Bone surface registration guidance apparatus, bone surface registration device, and storage medium

Abstract

The present application is applicable to the technical field of medical treatment. Provided are a bone surface registration guidance apparatus, a bone surface registration device, and a storage medium. The apparatus comprises a processing unit and a display unit. The processing unit is used for acquiring, after completing a point registration operation of a bone surface, information of a closed curve drawn on the bone surface; determining, on the basis of the closed curve, a surface registration region in a bone surface model; determining a plurality of surface registration points in the surface registration region of the bone surface model, and mapping the plurality of surface registration points to an intraoperative model. The display unit is used for displaying the plurality of surface registration points mapped to the intraoperative model as guidance points in a picture corresponding to the intraoperative model. Using the apparatus to guide a doctor to select the surface registration points can reduce the subjectivity or randomness of the doctor's selection, and improve the accuracy of actual bone surface points obtained during the operation, thereby improving the accuracy of the registration results.

Description

Bone registration guide device, bone registration equipment and storage medium

[0001] This application claims priority to Chinese Patent Application No. 202410798364.2, filed on June 20, 2024, entitled "Bone Surface Registration Guiding Device, Bone Surface Registration Equipment and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application pertains to the field of medical technology, and in particular relates to a bone surface registration guiding device, bone surface registration equipment, and storage medium. Background Technology

[0003] In orthopedic surgery, registering the bone surface model segmented from preoperative CT (computed tomography) data with the actual bone during surgery is a crucial step. Existing registration methods mainly include two stages: point registration and surface registration. Point registration involves matching the landmark point data on the preoperative bone surface model with the actual coordinate data of the corresponding landmark points during surgery. Surface registration, building upon point registration, acquires point data from multiple actual bone surfaces during surgery and uses the ICP (iterative closest point) algorithm to perform registration, obtaining the final surface registration result to guide the surgeon in subsequent surgical procedures.

[0004] During the bone registration stage, multiple point data points on the actual bone surface need to be acquired. In existing technologies, these point data points are typically obtained by a surgeon using a probe with a tracer to select points on the actual bone surface. The process of selecting these bone surface points often relies on the surgeon's experience and is highly random and subjective. If the surgeon selects inappropriate bone surface points, it will reduce the accuracy of the final registration result, thus adversely affecting subsequent surgical procedures. Technical issues

[0005] In view of this, this application provides a bone surface registration guiding device, bone surface registration equipment, and storage medium to guide doctors in selecting appropriate surface registration points during the surface registration stage, thereby improving the accuracy of the registration results. Technical solutions

[0006] The first aspect of this application provides a bone surface registration guiding device, including a processing unit and a display unit; wherein:

[0007] The processing unit is used for:

[0008] After completing the point registration operation on the bone surface, information about the closed curve drawn on the bone surface is obtained. The closed curve is obtained by operating on the bone surface with a probe equipped with a tracer.

[0009] Based on the closed curve, the surface registration region in the bone surface model is determined;

[0010] Multiple surface registration points are determined in the surface registration region of the bone surface model, and the multiple surface registration points are mapped to the intraoperative model;

[0011] The display unit is used for:

[0012] Multiple surface registration points mapped to the intraoperative model are displayed as guide points in the screen corresponding to the intraoperative model. These guide points are used to guide the acquisition of surface registration points at the corresponding positions on the bone surface during the surface registration operation.

[0013] A second aspect of this application provides a bone surface registration-guided method, comprising:

[0014] After completing the point registration operation on the bone surface, information about the closed curve drawn on the bone surface is obtained. The closed curve is obtained by operating on the bone surface with a probe equipped with a tracer.

[0015] Based on the closed curve, the surface registration region in the bone surface model is determined;

[0016] Multiple surface registration points are determined in the surface registration region of the bone surface model, and the multiple surface registration points are mapped to the intraoperative model;

[0017] Multiple surface registration points mapped to the intraoperative model are displayed as guide points in the screen corresponding to the intraoperative model. These guide points are used to guide the acquisition of surface registration points at the corresponding positions on the bone surface during the surface registration operation.

[0018] A third aspect of this application provides a bone surface registration guide device, comprising:

[0019] The closed curve acquisition module is used to acquire information about the closed curve drawn on the bone surface after the point registration operation on the bone surface is completed. The closed curve is obtained by the probe with tracer operating on the bone surface.

[0020] The surface registration region determination module is used to determine the surface registration region in the bone surface model based on the closed curve.

[0021] A surface registration point determination module is used to determine multiple surface registration points in the surface registration area of ​​the bone surface model and map the multiple surface registration points to the intraoperative model.

[0022] The guide point display module is used to display multiple surface registration points mapped to the intraoperative model as guide points in the screen corresponding to the intraoperative model. The guide points are used to guide the acquisition of surface registration points at the corresponding positions on the bone surface during the surface registration operation stage.

