WO2022068340A1

WO2022068340A1 - Readable storage medium, bone modeling registration system, and orthopedic surgical system

Info

Publication number: WO2022068340A1
Application number: PCT/CN2021/108602
Authority: WO
Inventors: 邵辉; 孙峰; 李涛; 何超
Original assignee: 苏州微创畅行机器人有限公司
Priority date: 2020-09-29
Filing date: 2021-07-27
Publication date: 2022-04-07
Also published as: CN112155734A; CN112155734B

Abstract

A readable storage medium, a bone modeling registration system, and an orthopedic surgical system. The readable storage medium stores a program, the program being executed to implement: obtaining bone surface data of a predetermined object, the bone surface data being obtained by means of a depth sensor (150) connected to the predetermined object (step SB1); performing three-dimensional reconstruction according to the bone surface data, to obtain a first virtual model (step SB2); registering the first virtual model and a preset second virtual model to obtain the first coordinate conversion relationship between a depth sensor coordinate system (25) and a navigation image coordinate system (24) (step SB3); and on the basis of the first coordinate conversion relationship, utilizing real-time bone surface data feedback obtained by means of the depth sensor (150) to obtain the real-time coordinates of the predetermined object in the navigation image coordinate system (24). By means of the configuration, the registration of a preoperative imaging model and an intraoperative actual bone model is realized. In the whole registration process, drilling is not needed, extra trauma is avoided, and the possibility of infection is reduced.

Description

可读存储介质、骨建模配准***及骨科手术***Readable storage medium, bone modeling registration system, and orthopedic surgery system

技术领域technical field

本发明涉及机器人辅助手术***领域，特别涉及一种可读存储介质、骨建模配准***及骨科手术***。The invention relates to the field of robot-assisted surgery systems, in particular to a readable storage medium, a bone modeling registration system and an orthopedic surgery system.

背景技术Background technique

近年来，手术导航***越来越多地被运用到外科手术当中，特别是骨科手术中。例如MAKO骨科手术导航***、Robodoc骨科手术导航***等，均是利用机械臂以及红外光学导航设备的结合，根据医生的术前规划，结合术中的注册配准技术，使用机器人辅助医生完成手术操作。这其中，骨注册配准技术，是获得导航***虚拟骨模型与实际骨头的坐标转换关系，但是目前通用的注册工具以及方法存在着以下的问题：In recent years, surgical navigation systems have been increasingly used in surgical operations, especially orthopedic operations. For example, MAKO orthopedic surgery navigation system, Robodoc orthopedic surgery navigation system, etc., all use the combination of robotic arm and infrared optical navigation equipment. According to the doctor's preoperative planning, combined with the intraoperative registration and registration technology, the robot is used to assist the doctor to complete the surgical operation. . Among them, the bone registration technology is to obtain the coordinate transformation relationship between the virtual bone model of the navigation system and the actual bone, but the current general registration tools and methods have the following problems:

1)流程繁琐，增加额外手术时间，目前通用的骨注册方法为：使用带有靶标跟踪球的探针，对骨头采用单点采集，单点采集速度慢，同时由于采集的样本量有限，加之人为采集点的误操作，容易导致配准失败，增加手术整体时间。1) The process is cumbersome and increases the extra operation time. The current general bone registration method is: using a probe with a target tracking ball, and using a single-point collection of bones, the single-point collection speed is slow, and due to the limited number of samples collected, in addition Misoperation of artificial collection points can easily lead to registration failure and increase the overall operation time.

2)由于骨头表面存在一层软组织，通用的骨注册需要使用尖头探针刺破软组织，刺破软组织的力度以及深度人为很难把握，采集点不够精确，采集点误差大，从而造成配准误差大。2) Because there is a layer of soft tissue on the surface of the bone, the general bone registration needs to use a pointed probe to pierce the soft tissue, the strength and depth of piercing the soft tissue are difficult to grasp, the collection point is not accurate enough, and the error of the collection point is large, resulting in registration Big error.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种可读存储介质、骨建模配准***及骨科手术***，以解决现有骨注册配准所存在的问题。The purpose of the present invention is to provide a readable storage medium, a bone modeling and registration system, and an orthopedic surgery system, so as to solve the problems existing in the existing bone registration and registration.

为解决上述技术问题，根据本发明的第一个方面，提供了一种可读存储介质，其上存储有程序，所述程序被执行时实现：In order to solve the above-mentioned technical problems, according to a first aspect of the present invention, a readable storage medium is provided on which a program is stored, and the program is executed to realize:

获取预定对象的骨表面数据，所述骨表面数据经与一预定对象连接的深度传感器获得；acquiring bone surface data of a predetermined object, the bone surface data obtained through a depth sensor connected to a predetermined object;

根据所述骨表面数据进行三维重建，得到第一虚拟模型；performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model;

将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得深度传感器坐标系与导航影像坐标系之间的第一坐标转换关系；registering the first virtual model with the preset second virtual model to obtain a first coordinate transformation relationship between the depth sensor coordinate system and the navigation image coordinate system;

基于所述第一坐标转换关系，利用所述深度传感器所获取的实时骨表面数据反馈，得到所述预定对象于导航影像坐标系下的实时坐标。Based on the first coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time bone surface data feedback obtained by the depth sensor.

可选的，所述第一虚拟模型与所述第二虚拟模型均为骨模型。Optionally, both the first virtual model and the second virtual model are bone models.

可选的，所述可读存储介质上的程序被执行时，根据所述超声图像数据进行三维重建，得到第一虚拟模型的步骤包括：Optionally, when the program on the readable storage medium is executed, three-dimensional reconstruction is performed according to the ultrasound image data, and the step of obtaining the first virtual model includes:

对所述超声图像数据进行分割处理，获取骨轮廓点云数据；Segmenting the ultrasound image data to obtain bone contour point cloud data;

基于所述骨轮廓点云数据进行三维重建，得到所述第一虚拟模型。Three-dimensional reconstruction is performed based on the bone contour point cloud data to obtain the first virtual model.

可选的，所述可读存储介质上的程序被执行时，将所述第一虚拟模型与预置的第二虚拟模型进行配准的步骤包括：Optionally, when the program on the readable storage medium is executed, the step of registering the first virtual model with the preset second virtual model includes:

根据所述第二虚拟模型，计算得到关节外边界的最小包围盒，并获取所述最小包围盒的中心；According to the second virtual model, the minimum bounding box of the outer boundary of the joint is obtained by calculation, and the center of the minimum bounding box is obtained;

将所述骨轮廓点云数据经粗配准矩阵转换到所述第二虚拟模型的坐标系，并获取转换后的点云中心点；Converting the bone contour point cloud data to the coordinate system of the second virtual model through a rough registration matrix, and acquiring the converted point cloud center point;

将所述最小包围盒的中心与所述预定对象的关节中心连接限定第一向量；connecting the center of the minimum bounding box with the joint center of the predetermined object to define a first vector;

将所述点云中心点与所述关节中心连接限定第二向量，所述第二向量与所述第一向量之间的夹角为α，所述第一向量与所述第二向量组成的平面的法向量为ε，将所述骨轮廓点云数据围绕ε轴旋转α角，使所述第一向量与所述第二向量在轴线ε’上重合；以及A second vector is defined by connecting the point cloud center point and the joint center, the angle between the second vector and the first vector is α, and the first vector and the second vector are composed of The normal vector of the plane is ε, and the bone contour point cloud data is rotated around the ε axis by an angle α, so that the first vector and the second vector coincide on the axis ε'; and

将围绕ε向量旋转α角后的骨轮廓点云数据围绕轴线ε’转动β角度。The bone contour point cloud data rotated by α angle around the ε vector is rotated by β angle around the axis ε'.

可选的，所述可读存储介质上的程序被执行时，将所述第一虚拟模型与预置的第二虚拟模型进行配准的步骤还包括：Optionally, when the program on the readable storage medium is executed, the step of registering the first virtual model with the preset second virtual model further includes:

计算围绕轴线ε’转动β角度后的骨轮廓点云数据与围绕ε向量旋转α角前的骨轮廓点云数据之间的均方根，若所述均方根大于预设的第一阈值，则重复将所述骨轮廓点云数据围绕ε轴旋转α角以及围绕轴线ε’转动β角度的步骤，直至所述均方根不大于所述第一阈值。Calculate the root mean square between the bone contour point cloud data after rotating the β angle around the axis ε' and the bone contour point cloud data before rotating the α angle around the ε vector. If the root mean square is greater than the preset first threshold, Then, the steps of rotating the bone contour point cloud data by an angle α around the ε axis and by an angle β around the axis ε′ are repeated until the root mean square is not greater than the first threshold.

