterations without introducing additional optimization algorithms, significantly improving the robustness and practicality of the optical axis adjustment process.

[0110] In some embodiments, a schematic diagram illustrating the iterative convergence determination of whether an optimal solution exists is shown below. Figure 3As shown, the iterative process for angle optimization of 8 targets (z1~z8) in the world coordinate system is based on adjusting the target parameters to ensure that the angles between targets satisfy the constraint that the maximum angle ≤ the first angle threshold. The process involves obtaining 8 targets (z1~z8) in the world coordinate system, setting the step size parameter para=0.5 (used for subsequent target adjustment), the iteration number i=0, and setting the initial optical navigator normal value z0=z=z1+z2+...+z8 (the average of the sum of all normal vectors).

[0111] Initial Angle Calculation and Evaluation: Calculate the angle between the current z and z1~z8, and store it in a list. Obtain the maximum, minimum, and corresponding indices of the list. Determine if max(list) - min(list) < α. If so, proceed to the final angle threshold check stage, i.e., whether the angle between z and z1~z8 is less than or equal to the first angle threshold. If not, proceed to the iterative adjustment stage. Iterative Adjustment Stage: If convergence is not achieved, dynamically update the optical axis direction to move it closer to the most deviated direction. Estimate the influence of the current step size on the direction and calculate β. If the current range dis = max(list) - min(list) < β, it indicates that the step size may be too large, so halve the step size, para = 0.5 × para. If the current range dis = max(list) - min(list) is greater than or equal to β, update the z value according to the original para, increment the iteration count i, and repeatedly execute the judgment max(list) - min(list) < α until the condition is met or the maximum number of iterations is reached.

[0112] It should be noted that if the angle between z and z1~z8 is greater than the first angle threshold, then it is determined that there is no optimal solution.

[0113] If no optimal solution is found, a progressive adaptive threshold relaxation strategy is executed: First-level relaxation: Prioritize reducing the angle threshold θ of non-current osteotomy planes (i.e., inactive osteotomy planes). (1-δ), where δ is the preset relaxation step size, ensuring the highest priority field of view coverage for the currently active osteotomy surface; Second-level relaxation: If no solution is found after the first-level relaxation, a small adjustment (within the preset tolerance range) is allowed to be applied to the normal direction of the femoral / tibial tracer, seeking a feasible solution by fine-tuning the tracer installation position suggestion; Third-level processing: If no feasible solution is found after the two-level relaxation, a warning is triggered, prompting the user to re-evaluate the tracer fixation position or NDI placement area, and providing a feasible nearest neighbor direction suggestion. This hierarchical strategy ensures that the system still has graceful degradation capability under constraint conflict, avoiding global failure caused by a single threshold setting.

[0114] If an optimal solution is determined to exist, then convex optimization is performed to find the optimal axis: Within the feasible solution domain, the following optimization mathematical model is established to ensure the optical axis is centered: A three-dimensional world coordinate system is established, and eight sets of Z-direction normal vectors of the optical tracers are given in the world coordinate system, respectively. Find the value of the normal direction Z of the optical navigation device in the world coordinate system, and let it be denoted as . satisfy:

[0115]

[0116]

[0117]

[0118] By employing iterative convergence criteria and a hierarchical relaxation mechanism, a systematic search and fault-tolerant processing method for the optical axis direction of an optical navigator under complex multi-objective constraints was achieved. Using the initial average normal vector as a starting point, combined with adaptive step size adjustment, a relatively balanced candidate solution can be effectively approximated. When no solution exists, a hierarchical relaxation strategy prioritizes the visibility of key osteotomy surfaces, avoiding a deadlock due to rigid constraints. Finally, within the feasible region, the optimization objective of minimizing the average angle is adopted to obtain the relatively central optical axis direction.

[0119] Optionally, in the pose determination method provided in this application embodiment, obtaining the target pose information of the optical navigator based on the target optical axis vector includes: acquiring the position parameter information of the target object and the position information of the center point of the knee joint envelope circle corresponding to the target object; acquiring the working distance constraint condition of the optical navigator, wherein the working distance constraint condition includes at least: a distance threshold between the lens of the optical navigator and the position information of the center point of the knee joint envelope circle and a tracking height threshold corresponding to the optical navigator; and obtaining the target pose information based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint condition, and the target optical axis vector.