[0023] A fourth aspect of this application provides a bone registration device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the bone registration guidance method as described in the first aspect above.

[0024] The fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the bone registration guidance method as described in the second aspect above.

[0025] The sixth aspect of this application provides a computer program product that, when run on a computer, causes the computer to perform the bone registration guidance method described in the second aspect above. Beneficial effects

[0026] Compared with the prior art, this application has the following beneficial effects:

[0027] This application defines a surface registration region in a bone surface model and identifies multiple surface registration points within this region. These registration points, after being mapped to the intraoperative model, serve as guide points for the surgeon to select corresponding locations on the actual bone surface. This reduces the subjectivity or randomness of the surgeon's selection of surface registration points during the registration phase, improving the accuracy of the actual bone surface points obtained during surgery, and consequently, the accuracy of the registration results. More accurate registration results also contribute to improving the precision of orthopedic surgery and reducing surgical risks.

[0028] The bone surface registration guidance method and device, bone surface registration equipment, and computer-readable storage medium provided in this application can play an important role in orthopedic surgery and related fields, improving medical quality and efficiency, while providing patients with safer and more effective treatment options. Specifically, the bone surface registration guidance method and device, bone surface registration equipment, and computer-readable storage medium provided in this application can be applied to various types of surgical procedures using orthopedic surgical navigation technology, such as joint replacement surgery (e.g., hip replacement surgery, knee replacement surgery), fracture reduction surgery, and bone tumor resection surgery. Applying the above-mentioned related technologies provided in this application for intraoperative navigation-guided registration can improve surgical accuracy and safety. Integrating the related technologies provided in this application into orthopedic surgical simulators can provide doctors with highly realistic surgical simulation training, especially in the management of complex fractures and precision surgical operations, providing doctors with simulation training that matches actual operations. In addition, in surgical procedures such as scoliosis correction and spinal fusion, applying the related technologies provided in this application for precise registration of the spinal bones can improve the success rate of surgery and reduce complications. In skeletal biomechanics research, applying the aforementioned technologies for precise registration of skeletal models can improve the accuracy of these studies. In VR (virtual reality) and AR (augmented reality) surgical simulations, these technologies can also provide surgeons with more accurate skeletal model registration, enhancing the immersion and realism of surgical training. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0030] Figure 1 is a schematic diagram of a bone surface registration guidance method provided in an embodiment of this application;

[0031] Figure 2 is a schematic diagram of one implementation of S102 in a bone surface registration guidance method provided in an embodiment of this application;

[0032] Figure 3 is a schematic diagram of one implementation of S103 in a bone surface registration guidance method provided in an embodiment of this application;

[0033] Figure 4 is a schematic diagram of generating a guide point according to an embodiment of this application;

[0034] Figure 5 is a schematic diagram of a bone surface registration process provided in an embodiment of this application;

[0035] Figure 6 is a schematic diagram of a surface registration guide point extraction process provided in an embodiment of this application;

[0036] Figure 7 is a schematic diagram of a bone surface registration guide device provided in an embodiment of this application;

[0037] Figure 8 is a schematic diagram of another bone surface registration guide device provided in an embodiment of this application;

[0038] Figure 9 is a schematic diagram of a bone surface registration device provided in an embodiment of this application. Embodiments of the present invention

[0039] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0040] The technical solution of this application will be described below through specific embodiments.

[0041] Referring to Figure 1, a schematic diagram of a bone surface registration guidance method provided in an embodiment of this application is shown, which may specifically include the following steps S101-S104:

[0042] S101. After completing the point registration operation on the bone surface, obtain information about the closed curve drawn on the bone surface. The closed curve is obtained by operating the probe with a tracer on the bone surface.

[0043] It should be noted that this method can be applied to computer equipment, that is, the execution subject of this application embodiment can be a computer device. The computer device can be used as a bone surface registration device in orthopedic surgery to guide the doctor to select appropriate bone surface registration points in the surface registration stage and complete the surface registration operation.

[0044] In one possible implementation of this application, the aforementioned computer device can be part of a computer-assisted surgical device, used solely to guide the surgeon in selecting registration points and completing the registration operation. Alternatively, in another possible implementation of this application, the aforementioned computer device can also be a computer-assisted surgical device. Therefore, in addition to guiding the surgeon in selecting registration points and completing the registration operation, this computer device can also assist the surgeon in performing other surgical procedures. This application does not limit this aspect.

[0045] Typically, planar registration is performed after point registration; that is, planar registration is the subsequent surgical stage. During planar registration, the surgeon selects multiple bone surface points on the patient's actual bone surface for registration with points on the bone surface model. This bone surface model is obtained by segmenting preoperative CT data.