可选的，所述可读存储介质上的程序被执行时，在将所述第一虚拟模型与预置的第二虚拟模型进行配准后，还实现：Optionally, when the program on the readable storage medium is executed, after the first virtual model is registered with the preset second virtual model, it is also implemented:

比较当前时刻的点云配准矩阵与预定间隔时刻下的点云配准矩阵，若当前时刻的点云配准矩阵与预定间隔时刻下的点云配准矩阵之间的旋转和平移大于预设的第二阈值，则触发所述第一虚拟模型与所述第二虚拟模型进行重新配准。Compare the point cloud registration matrix at the current moment with the point cloud registration matrix at the predetermined interval, if the rotation and translation between the point cloud registration matrix at the current moment and the point cloud registration matrix at the predetermined interval are greater than the preset is the second threshold, triggering the re-registration of the first virtual model and the second virtual model.

可选的，所述可读存储介质上的程序被执行时，预置的第二虚拟模型根据CT扫描或MRI扫描所述预定对象所得的影像建立。Optionally, when the program on the readable storage medium is executed, the preset second virtual model is established according to the image obtained by the CT scan or the MRI scan of the predetermined object.

可选的，所述可读存储介质上的程序被执行时，还实现：Optionally, when the program on the readable storage medium is executed, it also implements:

基于与所述深度传感器连接的靶标，获得深度传感器坐标系与靶标坐标系之间的第二坐标转换关系；obtaining a second coordinate conversion relationship between the depth sensor coordinate system and the target coordinate system based on the target connected to the depth sensor;

通过所述第一坐标转换关系与所述第二坐标转换关系的坐标系转换，获得所述靶标坐标系与所述导航影像坐标系的第三坐标转换关系；Obtaining a third coordinate transformation relationship between the target coordinate system and the navigation image coordinate system through the coordinate system transformation between the first coordinate transformation relationship and the second coordinate transformation relationship;

基于所述第三坐标转换关系，利用所述靶标的实时坐标反馈，得到所述预定对象于导航影像坐标系下的实时坐标。Based on the third coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time coordinate feedback of the target.

可选的，利用所述实时骨表面数据反馈得到的所述预定对象于导航影像坐标系下的实时坐标，与利用所述靶标的实时坐标反馈得到的所述预定对象于导航影像坐标系下的实时坐标互为校验，当其中一者发生异常，则产生报警信息。Optionally, the real-time coordinates of the predetermined object under the navigation image coordinate system obtained by using the real-time bone surface data feedback, and the real-time coordinates of the predetermined object under the navigation image coordinate system obtained by using the real-time coordinate feedback of the target. The real-time coordinates are checked against each other. When one of them is abnormal, an alarm message will be generated.

为解决上述技术问题，根据本发明的第二个方面，还提供了一种骨建模配准***，其包括：处理器以及固定检测装置；所述固定检测装置具有内尺寸可调节的环状部及深度传感器，所述环状部用于围绕一预定对象布置；所述深度传感器与所述环状部连接；In order to solve the above technical problems, according to the second aspect of the present invention, a bone modeling registration system is also provided, which includes: a processor and a fixation detection device; the fixation detection device has a ring shape with adjustable inner size. a part and a depth sensor, the annular part is used for arranging around a predetermined object; the depth sensor is connected with the annular part;

所述处理器与所述固定检测装置通信连接；所述处理器被配置为，获取经所述深度传感器所得到的预定对象的骨表面数据；根据所述骨表面数据进行三维重建，得到第一虚拟模型；将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得深度传感器坐标系与导航影像坐标系之间的第一坐标转换关系；基于所述第一坐标转换关系，利用所述深度传感器所获取的实时骨表面数据反馈，得到所述预定对象于导航影像坐标系下的实时坐标。The processor is connected in communication with the fixation detection device; the processor is configured to acquire bone surface data of a predetermined object obtained by the depth sensor; perform three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; register the first virtual model with the preset second virtual model to obtain a first coordinate transformation relationship between the depth sensor coordinate system and the navigation image coordinate system; based on the first coordinate transformation relationship, Using the real-time bone surface data feedback obtained by the depth sensor, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained.

可选的，所述骨建模配准***还包括：导航装置及靶标；所述靶标与所述环状部连接，所述导航装置与所述处理器通信连接，所述导航装置与所述靶标相适配，用以获取所述靶标的实时坐标反馈，并将所述实时坐标反馈传输至所述处理器；Optionally, the bone modeling registration system further includes: a navigation device and a target; the target is connected to the annular portion, the navigation device is communicatively connected to the processor, and the navigation device is connected to the The target is adapted to obtain real-time coordinate feedback of the target, and transmit the real-time coordinate feedback to the processor;

所述处理器还被配置为，获得所述深度传感器坐标系与靶标坐标系之间的第二坐标转换关系；通过所述第一坐标转换关系与所述第二坐标转换关系的坐标系转换，获得所述靶标坐标系与所述导航影像坐标系的第三坐标转换关系；基于所述第三坐标转换关系，利用所述靶标的实时坐标反馈，得到所述预定对象于导航影像坐标系下的实时坐标。The processor is further configured to obtain a second coordinate transformation relationship between the depth sensor coordinate system and the target coordinate system; through the coordinate system transformation between the first coordinate transformation relationship and the second coordinate transformation relationship, Obtain the third coordinate conversion relationship between the target coordinate system and the navigation image coordinate system; based on the third coordinate conversion relationship, use the real-time coordinate feedback of the target to obtain the predetermined object in the navigation image coordinate system. real-time coordinates.

可选的，所述骨建模配准***还包括：报警装置；所述报警装置被配置为，在所述深度传感器无法获取实时骨表面数据反馈，或者所述导航装置无法获取所述靶标的实时坐标反馈时，发出报警信息。Optionally, the bone modeling and registration system further includes: an alarm device; the alarm device is configured to, when the depth sensor cannot obtain real-time bone surface data feedback, or the navigation device cannot obtain the target information. When real-time coordinate feedback, an alarm message will be issued.

为解决上述技术问题，根据本发明的第三个方面，还提供了一种骨科手术***，其包括如上所述的骨建模配准***。In order to solve the above technical problem, according to a third aspect of the present invention, an orthopedic surgery system is also provided, which includes the above-mentioned bone modeling registration system.

综上所述，在本发明提供的可读存储介质、骨建模配准***及骨科手术***中，所述可读存储介质上存储有程序，所述程序被执行时实现：获取预定对象的骨表面数据，所述骨表面数据经与一预定对象连接的深度传感器获得；根据所述骨表面数据进行三维重建，得到第一虚拟模型；将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得深度传感器坐标系与导航影像坐标系之间的第一坐标转换关系；基于所述第一坐标转换关系，利用所述深度传感器所获取的实时骨表面数据反馈，得到所述预定对象于导航影像坐标系下的实时坐标。To sum up, in the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided by the present invention, the readable storage medium stores a program, and when the program is executed, it realizes: obtaining the data of the predetermined object. bone surface data, the bone surface data is obtained by a depth sensor connected to a predetermined object; three-dimensional reconstruction is performed according to the bone surface data to obtain a first virtual model; the first virtual model is combined with a preset second virtual model The model is registered to obtain the first coordinate transformation relationship between the depth sensor coordinate system and the navigation image coordinate system; based on the first coordinate transformation relationship, the real-time bone surface data feedback obtained by the depth sensor is used to obtain the The real-time coordinates of the predetermined object in the navigation image coordinate system.

如此配置，利用深度传感器获取骨表面数据，重建得到第一虚拟模型，基于第一虚拟模型与预置的第二虚拟模型的配准及各坐标系之间的转换，利用深度传感器所获取的实时骨表面数据反馈，即可得到预定对象于导航影像坐标系下的实时坐标。即实现了术前影像模型与术中实际骨模型的配准。整个配准过程中无需钻孔，无额外创伤，降低感染的可能。此外，骨建模配准***的设置简单，简化了手术中配准注册工具的安装，简化了配准流程，降低了手术的复杂度，缩减了手术时间。In this configuration, the depth sensor is used to obtain bone surface data, and the first virtual model is reconstructed to obtain the first virtual model. The bone surface data feedback can obtain the real-time coordinates of the predetermined object in the navigation image coordinate system. That is, the registration of the preoperative image model and the actual intraoperative bone model is realized. No drilling is required during the entire registration process, no additional trauma is required, and the possibility of infection is reduced. In addition, the setup of the bone modeling registration system is simple, which simplifies the installation of the registration tool during the operation, simplifies the registration process, reduces the complexity of the operation, and shortens the operation time.