[0120] In some embodiments, after determining the optimal optical axis normal vector, the physical position deployment of the navigator needs to be combined with the physical boundaries of the operating room (operating table height, translation range), that is, the target pose information of the optical navigator needs to be determined. First, the position parameter information of the target object (i.e., the operating table) and the position information of the center point of the knee joint envelope circle corresponding to the target object are obtained.

[0121] Then, obtain the working distance constraints of the optical navigator, including: working distance constraints and tracking height constraints, for example, working distance constraints (field of view depth limit):

[0122]

[0123] Where L represents the straight-line distance from the NDI navigation camera lens to the center of the knee joint, and d represents the horizontal distance from the operating table to the NDI trolley. The elevation angle between the optical axis and the horizontal plane. L must be within the effective working range. , Within this range, the distance cannot be too close (less than...). It may fail to focus or have a narrow field of view), and it cannot be too far away (greater than). This can lead to decreased accuracy or difficulty in seeing clearly.

[0124] Absolute height constraint (effective tracking height range):

[0125]

[0126] in, The height of the knee joint from the ground. This height must be within the effective tracking height range set by the system. arrive Within this range. If the operating table is raised too high or lowered too low, exceeding this range, it will be out of sight.

[0127] Based on the optimal optical axis vector, the optical axis direction of the NDI is set to be consistent with the optimal optical axis vector to ensure that its observation direction meets the requirements of multi-target field of view coverage. On this basis, along the reverse extension line of the optimal optical axis, the distance L from the NDI navigator lens is pushed outward to determine the three-dimensional coordinates of the NDI lens (i.e., the target pose information mentioned above), so that the knee joint is always located in the center area of ​​the NDI's effective working space.

[0128] In some embodiments, the optimal height determination strategy is as follows: After determining the optimal axis of the optical navigator, the position of the optical navigator is determined by the intersection of the extended lines from the optimal axis to the optical navigator trolley. This ensures that the knee osteotomy position is centered in the workspace. From this position, the operating table can move back and forth within its range of motion, ensuring that the knee joint position remains within the workspace of the optical navigator. Figure 4 The diagram shown is as follows. Figure 4 The two trapezoids in the diagram represent the working space of the optical navigator. h: height of the optical navigator; d: horizontal distance from the operating table to the optical navigator; L: distance from the center of the knee joint envelope circle to the optical navigator; h1: height from the center of the knee joint envelope circle to the ground; r1: distance the knee joint envelope circle can move forward at the current optimal height of the optical navigator; r2: distance the knee joint envelope circle can move backward at the current optimal height of the optical navigator.

[0129] The necessary and sufficient conditions for NDI to function properly involve two dimensions: working distance constraints and absolute height constraints. Working distance constraints (field of view depth limit): Absolute height constraint (effective tracking height range): .

[0130] Align the center of the NDI working range with the knee joint motion envelope ball (the smallest ball covering the possible positions of the knee joint within the full range of movement of the operating table), and determine the initial placement point of the NDI by extending the center of the envelope ball in the z-direction. This ensures that the knee joint is near the center of the NDI working space in any permissible position, maximizing the effective tracking margin.

[0131] Maximum permissible translation analysis (limiting horizontal range of motion): ,in, , These represent the maximum forward and backward translation of the operating table, respectively. and The horizontal field of view boundary margin in the corresponding direction. If the translation of the operating table exceeds this range, the NDI's linkage vertical lifting adjustment needs to be triggered to re-satisfy the working distance constraint.

[0132] This application embodiment combines the optimal optical axis direction with the physical working constraints of the NDI, and determines the initial installation position of the NDI based on the center of the knee joint envelope ball extending in the opposite direction along the optical axis. This realizes the mapping from the theoretically optimal direction to the executable physical pose, reduces the risk of tracking failure caused by missetting the position, and avoids the interruption of the field of view caused by over-reliance on a single fixed point, thereby enhancing the practicality and stability of the system.

[0133] Optionally, in the pose determination method provided in the embodiments of this application, the method further includes: if the position height of the optical navigator determined based on position parameter information, knee joint envelope circle center point position information, working distance constraint conditions and target optical axis vector does not meet the working distance constraint conditions, then the knee joint envelope circle center point position information is adjusted.

[0134] In some embodiments, the NDI mounting position calculated based on the target optical axis vector and working distance constraints causes the knee joint envelope center height (i.e., h1: the height from the center of the knee joint envelope circle to the ground) to exceed the effective tracking range. , If the position information of the center point of the knee joint envelope circle is adaptively corrected, the optimal observation direction can be maintained while satisfying physical constraints.