[0046] In this embodiment, to guide the physician in selecting appropriate bone surface points for surface registration on the actual bone surface, the computer device can acquire information about a closed curve on the bone surface. This closed curve can be obtained by the physician using a probe with a tracer to manipulate the actual bone surface. For example, the physician can use the probe to draw a closed curve on the actual bone surface, and the computer device can obtain relevant information about this closed curve, such as the coordinate information of each bone surface point constituting the closed curve. The aforementioned actual bone surface can be the bone surface of the patient's surgical site.

[0047] In one possible implementation of this application, the closed curve can be obtained by a doctor using a probe to continuously draw on the bone surface. For example, the doctor can determine a bone surface point at the patient's surgical site, and draw a curve continuously on the bone surface starting from that point and ending at that point to obtain a closed curve.

[0048] In another possible implementation of this application, the closed curve can also be obtained by fitting multiple bone surface points on the actual bone surface. For example, a doctor can use a probe with a tracer to select multiple bone surface points on the bone surface at the patient's surgical site. A computer device can acquire information about the multiple bone surface points selected by the probe on the bone surface, and fit a closed curve based on the acquired information. This application does not limit the method of obtaining the closed curve.

[0049] S102. Based on the closed curve, determine the surface registration region in the bone surface model.

[0050] In this embodiment of the application, after the computer device obtains the information of the closed curve drawn on the actual bone surface, it can determine the corresponding surface registration area in the bone surface model based on the closed curve. The surface registration area can be the area corresponding to the bone surface enclosed by the closed curve on the actual bone surface.

[0051] In one possible implementation of this application embodiment, as shown in FIG2, determining the surface registration region in the bone surface model based on the closed curve in S102 may specifically include the following steps S1021-S1023:

[0052] S1021. Determine the set of bone surface points that constitute the closed curve.

[0053] In this embodiment, the closed curve on the actual bone surface can be regarded as a set of bone surface points consisting of a series of points on the bone surface. After obtaining the information of the closed curve, the computer device can determine the set of bone surface points IntraCurveSet(1,2,3…) that constitutes the closed curve.

[0054] S1022. Based on the set of bone surface points and the point registration matrix obtained by the point registration operation, determine the set of model points of the set of bone surface points in the bone surface model.

[0055] In this embodiment, the model points on the bone surface model are determined based on a series of bone surface points on the actual bone surface, which can be achieved by combining the point registration matrix obtained in the point registration stage. The model points corresponding to the bone surface point set IntraCurveSet(1,2,3…) on the bone surface model can be regarded as a model point set PreCurveSet(1,2,3…) composed of multiple model points.

[0056] Specifically, the computer device can determine the model point set PreCurveSet(1,2,3…) in the bone surface model based on the bone surface point set IntraCurveSet(1,2,3…) and the point registration matrix PointRegistrationMat obtained by the point registration operation.

[0057] The above processing can be represented as: PreCurveSet = PointRegistrationMat -1 *IntraCurveSet

[0058] S1023. Determine the surface registration region in the bone surface model based on each point in the set of model points.

[0059] After determining the set of model points on the bone surface model, the computer device can segment a model region from the bone surface model based on each point in the set of model points. This model region is also the surface registration region for subsequent user surface registration operations.

[0060] In one possible implementation of this application, the computer device can first determine each point in the model point set and the position of each point on the bone surface model, and then cut the bone surface model with each point as a reference, thereby determining the cut model area as the surface registration area.

[0061] S103. Determine multiple surface registration points in the surface registration area of ​​the bone surface model, and map the multiple surface registration points to the intraoperative model.

[0062] In this embodiment, multiple surface registration points are determined in the surface registration region of the bone surface model. These points can be randomly generated in the surface registration region using a uniform distribution method. After being transferred to the intraoperative model, these surface registration points can be used to guide the surgeon to select appropriate bone surface points for surface registration on the actual bone surface.

[0063] In one possible implementation of this application embodiment, as shown in FIG3, S103 determines multiple surface registration points in the surface registration region of the bone surface model, which may specifically include the following steps S1031-S1033:

[0064] S1031. Determine the bounding box of the closed curve corresponding to the surface registration region in the bone surface model.

[0065] In this embodiment, the bounding box of the closed curve constituting the surface registration region can be determined first. The bounding box is an algorithm for solving the optimal bounding space of a discrete point set. The basic idea is to use a geometric object with a slightly larger volume and simpler characteristics to approximate a complex geometric object. The geometric object used is called the bounding box.

[0066] In one possible implementation of this application, a rectangular geometry can be used as a bounding box to enclose the surface registration region.

[0067] S1032. Uniformly determine multiple model points within the bounding box.

[0068] After determining the bounding box, the computer device can define multiple model points within the bounding box. Specifically, the computer device can uniformly define multiple model points within the bounding box. For example, the computer device can divide the bounding box using multiple sets of mutually perpendicular horizontal and vertical lines, and the intersections of these sets of horizontal and vertical lines can be used as model points. Each model point is a point on a two-dimensional plane.