附图说明Description of drawings

本领域的普通技术人员将会理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。其中：Those of ordinary skill in the art will appreciate that the accompanying drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention. in:

图1是本发明涉及的骨科手术***的手术场景示意图；FIG. 1 is a schematic diagram of the operation scene of the orthopaedic surgery system involved in the present invention;

图2是本发明涉及的骨科手术***的骨科手术过程的流程图；Fig. 2 is the flow chart of the orthopaedic surgery process of the orthopaedic surgery system involved in the present invention;

图3是本发明实施例一的固定检测装置的示意图；3 is a schematic diagram of a fixed detection device according to Embodiment 1 of the present invention;

图4是本发明实施例一的固定检测装置安装使用的示意图；4 is a schematic diagram of the installation and use of the fixed detection device according to the first embodiment of the present invention;

图5是本发明实施例一的环状部调节的示意图；FIG. 5 is a schematic diagram of the adjustment of the annular part according to the first embodiment of the present invention;

图6是本发明实施例一的环状部拆卸的示意图；6 is a schematic diagram of disassembly of the annular portion of the first embodiment of the present invention;

图7是本发明实施例一的坐标转换示意图；7 is a schematic diagram of coordinate conversion in Embodiment 1 of the present invention;

图8a是本发明实施例一的第一步配准的示意图；Fig. 8a is a schematic diagram of the first step of registration according to Embodiment 1 of the present invention;

图8b是本发明实施例一的第二步配准的示意图；8b is a schematic diagram of the second step of registration in Embodiment 1 of the present invention;

图9是本发明实施例一的配准算法的流程图；9 is a flowchart of a registration algorithm according to Embodiment 1 of the present invention;

图10是本发明实施例一的配准后误差实时校准的示意图；10 is a schematic diagram of real-time calibration of errors after registration according to Embodiment 1 of the present invention;

图11是本发明实施例二的固定检测装置的示意图；11 is a schematic diagram of a fixed detection device according to Embodiment 2 of the present invention;

图12是本发明实施例三的固定检测装置的示意图；12 is a schematic diagram of a fixed detection device according to Embodiment 3 of the present invention;

图13是本发明实施例三的固定检测装置安装使用的示意图；13 is a schematic diagram of the installation and use of the fixed detection device according to the third embodiment of the present invention;

图14是本发明实施例三的坐标转换示意图；14 is a schematic diagram of coordinate conversion in Embodiment 3 of the present invention;

图15是本发明实施例四的固定检测装置的示意图；15 is a schematic diagram of a fixed detection device according to Embodiment 4 of the present invention;

图16是本发明实施例四的固定检测装置安装使用的示意图；16 is a schematic diagram of the installation and use of the fixed detection device according to the fourth embodiment of the present invention;

图17是本发明实施例四的坐标转换示意图。FIG. 17 is a schematic diagram of coordinate conversion in Embodiment 4 of the present invention.

附图中：In the attached picture:

1-手术台车；2-机械臂；3-工具靶标；4-截骨导向工具；5-手术工具；6-跟踪仪；7-辅助显示器；8-主显示器；9-导航台车；10-键盘；11-股骨靶标；12-股骨；13-胫骨靶标；14-胫骨；15-基座靶标；17-患者；18-操作者；1-surgical trolley; 2-robot arm; 3-tool target; 4-osteotomy guide tool; 5-surgical tool; 6-tracker; 7-auxiliary monitor; 8-main monitor; 9-navigation trolley; 10 - Keyboard; 11 - Femoral Target; 12 - Femur; 13 - Tibia Target; 14 - Tibia; 15 - Base Target; 17 - Patient; 18 - Operator;

21-超声探头阵列坐标系；22-靶标坐标系；23-导航装置坐标系；24-导航影像坐标系；25-深度传感器坐标系；21-ultrasound probe array coordinate system; 22-target coordinate system; 23-navigation device coordinate system; 24-navigation image coordinate system; 25-depth sensor coordinate system;

100-固定检测装置；110-环状部；120-超声探头阵列；130-靶标；140-惯性组件；150-深度传感器。100-fixed detection device; 110-annulus; 120-ultrasound probe array; 130-target; 140-inertial assembly; 150-depth sensor.

具体实施方式Detailed ways

为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。In order to make the objects, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. Furthermore, the structures shown in the drawings are often part of the actual structure. In particular, each drawing needs to show different emphases, and sometimes different scales are used.

如在本发明中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，术语“或”通常是以包括“和/或”的含义而进行使用的，术语“若干”通常是以包括“至少一个”的含义而进行使用的，术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的，此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征，术语“近端”通常是靠近操作者的一端，术语“远端”通常是靠近***作对象的一端，“一端”与“另一端”以及“近端”与“远端”通常是指相对应的两部分，其不仅包括端点，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。此外，如在本实用新型中所使用的，一元件设置于另一元件，通常仅表示两元件之间存在连接、耦合、配合或传动关系，且两元件之间可以是直接的或通过中间元件间接的连接、耦合、配合或传动，而不能理解为指示或暗示两元件之间的空间位置关系，即一元件可以在另一元件的内部、外部、上方、下方或一侧等任意方位，除非内容另外明确指出外。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本实用新型中的具体含义。As used herein, the singular forms "a," "an," and "the" include plural referents, the term "or" is generally employed in its sense including "and/or", and the term "a number" It is usually used in the sense including "at least one", the term "at least two" is usually used in the sense including "two or more", in addition, the terms "first", "the second" "Second" and "Third" are for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second", "third" may expressly or implicitly include one or at least two of these features, the term "proximal" is generally the end close to the operator, the term "proximal" "Distal" usually refers to the end close to the object to be operated, "one end" and "the other end" and "proximal end" and "distal end" usually refer to the corresponding two parts, which not only include the end point, the terms "installation", "Connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated body; it can be a mechanical connection or an electrical connection; it can be directly connected or through the middle. The medium is indirectly connected, which can be the internal communication between two elements or the interaction relationship between the two elements. In addition, as used in the present invention, the arrangement of an element on another element generally only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the two elements may be directly or through intermediate elements. Indirect connection, coupling, cooperation or transmission, and should not be understood as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of the other element, unless The content is clearly stated otherwise. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

本发明的核心思想在于提供一种可读存储介质、骨建模配准***及骨科手术***，以解决现有骨注册配准所存在的一个或者多个问题。The core idea of the present invention is to provide a readable storage medium, a bone modeling and registration system, and an orthopedic surgery system, so as to solve one or more problems existing in the existing bone registration and registration.

请参考图1和图2，其中，图1是本发明涉及的骨科手术***的手术场景示意图；图2是本发明涉及的骨科手术***的骨科手术过程的流程图。Please refer to FIG. 1 and FIG. 2 , wherein FIG. 1 is a schematic diagram of an orthopedic surgery system involved in the present invention; FIG. 2 is a flowchart of an orthopedic surgery process of the orthopaedic surgery system involved in the present invention.

图1示出了一个示范性的实施例中，利用所述骨科手术***进行膝关节置换的应用场景，然而，本发明的骨科手术***对应用环境没有特别的限制，也可应用于其他的骨科手术。以下描述中，以用于膝关节置换为示例对骨科手术***进行说明，但不应以此作为对本发明的限定。FIG. 1 shows an application scenario of using the orthopaedic surgery system for knee replacement in an exemplary embodiment. However, the orthopaedic surgery system of the present invention has no particular limitation on the application environment, and can also be applied to other orthopaedic surgery systems. Operation. In the following description, the orthopaedic surgical system is described by taking knee joint replacement as an example, but this should not be taken as a limitation of the present invention.

如图1所示，所述骨科手术***包括控制装置、导航装置、机械臂2以及截骨导向工具4。机械臂2设置在手术台车1上，所述控制装置在一些实施例中为一台计算机，但本发明对此不作限制，该计算机配置了处理器、主显示器8和键盘10，更优选还包括辅助显示器7。所述辅助显示器7和主显示器8所显示的内容可以是一致的，也可以不同。所述导航装置可以是电磁定位导航装置、光学定位导航装置或者电磁定位导航装置。优选的，所述导航装置为光学定位导航装置，相比于其他的导航方式，测量精度高，可有效提高截骨导向工具4的定位精度。以下描述中，以光学定位导航装置作为示例进行说明，但不以此为限。As shown in FIG. 1 , the orthopedic surgery system includes a control device, a navigation device, a robotic arm 2 and an osteotomy guide tool 4 . The robotic arm 2 is arranged on the operating trolley 1, and the control device is a computer in some embodiments, but the present invention is not limited to this, the computer is configured with a processor, a main display 8 and a keyboard 10, more preferably also A secondary display 7 is included. The contents displayed on the auxiliary display 7 and the main display 8 may be the same or different. The navigation device may be an electromagnetic positioning and navigation device, an optical positioning and navigation device, or an electromagnetic positioning and navigation device. Preferably, the navigation device is an optical positioning and navigation device. Compared with other navigation methods, the measurement accuracy is high, and the positioning accuracy of the osteotomy guide tool 4 can be effectively improved. In the following description, an optical positioning and navigation device is used as an example for description, but it is not limited thereto.

所述导航装置具体包括导航标志物和跟踪仪6，所述导航标志物包括基座靶标15和工具靶标3，基座靶标15固定不动，例如基座靶标15被固定在手术台车1上而用于提供一个基坐标系(或称基座靶标坐标系)，而工具靶标3安装在截骨导向工具4上而用于跟踪截骨导向工具4的位置。所述截骨导向工具4安装在机械臂2的末端，从而通过机械臂2来支撑截骨导向工具4，并调整截骨导向工具4的空间位置和姿态。The navigation device specifically includes a navigation marker and a tracker 6, the navigation marker includes a base target 15 and a tool target 3, and the base target 15 is fixed, for example, the base target 15 is fixed on the operating trolley 1. It is used to provide a base coordinate system (or a base target coordinate system), and the tool target 3 is installed on the osteotomy guide tool 4 to track the position of the osteotomy guide tool 4 . The osteotomy guide tool 4 is installed at the end of the mechanical arm 2 , so that the osteotomy guide tool 4 is supported by the mechanical arm 2 and the spatial position and posture of the osteotomy guide tool 4 are adjusted.