[0135] In some embodiments, it is first determined whether the NDI position derived from the knee joint envelope center height along the optical axis in reverse causes the knee joint envelope center height (i.e., h1: the height from the center of the knee joint envelope circle to the ground) to exceed the effective tracking range. , If the limit is exceeded, then without changing the direction of the optical axis, a small offset is made along the vertical direction (Z-axis) to the center of the knee joint envelope circle, adjusting its height to the effective tracking range. , ]Inside.

[0136] By making limited adjustments to the vertical position of the knee joint envelope center without altering the optimal optical axis direction, the system can maintain optimal observation geometry for multiple targets while satisfying the NDI tracking height constraint. This method avoids replanning the optical axis or interrupting deployment due to height exceeding limits, achieving a balance between physical feasibility and observation efficiency at minimal cost, and improving the adaptability and stability of pose planning.

[0137] Optionally, in the pose determination method provided in the embodiments of this application, the method further includes: determining a target osteotomy surface from multiple osteotomy planes, wherein the probability of the target osteotomy surface shifting is greater than a preset threshold; and correcting the initial third normal vector in the target osteotomy surface based on a weight bias matrix to obtain the third normal vector of the target osteotomy surface.

[0138] In some embodiments, high-risk target osteotomy surfaces that are prone to obstruction or observation deviation are identified from the six osteotomy planes based on preoperative planning data, historical data statistics, etc., such as the posterior femoral condyle or the posterior oblique of the femur, which have a probability of being obstructed by instruments or bone structures exceeding a preset threshold (e.g., 30%).

[0139] Then, for the target osteotomy surface, the preset weight bias matrix is ​​called. It should be noted that the weight bias matrix is ​​a tiny rotation matrix. Its rotation angle parameter can be determined based on empirical values ​​or after calibration to ensure that the angle between the corrected normal direction and the original direction does not exceed a safe threshold (such as 5°).

[0140] The initial third normal vector in the target osteotomy surface is corrected based on the weight bias matrix to obtain the third normal vector of the target osteotomy surface. The corrected initial third normal vector will replace the original normal in subsequent field intersection calculations and convex optimization solutions, so that the final obtained NDI optical axis direction, on the basis of global equilibrium, will have a slight bias tilt towards the high-risk osteotomy surface, thereby improving the signal stability and tracking redundancy in this region.

[0141] In some embodiments, a weight bias matrix is ​​set. The range of independent variable variation is determined to ensure that the angle between the target vector after bias is applied and the original vector is always less than the preset angle threshold, thereby strictly controlling the angle deviation while introducing the preference bias, without destroying the overall observation constraints.

[0142] In some embodiments, when the weight bias causes the calculated optimal axis to deviate from the original field of view center, the physical position of the NDI navigator can be actively adjusted (such as moving up and down or translating forward and backward) to compensate for the field of view offset by changing the spatial pose of the navigator, ensuring that the reflected signal strength of all marker points is in the best state, and avoiding signal attenuation or loss that may be caused by simply relying on algorithm correction.

[0143] In some embodiments, it can be achieved through, as shown in Figure 5 The schematic diagram illustrates pose determination, which includes: reading preoperative planning data and extracting key vector sets. N is the set of normal vectors, which includes the normal direction of the femoral tracer. Normal direction of the tibia tracer The normal directions of the six osteotomy planes It should be noted that when determining the optimal pose of the optical navigation device, a virtual obstacle area can be introduced based on the doctor's preferred standing position. This area is considered unavailable.

[0144] Constructing a field-of-view visibility cone model: for the key vector set Each vector in Define its visibility constraints, the optical axis vector of the optical navigator. Must with Maintain a certain angle to ensure high-precision recognition. For each Generate a sphere on the unit sphere with As the axis, Feasible cones with half vertex angles Then calculate all cones on the unit sphere. public intersection area An iterative method is used to determine whether a common region exists. If the intersection is empty, the non-critical planes (such as the currently unlocated osteotomy surface) are automatically reduced. A threshold is set first to ensure the visibility of the current osteotomy surface. If no solution is found, the normal direction of the tibia or femur tracer needs to be adjusted until a non-empty solution set exists. Then, if a solution is found, the key vector set is used... and The optimal optical axis vector of the optical navigator is calculated. After determining the optimal observation direction (normal vector) of the optical navigator, further translational adjustments are needed within its corresponding achievable workspace to ensure that the observation range of the optical navigator can completely cover the spherical area formed by knee joint movement. For example, by translating the position of the optical navigator along the X, Y, and Z directions, the workspace of the navigator is ultimately made to fully encompass the target knee joint area, thereby ensuring the continuous visibility and tracking stability of all optical markers throughout the entire surgical procedure.