[0069] In one possible implementation of this application embodiment, the number of surface registration points required for the surface registration operation should be moderate, neither too many nor too few. Therefore, when determining the surface registration points, the number of surface registration points required in the surface registration operation stage can be determined, and then multiple model points equal to the required number of surface registration points can be uniformly generated within the bounding box.

[0070] Figure 4 illustrates a method for generating guide points according to an embodiment of this application. Specifically, Figure 4 shows an example of adjusting the number of model points within the bounding box. First, the computer device can randomly generate multiple model points within the bounding box, such as the model points formed by the intersections of multiple sets of horizontal and vertical lines as shown in Figure 4(a). The computer device can detect whether the number of these model points is equal to the number of registration points required for surface registration. Assuming that the number of model points shown in Figure 4(a) is greater than the number of registration points required for surface registration, the computer device can adjust the number of model points. For example, by reducing the number of multiple sets of horizontal and vertical lines used to separate closed curves, a relatively smaller number of multiple sets of horizontal and vertical lines is obtained as shown in Figure 4(b) compared to that shown in Figure 4(a), and the intersections of these multiple sets of horizontal and vertical lines shown in Figure 4(b) are used as model points. By comparing Figure 4(a) and (b), it can be seen that the number of model points in Figure 4(b) is less than that in Figure 4(a).

[0071] S1033. Determine multiple face registration points based on multiple model points within the bounding box.

[0072] In this embodiment of the application, since the surface registration region is a curved surface, each point constituting the surface registration region belongs to a point set in three-dimensional space, while the aforementioned multiple model points determined based on the bounding box are points on a two-dimensional plane, it is necessary to convert the model points into points on the surface registration region, so that the points on the curved surface of the bone model surface registration region are used as surface registration points.

[0073] In one possible implementation of this application embodiment, the computer device can determine the normal to the surface registration region, that is, determine the normal to the surface that serves as the surface registration region. Then, the computer device can draw line segments parallel to the normal with each model point as its endpoint, obtaining the intersection points of each line segment with the surface registration region. The computer device can use each intersection point as multiple surface registration points in the surface registration region.

[0074] S104. The multiple surface registration points mapped to the intraoperative model are displayed as guide points in the screen corresponding to the intraoperative model. The guide points are used to guide the acquisition of surface registration points at the corresponding positions on the bone surface during the surface registration operation stage.

[0075] In this embodiment, the computer device can map multiple surface registration points obtained from the surface registration area of ​​the bone surface model to the intraoperative model and display these surface registration points in the corresponding screen of the intraoperative model. These surface registration points displayed in the intraoperative model screen can serve as guide points, guiding the surgeon to select corresponding bone surface points on the actual bone surface according to the positions of the guide points during the surface registration stage. The bone surface points selected by the surgeon using a probe will be used as the actual surface registration points in the surface registration process.

[0076] In one possible implementation of this application, the face registration point selected by the doctor during the actual face registration process can also be displayed in the screen corresponding to the intraoperative model to indicate the positional difference between the actual selected face registration point and the suggested guide point. Specifically, after the doctor selects a bone surface point on the actual bone surface according to the guide point, the computer device can obtain relevant information about the bone surface point and, based on the obtained relevant information, display the position of the bone surface point in the screen corresponding to the intraoperative model displaying the guide point, to indicate the positional difference between the actual selected bone surface point and the suggested guide point. By displaying this positional difference, it can help guide the doctor to select the next bone surface point so that the selected bone surface point matches the actual guide point better.

[0077] In one possible implementation of this application, during the surface registration process, the computer device can also determine the field of vision direction of the surface registration operator, such as the field of vision direction of the doctor during the registration process, and adjust the display orientation of the screen corresponding to the intraoperative model to be approximately the same as the doctor's field of vision direction. In this way, by displaying the actual position of the bone surface point in the adjusted screen, the positional difference between the actual bone surface point selected by the doctor and the suggested guide point can be further indicated.

[0078] In another possible implementation of this application, the adjusted screen may also display the position of the bone surface point currently selected by the doctor and the movement path between it and the next guide point. This movement path can be used to prompt the doctor to move the probe to select the next guide point as the surface registration point.

[0079] In this embodiment, by determining a surface registration region in the bone surface model and identifying multiple surface registration points within that region, these points can be used as guides for the surgeon to select corresponding points on the actual bone surface after mapping them to the intraoperative model. This reduces the subjectivity or randomness of the surgeon's selection of surface registration points during the surface registration stage, improves the accuracy of the actual bone surface points obtained during surgery, and thus improves the accuracy of the registration results. More accurate registration results also contribute to improving the precision of orthopedic surgery and reducing surgical risks.