实际中，利用跟踪仪6来捕捉工具靶标3反射的信号(优选光学信号)并记录工具靶标3的位置(即工具靶标3在基座标系下的位置和姿态)，再由控制装置的存储器内存储的计算机程序根据工具靶标3的当前位置和期望位置，控制机械臂2运动，机械臂2驱动截骨导向工具4和工具靶标3运动，并使工具靶标3到达期望位置，工具靶标3的期望位置对应于截骨导向工具4的期望位置。In practice, the tracker 6 is used to capture the signal (preferably an optical signal) reflected by the tool target 3 and record the position of the tool target 3 (that is, the position and attitude of the tool target 3 under the base frame), and then use the memory of the control device. The computer program stored in the memory controls the movement of the robotic arm 2 according to the current position and the desired position of the tool target 3. The robotic arm 2 drives the osteotomy guide tool 4 and the tool target 3 to move, and makes the tool target 3 reach the desired position. The desired position corresponds to the desired position of the osteotomy guide tool 4 .

因此，对于骨科手术***的应用，可实现截骨导向工具4的自动定位，且手术过程中由工具靶标3跟踪并反馈截骨导向工具4的实时位姿，并通过控制机械臂的运动实现截骨导向工具4的位置和姿态的调整，不仅截骨导向工具4的定位精度高，而且通过机械臂2来支撑截骨导向工具4，而无需将导向工具固定在人体上，可避免对人体产生二次伤害。Therefore, for the application of the orthopedic surgery system, the automatic positioning of the osteotomy guide tool 4 can be realized, and the real-time pose of the osteotomy guide tool 4 can be tracked and fed back by the tool target 3 during the operation, and the osteotomy guide tool 4 can be controlled by the movement of the robotic arm. The adjustment of the position and posture of the osteotomy guide tool 4 not only has high positioning accuracy of the osteotomy guide tool 4, but also supports the osteotomy guide tool 4 through the mechanical arm 2 without fixing the guide tool on the human body, which can avoid the occurrence of damage to the human body. secondary damage.

一般的，所述骨科手术***还包括手术台车1和导航台车9。所述控制装置和一部分所述导航装置安装在导航台车9上，例如所述处理器安装在导航台车9的内部，所述键盘10放置在导航台车9的外部进行操作，所述主显示器8、辅助显示器7和跟踪仪6均安装在一个支架上，所述支架竖直固定在导航台车9上，而所述机械臂2安装在手术台车1上。手术台车1和导航台车9的使用，使整个手术操作更为方便。Generally, the orthopedic surgery system further includes an operating trolley 1 and a navigation trolley 9 . The control device and a part of the navigation device are installed on the navigation trolley 9, for example, the processor is installed inside the navigation trolley 9, the keyboard 10 is placed outside the navigation trolley 9 for operation, and the main The display 8 , the auxiliary display 7 and the tracker 6 are all mounted on a bracket, the bracket is vertically fixed on the navigation trolley 9 , and the robotic arm 2 is mounted on the operating trolley 1 . The use of the operating trolley 1 and the navigation trolley 9 makes the entire surgical operation more convenient.

请参考图2，在执行膝关节置换手术时，本实施例的骨科手术***的使用过程大致包括以下操作：Please refer to FIG. 2 , when performing knee replacement surgery, the use process of the orthopaedic surgery system of this embodiment generally includes the following operations:

步骤SK1：将手术台车1及导航台车9移动至病床旁边合适的位置；Step SK1: Move the operating trolley 1 and the navigation trolley 9 to a suitable position beside the hospital bed;

步骤SK2：安装导航标志物(导航标志物还包括股骨靶标11、胫骨靶标13)、截骨导向工具4以及其他相关部件(如无菌袋)；Step SK2: install the navigation markers (the navigation markers also include the femoral target 11, the tibia target 13), the osteotomy guide tool 4 and other related components (such as sterile bags);

步骤SK3：术前规划；具体的，操作者18将患者17的骨头CT/MRI扫描模型导入所述计算机进行术前规划，得到截骨方案，该截骨方案例如包括截骨平面坐标、假体的型号以及假体的安装方位等信息；具体地，根据CT/MRI扫描得到的患者膝关节影像数据，创建三维膝关节虚拟模型，进而根据三维膝关节虚拟模型创建截骨方案，以便手术操作者根据截骨方案进行术前评估，更具体地，基于三维膝关节虚拟模型，并结合得到的假体的尺寸规格以及截骨板的安装位置等确定截骨方案，所述截骨方案最终以手术报告形式输出，其记录有截骨平面坐标、截骨量、截骨角度、假体规格、假体的安装位置、手术辅助工具等一系列参考数据，特别还包括一系列理论说明，如选取该截骨角度的原因说明等，以为手术操作者提供参考；其中，三维膝关节虚拟模型可通过主显示器8进行显示，且操作者可通过键盘10输入手术参数，以便进行术前规划；Step SK3: preoperative planning; specifically, the operator 18 imports the bone CT/MRI scan model of the patient 17 into the computer for preoperative planning to obtain an osteotomy plan, which includes, for example, the osteotomy plane coordinates, the prosthesis Specifically, create a 3D knee joint virtual model according to the image data of the patient’s knee joint obtained by CT/MRI scan, and then create an osteotomy plan according to the 3D knee joint virtual model, so that the operator can The preoperative evaluation is carried out according to the osteotomy plan. More specifically, the osteotomy plan is determined based on the three-dimensional virtual model of the knee joint and the size specifications of the obtained prosthesis and the installation position of the osteotomy plate. The osteotomy plan is finally determined by the operation. It is output in the form of a report, which records a series of reference data such as the coordinates of the osteotomy plane, the amount of osteotomy, the angle of osteotomy, the prosthesis specification, the installation position of the prosthesis, and surgical aids, and especially includes a series of theoretical explanations. Explain the reasons for the osteotomy angle, etc., to provide reference for the surgical operator; wherein, the three-dimensional knee joint virtual model can be displayed through the main display 8, and the operator can input surgical parameters through the keyboard 10 for preoperative planning;

步骤SK4：骨实时配准；术前评估后，需要实时获取骨头特征点位置，然后处理器才可以通过特征匹配算法得到股骨12及胫骨14的实际方位，并与股骨12及胫骨14的图像方位相对应，随后导航装置将股骨12、胫骨14的实际方位与安装在股骨12及胫骨14上的相应靶标相联系，从而使股骨靶标11和胫骨靶标13可以实时跟踪骨头的实际位置。通过导航装置将股骨12及胫骨14的实际方位与安装在股骨12及胫骨14上的相应靶标相联系，使得股骨靶标11和胫骨靶标13可以实时跟踪骨头的实际位置，且手术过程中，只要靶标与骨头间的相对位置固定，骨头移动不会影响手术效果；Step SK4: Bone real-time registration; after the preoperative evaluation, the position of the bone feature points needs to be acquired in real time, and then the processor can obtain the actual orientation of the femur 12 and the tibia 14 through the feature matching algorithm, and match the image orientation of the femur 12 and the tibia 14 Correspondingly, the navigation device then associates the actual positions of the femur 12 and the tibia 14 with the corresponding targets mounted on the femur 12 and the tibia 14, so that the femoral target 11 and the tibia target 13 can track the actual position of the bone in real time. The actual positions of the femur 12 and the tibia 14 are linked with the corresponding targets installed on the femur 12 and the tibia 14 through the navigation device, so that the femoral target 11 and the tibia target 13 can track the actual position of the bone in real time, and during the operation, as long as the target The relative position with the bone is fixed, and the movement of the bone will not affect the surgical effect;

步骤SK5：驱动机械臂运动到位，执行操作；进而通过导航装置将术前规划的截骨平面坐标发送给机械臂2，所述机械臂2通过工具靶标3定位截骨平面并运动到预定位置后，使机械臂2进入保持状态(即不动)，此后，操作者即可使用摆锯或电钻等手术工具5通过截骨导向工具4进行截骨和/或钻孔操作。完成截骨及钻孔操作后，操作者即可安装假体及进行其他手术操作。Step SK5: Drive the robotic arm to move in place, and perform the operation; and then send the coordinates of the preoperatively planned osteotomy plane to the robotic arm 2 through the navigation device, and the robotic arm 2 locates the osteotomy plane through the tool target 3 and moves to a predetermined position. , so that the robotic arm 2 enters the holding state (ie does not move), after which the operator can use the surgical tool 5 such as an oscillating saw or an electric drill to perform an osteotomy and/or drilling operation through the osteotomy guide tool 4 . After the osteotomy and drilling operations are completed, the operator can install the prosthesis and perform other surgical operations.