[0145] The pose determination method provided in this application obtains a target vector set based on preoperative planning data of the target object. The target vector set includes at least: a first normal vector of the femoral tracer corresponding to the target object, a second normal vector of the tibial tracer corresponding to the target object, and third normal vectors of multiple osteotomy planes corresponding to the target object. Based on the target vector set, the target optical axis vector of the optical navigator is determined. Based on the target optical axis vector, the target pose information of the optical navigator is obtained. This solves the technical problem in related technologies where the pose of the optical navigator is determined based on human experience, resulting in low accuracy of pose determination.

[0146] In this application, by extracting the normal vectors of key targets such as the femoral tracer and the osteotomy plane of the tibial tracer, a unified multi-target observation constraint system is constructed, and the optimal optical axis direction of the optical navigator is calculated accordingly, thereby generating the target pose information of the optical navigator. The target vector set helps to ensure that the observation direction of the optical navigator simultaneously meets the visibility constraints of all key targets, avoiding the manual positioning method that relies on subjective experience in related technologies, reducing tracking fluctuations caused by insufficient viewing angle, and thus achieving the technical effect of improving the accuracy of pose determination.

[0147] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0148] Example 2

[0149] This application also provides a pose determination device. It should be noted that the pose determination device of this application can be used to execute the pose determination method provided in this application. The pose determination device provided in this application is described below.

[0150] According to an embodiment of this application, a pose determination apparatus for implementing the above-described pose determination method is also provided, such as... Figure 6 As shown, the device includes: an acquisition unit 601, a first determination unit 602, and a processing unit 603.

[0151] The acquisition unit 601 is used to acquire a target vector set based on the preoperative planning data of the target object. The target vector set includes at least: the first normal vector of the femoral tracer corresponding to the target object, the second normal vector of the tibial tracer corresponding to the target object, and the third normal vector of multiple osteotomy planes corresponding to the target object.

[0152] The first determining unit 602 is used to determine the target optical axis vector of the optical navigator based on the target vector set;

[0153] The processing unit 603 is used to obtain the target pose information of the optical navigator based on the target optical axis vector.

[0154] In the pose determination device provided in this application embodiment, the acquisition unit 601 acquires a target vector set based on the preoperative planning data of the target object. The target vector set includes at least: the first normal vector of the femoral tracer corresponding to the target object, the second normal vector of the tibial tracer corresponding to the target object, and the third normal vectors of multiple osteotomy planes corresponding to the target object. The first determination unit 602 determines the target optical axis vector of the optical navigator based on the target vector set. The processing unit 603 obtains the target pose information of the optical navigator based on the target optical axis vector. This solves the technical problem in related technologies where the pose of the optical navigator is determined based on human experience, resulting in relatively low accuracy in pose determination.

[0155] In this application, by extracting the normal vectors of key targets such as the femoral tracer and the osteotomy plane of the tibial tracer, a unified multi-target observation constraint system is constructed, and the optimal optical axis direction of the optical navigator is calculated accordingly, thereby generating the target pose information of the optical navigator. The target vector set helps to ensure that the observation direction of the optical navigator simultaneously meets the visibility constraints of all key targets, avoiding the manual positioning method that relies on subjective experience in related technologies, reducing tracking fluctuations caused by insufficient viewing angle, and thus achieving the technical effect of improving the accuracy of pose determination.

[0156] Optionally, in the pose determination device provided in the embodiments of this application, the first determination unit includes: a judgment subunit, used to determine whether there is an optimal solution for the optical axis vector of the optical navigator based on the target vector set and a first angle threshold corresponding to each normal vector in the target vector set; a first calculation subunit, used to calculate the target optical axis vector based on the target vector set and the first angle threshold if there is an optimal solution for the optical axis vector of the optical navigator; and a determination subunit, used to adjust the target parameters if there is no optimal solution for the optical axis vector of the optical navigator, and determine the target optical axis vector based on the adjusted target parameters, wherein the target parameters include at least one of the following: the first angle threshold, the first normal vector, and the second normal vector.