[0080] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0081] To facilitate understanding, the following example illustrates the process of using the bone surface registration guidance method provided in this application embodiment to guide surface registration points and complete the entire registration operation.

[0082] Figure 5 shows a schematic diagram of a bone surface registration process provided in an embodiment of this application. The registration process shown in Figure 5 mainly includes a preoperative preparation stage, a point registration stage, and a surface registration stage. The surface registration stage can be further divided into the process of determining the surface registration guide points using the bone surface registration guidance method provided in this embodiment, and the specific surface registration process. Each stage will be described in detail below.

[0083] 1. Preoperative preparation stage

[0084] During the preoperative preparation stage, the patient's CT data needs to be segmented to obtain a bone surface model, and landmark points need to be marked on the bone surface model.

[0085] Specifically, before surgery, a CT scan can be performed on the patient to obtain bone imaging data, i.e., bone CT data. Then, the patient's CT data can be processed using professional medical image processing software to extract the bone surface model and mark the registration landmarks PreSet(1,2,3…) on the bone surface model.

[0086] 2. Point registration stage

[0087] During the point registration stage, intraoperative bone surface points corresponding to preoperative landmarks can be obtained, and the point registration matrix can be calculated using the preoperative landmark data and the corresponding intraoperative bone surface point data.

[0088] Specifically, during the point registration process, a probe with a tracer can be used to obtain the actual coordinates of the intraoperative bone surface point IntraSet(1,2,3…) corresponding to the preoperative landmark point PreSet(1,2,3…), and point registration calculations can be performed using PreSet(1,2,3…) and IntraSet(1,2,3…) to obtain the point registration matrix PointRegistrationMat.

[0089] After calculating the point registration matrix, the point registration operation can be considered complete, and we can proceed to the next stage, namely the area registration stage.

[0090] 3. Surface registration stage

[0091] The surface registration stage in this application embodiment may include a surface registration guide point extraction process and a specific surface registration process.

[0092] 3.1 Extraction of Guide Points for Surface Registration

[0093] During the extraction of surface registration guide points, the surgeon can first draw a closed curve on the patient's bone surface. The computer equipment can then trim the bone surface model based on this closed curve to extract the surface registration region. Next, by uniformly determining multiple points on the surface registration region, these points can be mapped onto the intraoperative model using a point registration matrix, serving as surface registration guide points.

[0094] Specifically, doctors can use a probe with a tracer to draw a closed curve on the patient's bone surface. Computer equipment can obtain a series of points on the closed curve, which can form a set IntraCurveSet(1,2,3…).

[0095] Based on this, the point registration matrix PointRegistrationMat can be used to obtain the corresponding point set PreCurveSet on the bone surface model: PreCurveSet = PointRegistrationMat -1 *IntraCurveSet

[0096] Then, the computer device can uniformly extract N points within the closed region formed by the point set PreCurveSet.

[0097] Figure 6 illustrates a process for extracting guide points for surface registration according to an embodiment of this application. Following the process shown in Figure 6, after trimming the bone surface model using a closed curve constructed from the point set PreCurveSet, the bounding box of the closed curve is first obtained, and M points are randomly generated within the bounding box using a uniform distribution. Then, the computer device can detect the number k of these M points located within the closed curve and determine whether the number k of points within the closed curve is equal to the required number of guide points N. If the number k of points within the closed curve is less than N, the value of M can be increased, and M points can be randomly generated again within the bounding box; if the number k of points within the closed curve is greater than N, the value of M can be decreased, and M points can be randomly generated again within the bounding box, until N points are located within the closed curve.

[0098] After identifying N points located within the closed curve, as shown in Figure 6, straight lines parallel to the normal to the surface registration region can be drawn using these N points as endpoints. The intersection points of each line with the surface registration region are then calculated, forming the final guide point set PreGuideSet(1,2,3…N). This guide point set PreGuideSet(1,2,3…N) can be combined with the point registration matrix PointRegistrationMat to determine the corresponding point set IntraGuideSet(1,2,3…N) in the intraoperative model: IntraGuideSet = PointRegistrationMat * PreGuideSet

[0099] The IntraGuideSet(1,2,3…N) is a set of points used to guide doctors in selecting points on the actual bone surface for surface registration.

[0100] 3.2 Surface Registration

[0101] In the specific process of surface registration, the doctor can select surface registration points according to the guide points. The registration system can use the surface registration points obtained by repeatedly selecting N times to perform surface registration and obtain the final registration result.

[0102] Specifically, based on the coordinates displayed on the intraoperative model, the surgeon can accurately obtain the corresponding actual bone surface points (IntraSet(1,2,3…N)) on the patient's bone surface. The registration system can then use the ICP algorithm to perform surface registration, obtaining the final registration result. This registration result can be used to guide the surgeon in subsequent surgical procedures.