传统手术及没有机械臂参与定位的导航手术***，需要手动调整截骨导向定位工具，精度差，调整效率低，而使用机械臂定位导向工具，操作者不需要使用额外的骨钉将导向工具固定在骨头上，减少病人的创伤面，并缩减手术时间。Traditional surgery and the navigation surgery system without robotic arm positioning requires manual adjustment of the osteotomy guide positioning tool, which has poor accuracy and low adjustment efficiency. With the robotic arm positioning guide tool, the operator does not need to use additional bone nails to fix the guide tool On the bone, the trauma surface of the patient is reduced and the operation time is shortened.

本实施例中，所述导航标志物还包括股骨靶标11和胫骨靶标13。其中股骨靶标11用于定位股骨12的空间位置和姿态，胫骨靶标13用于定位胫骨14的空间位置和姿态。如前所说的，所述工具靶标3安装在截骨导向工具4上，但在其他实施例中，所述工具靶标3也可以安装在机械臂2的末端关节上。In this embodiment, the navigation markers further include a femoral target 11 and a tibial target 13 . The femoral target 11 is used to locate the spatial position and posture of the femur 12 , and the tibial target 13 is used to locate the spatial position and posture of the tibia 14 . As mentioned above, the tool target 3 is installed on the osteotomy guide tool 4 , but in other embodiments, the tool target 3 can also be installed on the distal joint of the robotic arm 2 .

基于上述骨科手术***，可实现机器人辅助手术，帮助操作者定位需截骨的位置，以便于操作者实施截骨。然而，在术前评估后，需要将骨虚拟模型与实际骨头的位置进行配准，股骨靶标11和胫骨靶标13才可以实现实时跟踪骨头的功能。为此，本发明提供了一种骨建模配准***，其包括：处理器、导航装置以及固定检测装置100；这里的处理器可以为设置在手术台车1上的计算机内的共用的处理器，也可以是独立设置的处理器；同样的，导航装置可以利用前述骨科手术***中的跟踪仪6，也可以独立设置。所述骨科手术***包括如上所述的骨建模配准***，即可利用该骨建模配准***在术前或术中对骨位置进行配准。下面通过若干实施例，结合附图，对本发明提供的可读存储介质、骨建模配准***及骨科手术***进行详细的说明。Based on the above-mentioned orthopaedic surgery system, robot-assisted surgery can be realized, helping the operator to locate the position to be osteotomy, so as to facilitate the operator to perform the osteotomy. However, after the preoperative evaluation, the virtual bone model needs to be registered with the actual bone position, so that the femoral target 11 and the tibia target 13 can realize the function of real-time tracking of the bone. To this end, the present invention provides a bone modeling registration system, which includes: a processor, a navigation device, and a fixation detection device 100; the processor here can be a shared process in a computer provided on the operating trolley 1 The device can also be an independently set processor; similarly, the navigation device can use the tracker 6 in the aforementioned orthopedic surgery system, and can also be set independently. The orthopaedic surgery system includes the above-mentioned bone modeling and registration system, which can be used to register bone positions before or during surgery. The readable storage medium, the bone modeling registration system and the orthopaedic surgery system provided by the present invention will be described in detail below through several embodiments and in conjunction with the accompanying drawings.

【实施例一】[Example 1]

请参考图3至图10，其中，图3是本发明实施例一的固定检测装置的示意图；图4是本发明实施例一的固定检测装置安装使用的示意图；图5是本发明实施例一的环状部调节的示意图；图6是本发明实施例一的环状部拆卸的示意图；图7是本发明实施例一的坐标转换示意图；图8a是本发明实施例一的第一步配准的示意图；图8b是本发明实施例一的第二步配准的示意图；图9是本发明实施例一的配准算法的流程图；图10是本发明实施例一的配准后误差实时校准的示意图。Please refer to FIGS. 3 to 10 , wherein FIG. 3 is a schematic diagram of the fixed detection device according to the first embodiment of the present invention; FIG. 4 is a schematic diagram of the installation and use of the fixed detection device according to the first embodiment of the present invention; FIG. 5 is the first embodiment of the present invention. Figure 6 is a schematic diagram of the disassembly of the annular part of the first embodiment of the present invention; Figure 7 is a schematic diagram of the coordinate conversion of the first embodiment of the present invention; Figure 8a is the first configuration of the first embodiment of the present invention. Fig. 8b is a schematic diagram of the second step of registration according to the first embodiment of the present invention; Fig. 9 is a flow chart of the registration algorithm according to the first embodiment of the present invention; Fig. 10 is the post-registration error of the first embodiment of the present invention Schematic of real-time calibration.

图3和图4示出了本发明实施例一提供的固定检测装置100，所述固定检测装置100具有内尺寸可调节的环状部110、超声探头阵列120及靶标130，所述超声探头阵列120沿所述环状部110周向分布，用于围绕一预定对象布置；所述靶标130与所述环状部110连接；所述导航装置与所述靶标130相适配(如跟踪仪6与相适配的光学靶标)，用以获取所述靶标130的实时坐标反馈，并将所述实时坐标反馈传输至所述处理器；所述处理器分别与所述导航装置及所述固定检测装置100通信连接；所述处理器被配置为，获取经所述超声探头阵列120所得到的预定对象的超声图像数据；根据所述超声图像数据进行三维重建，得到第一虚拟模型；将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得超声探头阵列坐标系与导航影像坐标系(即用于导航的CT影像或MRI影像的坐标系)之间的第一坐标转换关系；获得所述超声探头阵列坐标系与靶标坐标系之间的第二坐标转换关系；通过所述第一坐标转换关系与所述第二坐标转换关系的坐标系转换，获得所述靶标坐标系与所述导航影像坐标系的第三坐标转换关系；基于所述第三坐标转换关系，利用所述靶标130的实时坐标反馈，得到所述预定对象于导航影像坐标系下的实时坐标。在一些实施例中，所述第二坐标转换关系可以是固定的，如通过机械设计文件或者通过标定的方式获得。优选的，所述第一虚拟模型与所述第二虚拟模型均为骨模型，第一虚拟模型是根据超声图像数据所建立的待配准的骨头的骨模型，第二虚拟模型是根据该骨头于术前CT/MRI扫描所得的影像所建立的骨模型。3 and 4 show a fixed detection device 100 provided by Embodiment 1 of the present invention. The fixed detection device 100 has an annular portion 110 with an adjustable inner size, an ultrasonic probe array 120 and a target 130. The ultrasonic probe array 120 are distributed along the circumferential direction of the annular portion 110 for arranging around a predetermined object; the target 130 is connected with the annular portion 110; the navigation device is adapted to the target 130 (eg, the tracker 6 and the matching optical target), to obtain the real-time coordinate feedback of the target 130, and transmit the real-time coordinate feedback to the processor; the processor is respectively connected with the navigation device and the fixed detection device. The device 100 is communicatively connected; the processor is configured to acquire ultrasound image data of a predetermined object obtained through the ultrasound probe array 120; perform three-dimensional reconstruction according to the ultrasound image data to obtain a first virtual model; The first virtual model is registered with the preset second virtual model to obtain the first coordinate transformation relationship between the coordinate system of the ultrasound probe array and the coordinate system of the navigation image (ie, the coordinate system of the CT image or MRI image used for navigation) ; Obtain the second coordinate conversion relationship between the ultrasonic probe array coordinate system and the target coordinate system; obtain the target coordinate system and the target coordinate system through the coordinate system conversion of the first coordinate conversion relationship and the second coordinate conversion relationship. The third coordinate conversion relationship of the navigation image coordinate system; based on the third coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time coordinate feedback of the target 130 . In some embodiments, the second coordinate transformation relationship may be fixed, such as obtained through a mechanical design file or through calibration. Preferably, both the first virtual model and the second virtual model are bone models, the first virtual model is a bone model of a bone to be registered established based on ultrasound image data, and the second virtual model is a bone model based on the bone Bone model established from images obtained from preoperative CT/MRI scans.

由此，本实施例一还提供一种可读存储介质，其上存储有程序，所述程序被执行时实现：Therefore, the first embodiment also provides a readable storage medium, on which a program is stored, and when the program is executed, it realizes:

步骤SA1：获取预定对象的超声图像数据，所述超声图像数据经围绕一预定对象的环状布置的超声探头阵列120获得；Step SA1: Acquiring ultrasound image data of a predetermined object, the ultrasound image data obtained by the ultrasonic probe array 120 arranged in a ring around a predetermined object;

步骤SA2：根据所述超声图像数据进行三维重建，得到第一虚拟模型；Step SA2: performing three-dimensional reconstruction according to the ultrasound image data to obtain a first virtual model;

步骤SA3：将所述第一虚拟模型与预置的第二虚拟模型进行配准；Step SA3: register the first virtual model with the preset second virtual model;

步骤SA4：基于与所述超声探头阵列120连接的靶标130，获得所述超声探头阵列坐标系、靶标坐标系、导航装置坐标系以及导航影像坐标系之间的坐标转换关系；Step SA4: Based on the target 130 connected to the ultrasound probe array 120, obtain the coordinate transformation relationship between the ultrasound probe array coordinate system, the target coordinate system, the navigation device coordinate system and the navigation image coordinate system;

步骤SA5：基于所述坐标转换关系，利用所述靶标130于导航装置下的实时坐标反馈，得到所述预定对象于导航影像坐标系下的实时坐标。Step SA5: Based on the coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time coordinate feedback of the target 130 under the navigation device.