[0157] Optionally, in the pose determination device provided in this application embodiment, the judgment subunit includes: a first calculation module, used to calculate based on multiple normal vectors in the target vector set to obtain an initial optical axis vector; a judgment module, used to judge whether the initial optical axis vector satisfies a first preset condition, and if the initial optical axis vector satisfies the first preset condition, to judge whether the initial optical axis vector satisfies a second preset condition, wherein the second preset condition is set based on a first angle threshold; and a first determination module, used to determine that the optical axis vector of the optical navigator has an optimal solution if the initial optical axis vector satisfies both the first and second preset conditions.

[0158] Optionally, in the pose determination device provided in the embodiments of this application, the device further includes: a first adjustment unit, used to adjust the initial optical axis vector based on a preset adjustment step size if the initial optical axis vector does not meet the first preset condition after determining whether the initial optical axis vector meets the first preset condition; and a first execution unit, used to repeatedly execute the step of determining whether the adjusted initial optical axis vector meets the first preset condition until the current optical axis vector meets the first preset condition or reaches a preset first iteration number.

[0159] Optionally, in the pose determination device provided in this application embodiment, the judgment module includes: a first calculation submodule, used to calculate the angle between the initial optical axis vector and multiple normal vectors in the target vector set, to obtain the maximum angle value and the minimum angle value; a judgment submodule, used to determine whether the target difference between the maximum angle value and the minimum angle value is less than a preset second angle threshold; and a first determination submodule, used to determine that the initial optical axis vector satisfies a first preset condition if the target difference is less than the second angle threshold.

[0160] Optionally, in the pose determination device provided in this application embodiment, the judgment module includes: a second calculation submodule, used to calculate the angle value between the initial optical axis vector and multiple normal vectors in the target vector set, and obtain the angle value corresponding to each normal vector; and a second determination submodule, used to determine that the initial optical axis vector satisfies the second preset condition if the angle value corresponding to each normal vector is less than or equal to the first angle threshold.

[0161] Optionally, in the pose determination device provided in this application embodiment, the first adjustment unit includes: a second calculation subunit, used to calculate the angle between the initial optical axis vector and multiple normal vectors in the target vector set, to obtain the angle value corresponding to each normal vector; a determination subunit, used to determine the target normal vector corresponding to the maximum angle value based on the angle value corresponding to each normal vector; and an adjustment subunit, used to adjust the initial optical axis vector based on the target normal vector and a preset adjustment step size.

[0162] Optionally, in the pose determination device provided in this application embodiment, the adjustment subunit includes: a second calculation module, used to calculate the target normal vector, the preset adjustment step size, and the initial optical axis vector to obtain the calculated initial optical axis vector; a third calculation module, used to calculate the target angle value between the calculated initial optical axis vector and the initial optical axis vector; and a second determination module, used to determine the calculated initial optical axis vector as the adjusted initial optical axis vector if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and multiple normal vectors in the target vector set is greater than or equal to the target angle value.

[0163] Optionally, in the pose determination device provided in this application embodiment, the device further includes: a second adjustment unit, configured to adjust the preset adjustment step size if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and the multiple normal vectors in the target vector set is less than the target angle value; and a second execution unit, configured to repeatedly execute the steps of calculating the target normal vector, the adjusted preset adjustment step size, and the initial optical axis vector until the difference between the maximum and minimum angle values ​​among the angles between the currently obtained initial optical axis vector and the multiple normal vectors in the target vector set is greater than or equal to the target angle value, or until a preset second iteration number is reached.

[0164] Optionally, in the pose determination device provided in this application embodiment, the processing unit includes: a first acquisition subunit, used to acquire position parameter information of the target object and position information of the center point of the knee joint envelope circle corresponding to the target object; a second acquisition subunit, used to acquire the working distance constraint conditions of the optical navigator, wherein the working distance constraint conditions include at least: a distance threshold between the lens of the optical navigator and the position information of the center point of the knee joint envelope circle and a tracking height threshold corresponding to the optical navigator; and a processing subunit, used to obtain target pose information based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint conditions, and the target optical axis vector.

[0165] Optionally, in the pose determination device provided in the embodiments of this application, the device further includes: a third adjustment unit, used to adjust the position information of the center point of the knee joint envelope circle if the position height of the optical navigator determined based on position parameter information, knee joint envelope circle center point position information, working distance constraint conditions and target optical axis vector does not meet the working distance constraint conditions.