[0103] Referring to Figure 7, a schematic diagram of a bone surface registration guiding device provided in an embodiment of this application is shown. The device may include a processing unit 701 and a display unit 702; wherein:

[0104] The processing unit 701 can be used for:

[0105] After completing the point registration operation on the bone surface, information about the closed curve drawn on the bone surface is obtained. The closed curve is obtained by operating on the bone surface with a probe equipped with a tracer.

[0106] Based on the closed curve, the surface registration region in the bone surface model is determined;

[0107] Multiple surface registration points are determined in the surface registration region of the bone surface model, and the multiple surface registration points are mapped to the intraoperative model;

[0108] The display unit 702 can be used for:

[0109] Multiple surface registration points mapped to the intraoperative model are displayed as guide points in the screen corresponding to the intraoperative model. These guide points are used to guide the acquisition of surface registration points at the corresponding positions on the bone surface during the surface registration operation.

[0110] In one possible implementation of this application embodiment, the processing unit 701 may further be used for:

[0111] Information on multiple bone surface points selected by the probe on the bone surface is obtained;

[0112] The closed curve is obtained by fitting multiple bone surface points.

[0113] In one possible implementation of this application embodiment, the processing unit 701 may further be used for:

[0114] Determine the set of bone surface points that constitute the closed curve;

[0115] Based on the set of bone surface points and the point registration matrix obtained by the point registration operation, determine the set of model points in the bone surface model.

[0116] The surface registration region in the bone surface model is determined based on each point in the set of model points.

[0117] In one possible implementation of this application embodiment, the processing unit 701 may further be used for:

[0118] Determine the bounding box of the closed curve corresponding to the surface registration region in the bone surface model;

[0119] Multiple model points are uniformly defined within the bounding box;

[0120] Multiple face registration points are determined based on multiple model points within the bounding box.

[0121] In one possible implementation of this application embodiment, the processing unit 701 may further be used for:

[0122] Determine the normal to the area registration region;

[0123] Using each of the model points as endpoints, draw line segments parallel to the normal lines to obtain the intersection points of each line segment with the surface registration region, and use each intersection point as multiple surface registration points in the surface registration region.

[0124] In one possible implementation of this application embodiment, the processing unit 701 may further be used for:

[0125] Determine the number of surface registration points required for the surface registration operation stage;

[0126] Multiple model points, equal to the required number of surface registration points, are uniformly generated within the bounding box.

[0127] In one possible implementation of this application embodiment, the display unit 702 may specifically be used for:

[0128] Receive information on the actual bone surface points acquired during the surface registration operation phase from the processing unit 701;

[0129] The actual position of the bone surface point is displayed in the screen corresponding to the intraoperative model that displays the guide point, so as to indicate the positional difference between the bone surface point and the guide point.

[0130] In one possible implementation of this application embodiment, the display unit 702 may further be used for:

[0131] The processing unit 701 receives the field of view direction of the surface registration operator as determined by the processing unit 701.

[0132] Adjust the display orientation of the image corresponding to the intraoperative model to be approximately the same as the field of vision direction;

[0133] The adjusted screen displays the actual position of the bone surface point and the movement path between the position and the next guide point. The movement path is used to prompt the user to move the probe to select the next guide point as the face registration point.

[0134] The aforementioned bone surface registration guide device can be the computer device or a component or unit of the computer device in the foregoing method embodiments. By applying this bone surface registration guide device, the methods or functions achievable by the computer device in the foregoing method embodiments can be implemented.

[0135] Referring to Figure 8, a schematic diagram of another bone surface registration guidance device provided in an embodiment of this application is shown. This device may include a closed curve acquisition module 801, a surface registration region determination module 802, a surface registration point determination module 803, and a guide point display module 804; wherein:

[0136] The closed curve acquisition module 801 is used to acquire information about the closed curve drawn on the bone surface after the point registration operation on the bone surface is completed. The closed curve is obtained by the probe with tracer operating on the bone surface.

[0137] The surface registration region determination module 802 is used to determine the surface registration region in the bone surface model based on the closed curve;

[0138] The surface registration point determination module 803 is used to determine multiple surface registration points in the surface registration area of ​​the bone surface model and map the multiple surface registration points to the intraoperative model.

[0139] The guide point display module 804 is used to display multiple surface registration points mapped to the intraoperative model as guide points in the screen corresponding to the intraoperative model. The guide points are used to guide the acquisition of surface registration points at the corresponding positions on the bone surface during the surface registration operation stage.

[0140] In one possible implementation of this application embodiment, the closed curve acquisition module 801 may specifically include:

[0141] A bone surface point information acquisition unit is used to acquire information about multiple bone surface points selected by the probe on the bone surface;

[0142] A closed curve fitting unit is used to fit the closed curve based on multiple bone surface points.