下面以股骨作为预定对象为例进行说明，环状部110可以围绕股骨绑扎在患者的大腿上，如此，超声探头阵列120即可获取股骨的超声图像数据。请参考图5和图6，优选的，环状部110的内尺寸可调节，且可开合地设置，即在使用中，环状部110可以打开，套设在患者大腿上，然后闭合，调节内尺寸，以适合不同患者的大腿的粗细尺寸。可选的，环状部110可采用钢带等材料。In the following, the femur is taken as an example for description. The annular portion 110 can be bound around the femur on the thigh of the patient. In this way, the ultrasound probe array 120 can acquire ultrasound image data of the femur. Please refer to FIG. 5 and FIG. 6 , preferably, the inner size of the annular portion 110 is adjustable and can be opened and closed, that is, in use, the annular portion 110 can be opened, sleeved on the thigh of the patient, and then closed, Adjust the inner size to fit different patient's thigh size. Optionally, the annular portion 110 may be made of a material such as a steel belt.

在步骤SA1中，环状布置的超声探头阵列120可以获取股骨的超声图像数据，进而将获取到的超声图像数据传输至处理器。进一步的，步骤SA2具体包括：In step SA1, the annularly arranged ultrasound probe array 120 may acquire ultrasound image data of the femur, and then transmit the acquired ultrasound image data to the processor. Further, step SA2 specifically includes:

步骤SA21：对所述超声图像数据进行分割处理，获取骨轮廓点云数据；Step SA21: Perform segmentation processing on the ultrasound image data to obtain bone contour point cloud data;

步骤SA22：基于所述骨轮廓点云数据进行三维重建，得到所述第一虚拟模型，亦即重建后的股骨的虚拟模型。Step SA22: Perform three-dimensional reconstruction based on the bone contour point cloud data to obtain the first virtual model, that is, the reconstructed virtual model of the femur.

优选的，在步骤SA3中，预置的第二虚拟模型根据CT扫描或MRI扫描所述预定对象所得的影像建立。具体的，可于术前通过CT扫描或MRI扫描得到CT扫描影像或MRI扫描影像，并传输至处理器，处理器根据CT扫描影像或MRI扫描影像建立第二虚拟模型。进一步的，将根据超声图像数据建立的第一虚拟模型与根据术前影像建立的第二虚拟股模型进行配准，即实现了术前影像模型与术中实际骨模型的配准。Preferably, in step SA3, the preset second virtual model is established based on images obtained by CT scanning or MRI scanning of the predetermined object. Specifically, the CT scan image or the MRI scan image can be obtained through the CT scan or MRI scan before the operation, and transmitted to the processor, and the processor establishes the second virtual model according to the CT scan image or the MRI scan image. Further, the first virtual model established according to the ultrasound image data is registered with the second virtual femoral model established according to the preoperative image, that is, the registration of the preoperative image model and the intraoperative actual bone model is realized.

请参考图7，步骤SA4的目的是将各坐标系进行统一。具体的，由于超声探头阵列120与靶标130分别与环状部110连接，超声探头阵列120与靶标130之间的相对位置是可以预知的，因此超声探头阵列坐标系21与靶标坐标系22之间的转换关系是可知的，例如可通过配置文件获知。由于导航装置(如跟踪仪6)与靶标130两者是相适配的，跟踪仪6可以实时地获知靶标130的位置信息，因此靶标坐标系22和导航装置坐标系23之间的转换关系可通过跟踪仪6对靶标130的跟踪获知。通过第一虚拟模型与第二虚拟模型进行配准，可以获得超声探头阵列坐标系21与导航影像坐标系24之间的转换关系。进一步的，通过上述各个坐标系之间的转换关系，即可获得靶标坐标系22与导航影像坐标系24之间的转换关系。Please refer to FIG. 7 , the purpose of step SA4 is to unify each coordinate system. Specifically, since the ultrasound probe array 120 and the target 130 are respectively connected to the annular portion 110 , the relative position between the ultrasound probe array 120 and the target 130 can be predicted, so the distance between the ultrasound probe array coordinate system 21 and the target coordinate system 22 is predictable. The conversion relationship of is known, for example, through the configuration file. Since the navigation device (such as the tracker 6 ) is compatible with the target 130 , the tracker 6 can know the position information of the target 130 in real time, so the conversion relationship between the target coordinate system 22 and the navigation device coordinate system 23 can be It is known by the tracking of the target 130 by the tracker 6 . By registering the first virtual model and the second virtual model, the transformation relationship between the ultrasound probe array coordinate system 21 and the navigation image coordinate system 24 can be obtained. Further, through the conversion relationship between the above coordinate systems, the conversion relationship between the target coordinate system 22 and the navigation image coordinate system 24 can be obtained.

步骤SA5中，在完成步骤SA3的配准，以及步骤SA4的坐标系转换后，即可通过靶标130在导航装置坐标系23下的实时位置反馈，对股骨的实际位置进行实时跟踪。In step SA5, after the registration in step SA3 and the coordinate system conversion in step SA4 are completed, the actual position of the femur can be tracked in real time through the real-time position feedback of the target 130 in the coordinate system 23 of the navigation device.

如此配置，利用环状布置的超声探头阵列120获取超声图像数据，重建得到第一虚拟模型，基于第一虚拟模型与预置的第二虚拟模型的配准及各坐标系之间的转换，利用靶标的实时坐标反馈，即可得到预定对象于导航影像坐标系下的实时坐标。即实现了术前影像模型与术中实际骨模型的配准。整个配准过程中无需钻孔，无额外创伤，降低感染的可能。此外，骨建模配准***的设置简单，简化了手术中配准注册工具的安装，简化了配准流程，降低了手术的复杂度，缩减了手术时间。In this configuration, ultrasonic image data is obtained by using the annularly arranged ultrasonic probe array 120, and the first virtual model is reconstructed to obtain the first virtual model. The real-time coordinate feedback of the target can obtain the real-time coordinate of the predetermined object in the navigation image coordinate system. That is, the registration of the preoperative image model and the actual intraoperative bone model is realized. No drilling is required during the entire registration process, no additional trauma is required, and the possibility of infection is reduced. In addition, the setting of the bone modeling registration system is simple, which simplifies the installation of the registration tool during the operation, simplifies the registration process, reduces the complexity of the operation, and shortens the operation time.

请参考图8a、8b和图9，将所述第一虚拟模型与预置的第二虚拟模型进行配准的步骤包括：Please refer to Fig. 8a, 8b and Fig. 9, the step of registering the first virtual model with the preset second virtual model includes:

步骤SA31：根据所述第二虚拟模型，计算得到关节外边界的最小包围盒，并获取所述最小包围盒的中心C _kj； Step SA31: Calculate the minimum bounding box of the outer boundary of the joint according to the second virtual model, and obtain the center C _kj of the minimum bounding box;

步骤SA32：将所述骨轮廓点云数据经粗配准矩阵T ₀转换到所述第一虚拟模型的坐标系，并获取转换后的点云中心点C _b；具体如下公式： Step SA32: Convert the bone contour point cloud data to the coordinate system of the first virtual model through the rough registration matrix T ₀ , and obtain the converted point cloud center point C _b ; the specific formula is as follows:

P _{CT}＝T ₀P _{R} P _{CT} = T ₀ P _{R}

其中，P _{CT}指的是骨轮廓点云数据中的任意一点，P _{R}代表实际重建采集的第一虚拟模型的坐标系(即超声探头阵列坐标系)。 Wherein, P _{CT} refers to any point in the bone contour point cloud data, and P _{R} represents the coordinate system of the first virtual model (ie, the ultrasound probe array coordinate system) actually reconstructed and acquired.

步骤SA33：将所述最小包围盒的中心C _kj与所述预定对象的关节中心h _ct连接限定第一向量q；需要理解的，若预定对象为股骨，则其对应的关节中心为髋关节中心，而若预定对象为胫骨，则其对应的关节中心为踝关节中心。 Step SA33: Connect the center C _kj of the minimum bounding box with the joint center h _ct of the predetermined object to define a first vector q; it should be understood that if the predetermined object is the femur, the corresponding joint center is the hip joint center , and if the predetermined object is the tibia, the corresponding joint center is the ankle joint center.