[0166] Optionally, in the pose determination device provided in the embodiments of this application, the device further includes: a second determination unit, used to determine a target osteotomy surface from multiple osteotomy planes, wherein the probability of the target osteotomy surface shifting is greater than a preset threshold; and a correction unit, used to correct the initial third normal vector in the target osteotomy surface based on a weight bias matrix to obtain the third normal vector of the target osteotomy surface.

[0167] It should be noted that the acquisition unit 601, the first determination unit 602, and the processing unit 603 mentioned above correspond to steps S201 to S203 in Embodiment 1. The three units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in Embodiment 1. It should be noted that the above modules or units can be hardware or software components stored in memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n). The above units can also be part of a device and run in the computer terminal 10 provided in Embodiment 1.

[0168] Example 3

[0169] Embodiments of this application may provide an electronic device. Figure 7 This is a structural block diagram of an electronic device according to an embodiment of this application. Figure 7 As shown, the electronic device may include: one or more ( Figure 7 (Only one is shown) processor 702, memory 704, memory controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display.

[0170] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the methods and apparatus in the embodiments of this application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby implementing the above-described methods. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0171] The processor can access the information and application programs stored in the memory via a transmission device to perform the following steps: based on the preoperative planning data of the target object, obtain a target vector set, wherein the target vector set includes at least: the first normal vector of the femoral tracer corresponding to the target object, the second normal vector of the tibial tracer corresponding to the target object, and the third normal vectors of the multiple osteotomy planes corresponding to the target object; based on the target vector set, determine the target optical axis vector of the optical navigator; based on the target optical axis vector, obtain the target pose information of the optical navigator.

[0172] Further, based on the target vector set, the target optical axis vector of the optical navigator is determined, including: determining whether there is an optimal solution for the optical axis vector of the optical navigator based on the target vector set and the first angle threshold corresponding to each normal vector in the target vector set; if there is an optimal solution for the optical axis vector of the optical navigator, the target optical axis vector is obtained by calculation based on the target vector set and the first angle threshold; if there is no optimal solution for the optical axis vector of the optical navigator, the target parameters are adjusted, and the target optical axis vector is determined based on the adjusted target parameters, wherein the target parameters include at least one of the following: the first angle threshold, the first normal vector, and the second normal vector.

[0173] Furthermore, based on the target vector set and the first angle threshold corresponding to each normal vector in the target vector set, it is determined whether the optical axis vector of the optical navigator has an optimal solution, including: calculating an initial optical axis vector based on multiple normal vectors in the target vector set; determining whether the initial optical axis vector satisfies a first preset condition, and if the initial optical axis vector satisfies the first preset condition, determining whether the initial optical axis vector satisfies a second preset condition, wherein the second preset condition is set based on the first angle threshold; if the initial optical axis vector satisfies both the first and second preset conditions, it is determined that the optical axis vector of the optical navigator has an optimal solution.

[0174] Furthermore, after determining whether the initial optical axis vector meets the first preset condition, the method further includes: if the initial optical axis vector does not meet the first preset condition, adjusting the initial optical axis vector based on a preset adjustment step size; repeatedly executing the step of determining whether the adjusted initial optical axis vector meets the first preset condition until the current optical axis vector meets the first preset condition or reaches the preset first iteration number.

[0175] Further, determining whether the initial optical axis vector satisfies the first preset condition includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the maximum and minimum angle values; determining whether the target difference between the maximum and minimum angle values ​​is less than a preset second angle threshold; if the target difference is less than the second angle threshold, then determining that the initial optical axis vector satisfies the first preset condition.

[0176] Further, determining whether the initial optical axis vector satisfies the second preset condition includes: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set, and obtaining the angle value corresponding to each normal vector; if the angle value corresponding to each normal vector is less than or equal to the first angle threshold, then it is determined that the initial optical axis vector satisfies the second preset condition.

[0177] Furthermore, the initial optical axis vector is adjusted based on a preset adjustment step size, including: calculating the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the angle value corresponding to each normal vector; determining the target normal vector corresponding to the maximum angle value based on the angle value corresponding to each normal vector; and adjusting the initial optical axis vector based on the target normal vector and the preset adjustment step size.

[0178] Furthermore, based on the target normal vector and the preset adjustment step size, the initial optical axis vector is adjusted, including: calculating the target normal vector, the preset adjustment step size, and the initial optical axis vector to obtain the calculated initial optical axis vector; calculating the target angle value between the calculated initial optical axis vector and the initial optical axis vector; if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and multiple normal vectors in the target vector set is greater than or equal to the target angle value, then the calculated initial optical axis vector is determined as the adjusted initial optical axis vector.