[0143] In one possible implementation of this application embodiment, the surface registration region determination module 802 may specifically include:

[0144] A bone surface point set determination unit is used to determine the set of bone surface points that constitute the closed curve;

[0145] The model point set determination unit is used to determine the model point set of the bone surface point set in the bone surface model based on the bone surface point set and the point registration matrix obtained by the point registration operation;

[0146] The surface registration region determination unit is used to determine the surface registration region in the bone surface model based on each point in the model point set.

[0147] In one possible implementation of this application embodiment, the surface registration point determination module 803 may specifically include:

[0148] A bounding box determination unit is used to determine the bounding box of the closed curve corresponding to the surface registration region in the bone surface model;

[0149] A model point determination unit is used to uniformly determine multiple model points within the bounding box;

[0150] The surface registration point determination unit is used to determine multiple surface registration points based on multiple model points within the bounding box.

[0151] In one possible implementation of this application embodiment, the surface registration point determination unit may be used to: determine the normal of the surface registration region; draw line segments parallel to the normal with each of the model points as endpoints, obtain the intersection points of each line segment with the surface registration region, and use each of the intersection points as multiple surface registration points in the surface registration region.

[0152] In one possible implementation of this application embodiment, the model point determination unit can be used to: determine the number of surface registration points required in the surface registration operation stage; and uniformly generate multiple model points within the bounding box that are equal to the required number of surface registration points.

[0153] In one possible implementation of this application embodiment, the guide point display module 804 may specifically include:

[0154] A bone surface point information receiving unit is used to receive information on actual bone surface points acquired during the surface registration operation stage transmitted by the processing unit.

[0155] The bone surface point position display unit is used to display the actual position of the bone surface point in the screen corresponding to the intraoperative model that displays the guide point, so as to indicate the positional difference between the bone surface point and the guide point.

[0156] In one possible implementation of this application embodiment, the guide point display module 804 may further include:

[0157] A field of view direction receiving unit is used to receive the field of view direction of the surface registration operator determined by the processing unit.

[0158] The display orientation adjustment unit is used to adjust the display orientation of the image corresponding to the intraoperative model to be approximately the same as the field of vision direction.

[0159] Accordingly, the bone surface point position display unit is also used to: display the actual position of the bone surface point in the adjusted screen, and the movement path between the position and the next guide point, the movement path being used to prompt the selection of the next guide point as a surface registration point by moving the probe.

[0160] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0161] Referring to FIG9, a schematic diagram of a bone surface registration device provided in an embodiment of this application is shown. As shown in FIG9, the bone surface registration device 900 in this embodiment includes: a processor 910, a memory 920, and a computer program 921 stored in the memory 920 and executable on the processor 910. When the processor 910 executes the computer program 921, it implements the steps in the various embodiments of the bone surface registration guidance method described above, such as steps S101 to S104 shown in FIG1. ​​Alternatively, when the processor 910 executes the computer program 921, it implements the functions of each module / unit in the various device embodiments described above, such as the functions of units 701 to 702 shown in FIG7, or modules 801 to 804 shown in FIG8.

[0162] For example, the computer program 921 can be divided into one or more modules / units, which are stored in the memory 920 and executed by the processor 910 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 921 in the bone surface registration device 900. For example, the computer program 921 can be divided into a closed curve acquisition module, a surface registration region determination module, a surface registration point determination module, and a guide point display module, with the specific functions of each module as follows:

[0163] The closed curve acquisition module is used to acquire information about the closed curve drawn on the bone surface after the point registration operation on the bone surface is completed. The closed curve is obtained by the probe with tracer operating on the bone surface.

[0164] The surface registration region determination module is used to determine the surface registration region in the bone surface model based on the closed curve.

[0165] A surface registration point determination module is used to determine multiple surface registration points in the surface registration area of ​​the bone surface model and map the multiple surface registration points to the intraoperative model.

[0166] The guide point display module is used to display multiple surface registration points mapped to the intraoperative model as guide points in the screen corresponding to the intraoperative model. The guide points are used to guide the acquisition of surface registration points at the corresponding positions on the bone surface during the surface registration operation stage.

[0167] The bone registration device 900 can be an electronic device or medical device capable of implementing the steps in the aforementioned method embodiments. The bone registration device 900 can be the bone registration guidance device shown in Figure 7 or Figure 8, or a device capable of implementing the corresponding functions of the aforementioned bone registration guidance device. The bone registration device 900 may include, but is not limited to, a processor 910 and a memory 920. Those skilled in the art will understand that Figure 9 is merely an example of the bone registration device 900 and does not constitute a limitation on the bone registration device 900. It may include more or fewer components than shown, or combine certain components, or different components. For example, the bone registration device 900 may also include input / output devices, network access devices, buses, etc.