步骤SA34：将所述点云中心点C _b与所述关节中心h _ct连接限定第二向量s，所述第二向量s与所述第一向量q之间的夹角为α，所述第一向量q与所述第二向量s组成的平面的法向量为ε，将所述骨轮廓点云数据围绕ε向量旋转α角，使所述第一向量q与所述第二向量s在轴线ε’上重合；实现第一步配准(如图8a所示)。 Step SA34: Connect the point cloud center point C _b and the joint center h _ct to define a second vector s, the angle between the second vector s and the first vector q is α, and the first vector The normal vector of the plane composed of a vector q and the second vector s is ε, and the bone contour point cloud data is rotated around the ε vector by an angle α, so that the first vector q and the second vector s are on the axis Coincidence on ε'; realizes the first step of registration (as shown in Fig. 8a).

步骤SA35：将所述骨轮廓点云数据围绕轴线ε’转动β角度。在经过步骤SA34的轴线重合后，围绕ε向量旋转α角前后的骨轮廓点云数据之间还存在围绕轴ε’成β角度的偏角，因此还需将围绕ε向量旋转α角后的骨轮廓点云数据围绕轴线ε’转动β角度；实现第二步配准(如图8b所示)。Step SA35: Rotate the bone contour point cloud data around the axis ε' by an angle of β. After the axes of step SA34 are coincident, the point cloud data of the bone contour before and after the rotation of the ε vector by the angle α still has a declination angle of the angle β around the axis ε'. The contour point cloud data is rotated around the axis ε' by an angle of β; the second step of registration is achieved (as shown in Figure 8b).

进一步的，将所述第一虚拟模型与预置的第二虚拟模型进行配准的步骤还包括：Further, the step of registering the first virtual model with the preset second virtual model further includes:

步骤SA36：计算围绕轴线ε’转动β角度后的骨轮廓点云数据与围绕ε向量旋转α角前的骨轮廓点云数据之间的均方根(RMS)，若所述均方根大于预设的第一阈值，则重复将所述骨轮廓点云数据围绕ε轴旋转α角以及围绕轴线ε’转动β角度的步骤，直至所述均方根不大于所述第一阈值。具体的，步骤SA34与步骤SA35可以重复多次，直至均方根不大于第一阈值时达到收敛条件，完成配准。具体如下公式：Step SA36: Calculate the root mean square (RMS) between the bone contour point cloud data after rotating around the axis ε' by an angle β and the bone contour point cloud data before rotating around the ε vector by an angle α, if the root mean square is greater than the predetermined value. If the first threshold is set, the steps of rotating the bone contour point cloud data around the ε axis by an α angle and around the axis ε′ by a β angle are repeated until the root mean square is not greater than the first threshold. Specifically, step SA34 and step SA35 may be repeated several times until the convergence condition is reached when the root mean square is not greater than the first threshold, and the registration is completed. The specific formula is as follows:

T′ _n＝T(h _CT)R ₁(ε _n,α _n)T(-h _ct)T _n T′ _n =T(h _CT )R ₁ (ε _n ,α _n )T(-h _ct )T _n

T _n+1＝T(h _ct)R ₂(ε′ _n,β _n)T(-h _ct)T′ _n T _n+1 =T(h _ct )R ₂ (ε′ _n ,β _n )T(-h _ct )T′ _n

其中，T _n为第n次迭代后的配准矩阵，T′ _n是第n次迭代的轴向旋转配准矩阵(即步骤SA34所采用的矩阵)，R1为绕ε旋转α角度；T _n+1是第n+1迭代的轴向自转的配准矩阵(即步骤SA35所采用的矩阵)；R2为基于上一次轴向旋转之后的围绕ε'轴旋转β角度。 Among them, T _n is the registration matrix after the nth iteration, T′ _n is the axial rotation registration matrix of the nth iteration (that is, the matrix used in step SA34 ), and R1 is the rotation α around ε; T _{n +1} is the registration matrix of the axial rotation of the n+1th iteration (ie, the matrix used in step SA35 ); R2 is the β angle based on the rotation around the ε′ axis after the last axial rotation.

通过上述步骤，即实现了骨轮廓点云数据与第二虚拟模型的配准。Through the above steps, the registration of the bone contour point cloud data and the second virtual model is achieved.

进一步的，在将所述第一虚拟模型与预置的第二虚拟模型进行配准后，所述可读存储介质上的程序被执行时还实现：比较当前时刻的点云配准矩阵与预定间隔时刻下的点云配准矩阵，若当前时刻的点云配准矩阵与预定间隔时刻下的点云配准矩阵之间的旋转和平移大于预设的第二阈值，则触发所述第一虚拟模型与所述第二虚拟模型进行重新配准。请参考图10，在配准后，还可以对误差进行实时校准。在手术执行过程中，超声探头阵列120实时获取的超声图像数据经过分割重建得到点云数据，当前后两个配准矩阵之间的旋转和平移大于预设的第二阈值，则可认为当前靶标130发生了移动，将触发进行重新配准(如重新执行步骤SA31～步骤SA36)，直至旋转和平移在可接受的范围内，即完成误差校准。Further, after the first virtual model is registered with the preset second virtual model, when the program on the readable storage medium is executed, it is also implemented: compare the point cloud registration matrix at the current moment with the predetermined one. The point cloud registration matrix at the interval moment, if the rotation and translation between the point cloud registration matrix at the current moment and the point cloud registration matrix at the predetermined interval moment are greater than the preset second threshold, then trigger the first The virtual model is re-registered with the second virtual model. Referring to Figure 10, after registration, the error can also be calibrated in real time. During the operation, the ultrasound image data acquired in real time by the ultrasound probe array 120 is segmented and reconstructed to obtain point cloud data. If the rotation and translation between the current and latter two registration matrices are greater than the preset second threshold, the current target can be considered as the current target. When 130 moves, re-registration will be triggered (eg, steps SA31 to SA36 are re-executed) until the rotation and translation are within an acceptable range, that is, the error calibration is completed.

【实施例二】[Example 2]

请参考图11，其是本发明实施例二的固定检测装置的示意图。Please refer to FIG. 11 , which is a schematic diagram of a fixed detection device according to Embodiment 2 of the present invention.

本发明实施例二提供的可读存储介质、骨建模配准***及骨科手术***与实施例一提供的可读存储介质、骨建模配准***及骨科手术***基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。The readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the second embodiment of the present invention are basically the same as the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the first embodiment, and the same parts are different. Again, only different points will be described below.

如图11所示，实施例二提供的骨建模配准***中，所述固定检测装置还包括：惯性组件140；所述惯性组件140与所述靶标连接，用于实时获取所述靶标130的位置信息和姿态信息；所述处理器还被配置为，基于所述靶标130于导航装置坐标系23下的初始坐标，以及所述惯性组件140实时获取的靶标 130的位置信息和姿态信息，得到所述靶标130的实时坐标反馈。可选的，所述惯性组件140包括陀螺仪和/或加速度传感器；所述陀螺仪用于获取所述靶标130的姿态信息，所述加速度传感器用于获取所述靶标130的位置信息。陀螺仪如可为三轴陀螺仪，加速度传感器如可为三轴加速度传感器。三轴陀螺仪测量的目标是旋转角速度，通过对时间进行积分和累加可以得到靶标130的姿态信息。三轴加速度传感器测量的目标是加速度，通过对加速度进行积分和累加可以得到靶标130的位置信息。As shown in FIG. 11 , in the bone modeling registration system provided in the second embodiment, the fixed detection device further includes: an inertial component 140 ; the inertial component 140 is connected to the target, and is used to acquire the target 130 in real time The processor is further configured to, based on the initial coordinates of the target 130 in the navigation device coordinate system 23, and the position information and attitude information of the target 130 acquired by the inertial component 140 in real time, Get real-time coordinate feedback of the target 130 . Optionally, the inertial component 140 includes a gyroscope and/or an acceleration sensor; the gyroscope is used to obtain the attitude information of the target 130 , and the acceleration sensor is used to obtain the position information of the target 130 . For example, the gyroscope can be a three-axis gyroscope, and the acceleration sensor can be, for example, a three-axis acceleration sensor. The target measured by the three-axis gyroscope is the rotational angular velocity, and the attitude information of the target 130 can be obtained by integrating and accumulating time. The target measured by the three-axis acceleration sensor is acceleration, and the position information of the target 130 can be obtained by integrating and accumulating the acceleration.

基于本实施例提供二的骨建模配准***，可读存储介质上的程序被执行时，除了可实现实施例一中的步骤SA1～SA5外，还可进一步实现：Based on the bone modeling registration system provided in the second embodiment, when the program on the readable storage medium is executed, in addition to implementing the steps SA1 to SA5 in the first embodiment, it can further implement:

步骤SA6：实时获取所述靶标130的位置信息和姿态信息，所述靶标130的位置信息和姿态信息来自于与所述靶标130连接的惯性组件140；Step SA6: Obtain the position information and attitude information of the target 130 in real time, and the position information and attitude information of the target 130 come from the inertial component 140 connected to the target 130;

步骤SA7：基于所述靶标130于导航装置坐标系23下的初始坐标，以及所述惯性组件140实时获取的靶标130的位置信息和姿态信息，得到所述靶标130的实时坐标反馈。Step SA7: Obtain real-time coordinate feedback of the target 130 based on the initial coordinates of the target 130 in the navigation device coordinate system 23 and the position information and attitude information of the target 130 acquired by the inertial component 140 in real time.