[0179] Furthermore, the method also includes: if the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and multiple normal vectors in the target vector set is less than the target angle value, then the preset adjustment step size is adjusted to obtain the adjusted preset adjustment step size; the steps of calculating the target normal vector, the adjusted preset adjustment step size, and the initial optical axis vector are repeated until the difference between the maximum and minimum angle values ​​among the angles between the currently obtained initial optical axis vector and multiple normal vectors in the target vector set is greater than or equal to the target angle value, or the preset second iteration number is reached.

[0180] Furthermore, based on the target optical axis vector, the target pose information of the optical navigator is obtained, including: acquiring the position parameter information of the target object and the position information of the center point of the knee joint envelope circle corresponding to the target object; acquiring the working distance constraint conditions of the optical navigator, wherein the working distance constraint conditions include at least: the distance threshold between the lens of the optical navigator and the position information of the center point of the knee joint envelope circle and the tracking height threshold corresponding to the optical navigator; and obtaining the target pose information based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint conditions, and the target optical axis vector.

[0181] Furthermore, the method also includes: if the position height of the optical navigator determined based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint condition, and the target optical axis vector does not meet the working distance constraint condition, then the position information of the center point of the knee joint envelope circle is adjusted.

[0182] Furthermore, the method also includes: determining the target osteotomy surface from multiple osteotomy planes, wherein the probability of the target osteotomy surface shifting is greater than a preset threshold; and correcting the initial third normal vector in the target osteotomy surface based on the weight bias matrix to obtain the third normal vector of the target osteotomy surface.

[0183] Those skilled in the art will understand that Figure 7 The structure shown is for illustrative purposes only. Electronic devices can also be smartphones, tablets, handheld computers, mobile internet devices (MIDs), PADs, and other terminal devices. Figure 7 This does not limit the structure of the aforementioned electronic device. For example, electronic devices may also include components that are more... Figure 7 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 7 The different configurations shown.

[0184] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0185] Example 4

[0186] Embodiments of this application also provide a computer-readable storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the pose determination method provided in Embodiment 1.

[0187] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0188] This application also provides a computer program product that, when executed on a data processing device, is suitable for performing pose determination method steps.

[0189] 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.

[0190] 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.

[0191] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0192] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0193] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0194] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0195] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A pose determination method, characterized in that, include: Based on the preoperative planning data of the target object, a target vector set is obtained, wherein the target vector set includes at least: the first normal vector of the femoral tracer corresponding to the target object, the second normal vector of the tibial tracer corresponding to the target object, and the third normal vector of the multiple osteotomy planes corresponding to the target object. Based on the target vector set, the target optical axis vector of the optical navigator is determined; Based on the target optical axis vector, the target pose information of the optical navigator is obtained; The method further includes: determining a target osteotomy surface from the plurality of osteotomy planes, wherein the probability of the target osteotomy surface shifting is greater than a preset threshold; The initial third normal vector in the target osteotomy surface is corrected based on the weight bias matrix to obtain the third normal vector of the target osteotomy surface.

2. The method according to claim 1, characterized in that, Based on the set of target vectors, the target optical axis vector of the optical navigator is determined, including: Based on the target vector set and the first angle threshold corresponding to each normal vector in the target vector set, determine whether there is an optimal solution for the optical axis vector of the optical navigator; If the optical axis vector of the optical navigator has the optimal solution, then the target optical axis vector is obtained by calculation based on the target vector set and the first angle threshold; If the optical axis vector of the optical navigator does not have the optimal solution, the target parameters are adjusted, and the target optical axis vector is determined based on the adjusted target parameters, wherein the target parameters include at least one of the following: the first angle threshold, the first normal vector, and the second normal vector.

3. The method according to claim 2, characterized in that, Based on the target vector set and the first angle threshold corresponding to each normal vector in the target vector set, determine whether the optical axis vector of the optical navigator has an optimal solution, including: The initial optical axis vector is obtained by calculating based on multiple normal vectors in the target vector set; Determine whether the initial optical axis vector satisfies a first preset condition, and if the initial optical axis vector satisfies the first preset condition, determine whether the initial optical axis vector satisfies a second preset condition, wherein the second preset condition is set based on the first angle threshold. If the initial optical axis vector satisfies both the first and second preset conditions, then it is determined that the optical axis vector of the optical navigator has the optimal solution.