[0168] The processor 910 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0169] The memory 920 can be an internal storage unit of the bone registration device 900, such as a hard disk or RAM of the bone registration device 900. The memory 920 can also be an external storage device of the bone registration device 900, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the bone registration device 900. Furthermore, the memory 920 can include both internal and external storage units of the bone registration device 900. The memory 920 is used to store the computer program 921 and other programs and data required by the bone registration device 900. The memory 920 can also be used to temporarily store data that has been output or will be output.

[0170] This application also discloses a bone surface registration device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the bone surface registration guidance method as described in the foregoing embodiments.

[0171] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the bone surface registration guidance method as described in the foregoing embodiments.

[0172] This application also discloses a computer program product that, when run on a computer, causes the computer to execute the bone registration guidance method described in the foregoing embodiments.

[0173] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A bone surface registration guide, comprising: The device comprises a processing unit and a display unit, wherein: the processing unit is configured to: after the point registration operation on the bone surface is completed, acquire information of a closed curve drawn on the bone surface, the closed curve being obtained by the probe with a tracer operating on the bone surface; determine a surface registration area in the bone surface model based on the closed curve; determine a plurality of surface registration points in the surface registration area of the bone surface model and map the plurality of surface registration points to the intraoperative model; the display unit is configured to: display the plurality of surface registration points mapped to the intraoperative model as guide points in a picture corresponding to the intraoperative model, the guide points being used to guide the acquisition of surface registration points at corresponding positions on the bone surface in a surface registration operation stage.

2. The apparatus of claim 1, wherein, The processing unit is specifically configured to: acquire information of a plurality of bone surface points selected by the probe on the bone surface; fit the closed curve according to the plurality of bone surface points.

3. The apparatus of claim 1, wherein, The processing unit is specifically configured to: determine a bone surface point set constituting the closed curve; determine a model point set of the bone surface point set in the bone surface model according to the point registration matrix obtained by the point registration operation and the bone surface point set; determine the surface registration area in the bone surface model based on each point in the model point set.

4. The device according to any of claims 1-3, characterized in that The processing unit is further specifically configured to: determine a bounding box of the closed curve corresponding to the surface registration area in the bone surface model; uniformly determine a plurality of model points in the bounding box; determine a plurality of surface registration points based on the plurality of model points in the bounding box.

5. The apparatus of claim 4, wherein, The processing unit is further specifically configured to: determine a normal of the surface registration area; make a line segment parallel to the normal with each model point as an endpoint to obtain an intersection point of each line segment and the surface registration area, and take each intersection point as a surface registration point in the surface registration area.

6. The apparatus of claim 4, wherein, The processing unit is further specifically configured to: determine a required number of surface registration points in the surface registration operation stage; uniformly generate a plurality of model points equal to the required number of surface registration points in the bounding box.

7. The apparatus of any one of claims 1-3 or 5-6, wherein, The display unit is further configured to: receive information of actual bone surface points acquired in the surface registration operation stage transmitted by the processing unit; display the positions of the actual bone surface points in the picture corresponding to the intraoperative model on which the guide points are displayed, to prompt the position difference between the bone surface points and the guide points.

8. The apparatus of claim 7, wherein, The display unit is further specifically configured to: receive a field of view direction of a surface registration operator determined by the processing unit; adjust the display orientation of the picture corresponding to the intraoperative model to be approximately the same as the field of view direction; display the positions of the actual bone surface points and a moving path between the positions and a next guide point in the adjusted picture, the moving path being used to prompt the acquisition of the next guide point as a surface registration point by moving the probe.

9. A bone surface registration device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, The processor implements the following method when executing the computer program: after the point registration operation on the bone surface is completed, acquire information of a closed curve drawn on the bone surface, the closed curve being obtained by the probe with a tracer operating on the bone surface; determine a surface registration area in the bone surface model based on the closed curve; A plurality of surface registration points are determined in the surface registration area of the bone surface model, and the plurality of surface registration points are mapped to the intraoperative model; The plurality of surface registration points mapped to the intraoperative model are displayed as guide points in the picture corresponding to the intraoperative model, and the guide points are used to guide the acquisition of surface registration points at the corresponding positions of the bone surface in the surface registration operation stage.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the following method: After the point registration operation of the bone surface is completed, information of a closed curve drawn on the bone surface is acquired, the closed curve being obtained by the operation of a probe with a tracer on the bone surface; Based on the closed curve, a surface registration area in the bone surface model is determined; A plurality of surface registration points are determined in the surface registration area of the bone surface model, and the plurality of surface registration points are mapped to the intraoperative model; The plurality of surface registration points mapped to the intraoperative model are displayed as guide points in the picture corresponding to the intraoperative model, and the guide points are used to guide the acquisition of surface registration points at the corresponding positions of the bone surface in the surface registration operation stage.

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