4. The method according to claim 3, characterized in that, After determining whether the initial optical axis vector satisfies the first preset condition, the method further includes: If the initial optical axis vector does not meet the first preset condition, the initial optical axis vector is adjusted based on a preset adjustment step size; Repeat the step of determining whether the adjusted initial optical axis vector meets the first preset condition until the current optical axis vector meets the first preset condition or reaches the preset first iteration number.

5. The method according to claim 3, characterized in that, Determining whether the initial optical axis vector satisfies the first preset condition includes: Calculate the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the maximum and minimum angle values; Determine whether the target difference between the maximum included angle value and the minimum included angle value is less than a preset second angle threshold; If the target difference is less than the second angle threshold, then the initial optical axis vector is determined to satisfy the first preset condition.

6. The method according to claim 3, characterized in that, Determining whether the initial optical axis vector satisfies the second preset condition includes: Calculate the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the angle value corresponding to each normal vector; If the included angle value corresponding to each normal vector is less than or equal to the first angle threshold, then the initial optical axis vector is determined to satisfy the second preset condition.

7. The method according to claim 4, characterized in that, The initial optical axis vector is adjusted based on a preset adjustment step size, including: Calculate the angle between the initial optical axis vector and multiple normal vectors in the target vector set to obtain the angle value corresponding to each normal vector; Based on the included angle value corresponding to each normal vector, determine the target normal vector corresponding to the maximum included angle value; The initial optical axis vector is adjusted based on the target normal vector and the preset adjustment step size.

8. The method according to claim 7, characterized in that, Based on the target normal vector and the preset adjustment step size, the initial optical axis vector is adjusted, including: The target normal vector, the preset adjustment step size, and the initial optical axis vector are calculated to obtain the calculated initial optical axis vector. Calculate the target angle between the calculated initial optical axis vector and the initial optical axis vector; If the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and the multiple normal vectors in the target vector set is greater than or equal to the target angle value, then the calculated initial optical axis vector is determined as the adjusted initial optical axis vector.

9. The method according to claim 8, characterized in that, The method further includes: If the difference between the maximum and minimum angle values ​​among the angles between the calculated initial optical axis vector and the multiple normal vectors in the target vector set is less than the target angle value, then the preset adjustment step size is adjusted to obtain the adjusted preset adjustment step size. Repeat the steps of calculating the target normal vector, the adjusted preset adjustment step size, and the initial optical axis vector until the difference between the maximum and minimum angle values ​​among the angles between the currently obtained initial optical axis vector and the multiple normal vectors in the target vector set is greater than or equal to the target angle value, or until the preset second iteration number is reached.

10. The method according to claim 1, characterized in that, Based on the target optical axis vector, the target pose information of the optical navigator is obtained, including: Obtain the position parameter information of the target object and the position information of the center point of the knee joint envelope circle corresponding to the target object; Obtain the working distance constraint conditions of the optical navigator, wherein the working distance constraint conditions include at least: a distance threshold between the lens of the optical navigator and the position information of the center point of the knee joint envelope circle and a tracking height threshold corresponding to the optical navigator; Based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint condition, and the target optical axis vector, the target pose information is obtained.

11. The method according to claim 10, characterized in that, The method further includes: If the position height of the optical navigator determined based on the position parameter information, the position information of the center point of the knee joint envelope circle, the working distance constraint condition, and the target optical axis vector does not meet the working distance constraint condition, then the position information of the center point of the knee joint envelope circle will be adjusted.

12. A pose determination device, characterized in that, include: The acquisition unit is used to acquire a target vector set based on the preoperative planning data of the target object, wherein the target vector set includes at least: a first normal vector of the femoral tracer corresponding to the target object, a second normal vector of the tibial tracer corresponding to the target object, and a third normal vector of multiple osteotomy planes corresponding to the target object. The first determining unit is used to determine the target optical axis vector of the optical navigator based on the target vector set; The processing unit is used to obtain the target pose information of the optical navigator based on the target optical axis vector; The device further includes: a second determining unit, configured to determine a target osteotomy surface from the plurality of osteotomy planes, wherein the probability of the target osteotomy surface shifting is greater than a preset threshold; and a correction unit, configured to correct the initial third normal vector in the target osteotomy surface based on a weight bias matrix to obtain the third normal vector of the target osteotomy surface.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the computer-readable storage medium is located to perform the pose determination method according to any one of claims 1 to 11.

14. An electronic device, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the pose determination method according to any one of claims 1 to 11.

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