需要说明的，这里步骤SA6和步骤SA7并不限定按顺序在步骤SA5之后执行，而是可以在步骤SA1～步骤SA5在的任一个步骤之前或之后执行。It should be noted that, step SA6 and step SA7 are not limited to be executed after step SA5 in sequence, but may be executed before or after any step from step SA1 to step SA5.

基于上述骨建模配准***和可读存储介质，处理器可以获取两套跟踪数据，一套是通过导航装置-靶标130的跟踪***，另一套为利用惯性组件140的惯性跟踪***。进一步的，在所述可读存储介质中，利用所述惯性组件140得到的所述靶标130的实时坐标反馈，与导航装置直接获取的所述靶标130的实时坐标反馈互为校验，当其中一者发生异常，则产生报警信息。在一些实施例中，靶标130为光学靶标，当导航装置在跟踪靶标130的位置和姿态时，靶标130发生被遮挡或者无法识别的情况，处理器可通过惯性跟踪***对靶标130的位置进行修正和补偿，从而可避免由于靶标130丢失跟踪造成的误差。Based on the bone modeling registration system and the readable storage medium, the processor can acquire two sets of tracking data, one is the tracking system through the navigation device-target 130 , and the other is the inertial tracking system using the inertial component 140 . Further, in the readable storage medium, the real-time coordinate feedback of the target 130 obtained by the inertial component 140 is verified with the real-time coordinate feedback of the target 130 directly obtained by the navigation device. If one of them is abnormal, an alarm message will be generated. In some embodiments, the target 130 is an optical target. When the navigation device is tracking the position and attitude of the target 130, and the target 130 is blocked or cannot be recognized, the processor can use the inertial tracking system to correct the position of the target 130. and compensation, so that errors due to target 130 loss of tracking can be avoided.

优选的，所述骨建模配准***还包括：报警装置(未图示)；所述报警装置被配置为，在所述惯性组件140及所述导航装置中的任一个无法获取所述靶标130的实时坐标反馈时，发出报警信息。报警装置如包括LED灯或者蜂鸣器等，当惯性组件140无法提供准确信息时，或者当导航装置无法获取靶标130的实时坐标反馈时，报警装置即发出报警信息，以提示操作者至少一个跟踪***存在问题。Preferably, the bone modeling registration system further comprises: an alarm device (not shown); the alarm device is configured so that the target cannot be acquired by any one of the inertial component 140 and the navigation device 130 real-time coordinate feedback, an alarm message will be issued. The alarm device includes, for example, LED lights or a buzzer. When the inertial component 140 cannot provide accurate information, or when the navigation device cannot obtain real-time coordinate feedback of the target 130, the alarm device will issue an alarm message to prompt the operator to track at least one of them. There is a problem with the system.

【实施例三】[Example 3]

请参考图12至图14，其中，图12是本发明实施例三的固定检测装置的示意图；图13是本发明实施例三的固定检测装置安装使用的示意图；图14是本发明实施例三的坐标转换示意图。Please refer to FIGS. 12 to 14, wherein, FIG. 12 is a schematic diagram of the fixed detection device according to the third embodiment of the present invention; FIG. 13 is a schematic diagram of the installation and use of the fixed detection device according to the third embodiment of the present invention; FIG. 14 is the third embodiment of the present invention. Schematic diagram of coordinate transformation.

本发明实施例三提供的可读存储介质、骨建模配准***及骨科手术***与实施例一提供的可读存储介质、骨建模配准***及骨科手术***基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。The readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided by the third embodiment of the present invention are basically the same as the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the first embodiment. Again, only different points will be described below.

请参考图12和图13，其示出了本实施例三提供的固定检测装置100，所述固定检测装置100具有内尺寸可调节的环状部110及深度传感器150，所述环状部110用于围绕一预定对象布置；所述深度传感器150与所述环状部110连接；所述处理器与所述固定检测装置100通信连接；所述处理器被配置为，获取经所述深度传感器150所得到的预定对象的骨表面数据；根据所述骨表面数据进行三维重建，得到第一虚拟模型；将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得深度传感器坐标系与导航影像坐标系之间的第一坐标转换关系；基于所述第一坐标转换关系，利用所述深度传感器150所获取的实时骨表面数据反馈，得到所述预定对象于导航影像坐标系下的实时坐标。Please refer to FIG. 12 and FIG. 13 , which show the fixed detection device 100 provided in the third embodiment. The fixed detection device 100 has an annular portion 110 and a depth sensor 150 with an adjustable inner size. The annular portion 110 for arranging around a predetermined object; the depth sensor 150 is connected with the annular portion 110; the processor is connected in communication with the fixed detection device 100; the processor is configured to obtain the data obtained by the depth sensor 150 obtain the bone surface data of the predetermined object; perform three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; register the first virtual model with the preset second virtual model to obtain the coordinates of the depth sensor The first coordinate conversion relationship between the system and the navigation image coordinate system; based on the first coordinate conversion relationship, the real-time bone surface data feedback obtained by the depth sensor 150 is used to obtain the predetermined object in the navigation image coordinate system. real-time coordinates.

由此，本实施例三还提供一种可读存储介质，其上存储有程序，所述程序被执行时实现：Therefore, the third embodiment also provides a readable storage medium on which a program is stored, and the program is executed to realize:

步骤SB1：获取预定对象的骨表面数据，所述骨表面数据经与一预定对象连接的深度传感器获得；Step SB1: acquiring bone surface data of a predetermined object, the bone surface data being obtained through a depth sensor connected to a predetermined object;

步骤SB2：根据所述骨表面数据进行三维重建，得到第一虚拟模型；Step SB2: performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model;

步骤SB3：将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得深度传感器坐标系与导航影像坐标系之间的第一坐标转换关系；Step SB3: registering the first virtual model with the preset second virtual model to obtain the first coordinate transformation relationship between the depth sensor coordinate system and the navigation image coordinate system;

步骤SB4：基于所述第一坐标转换关系，利用所述深度传感器所获取的实时骨表面数据反馈，得到所述预定对象于导航影像坐标系下的实时坐标。Step SB4: Based on the first coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time bone surface data feedback obtained by the depth sensor.

下面以股骨作为预定对象为例进行说明，环状部110可以围绕股骨绑扎在患者的大腿上，深度传感器150(如可包括深度相机等)向膝关节一侧延伸。术前暴露股骨靠近膝关节的一端，深度传感器150即可直接获取该暴露的股骨的骨表面数据。具体的，这里的骨表面数据包括图像深度数据等。由于深度传感器150相对于环状部110的位置关系可以预先设置或根据配准文件获得，因此可以认为深度传感器150与股骨形成可预知的连接关系。In the following, the femur is taken as an example for description. The annular portion 110 may be bound on the thigh of the patient around the femur, and the depth sensor 150 (eg, may include a depth camera, etc.) extends to one side of the knee joint. The end of the femur close to the knee joint is exposed before surgery, and the depth sensor 150 can directly acquire the bone surface data of the exposed femur. Specifically, the bone surface data here includes image depth data and the like. Since the positional relationship of the depth sensor 150 relative to the annular portion 110 can be preset or obtained according to a registration file, it can be considered that the depth sensor 150 forms a predictable connection relationship with the femur.

在步骤SB1中，深度传感器150可以获取股骨的骨表面数据，进而将获取到的骨表面数据传输至处理器。进一步的，步骤SB2具体包括：In step SB1, the depth sensor 150 may acquire bone surface data of the femur, and then transmit the acquired bone surface data to the processor. Further, step SB2 specifically includes:

步骤SB21：对所述骨表面数据进行分割处理，获取骨轮廓点云数据；Step SB21: Perform segmentation processing on the bone surface data to obtain bone contour point cloud data;

步骤SB22：基于所述骨轮廓点云数据进行三维重建，得到所述第一虚拟模型，亦即重建后的股骨的虚拟模型。Step SB22: Perform three-dimensional reconstruction based on the bone contour point cloud data to obtain the first virtual model, that is, the reconstructed virtual model of the femur.

在一个示范例中，深度传感器150在获取骨表面数据后，可通过深度传感器150上的可视化的窗口，通过自动区域获取算法或者交互的方式，获取用户感兴趣区域数据，通过自动分割算法实现骨头分割，并对分割后的结果进行重建。当然，本领域技术人员还可根据现有技术，对第一虚拟模型的重建方法进行合理的改进。In an exemplary example, after acquiring the bone surface data, the depth sensor 150 can acquire the data of the region of interest of the user through the visual window on the depth sensor 150, through an automatic region acquisition algorithm or an interactive manner, and realize the bone segmentation through an automatic segmentation algorithm. Segment and reconstruct the segmented result. Of course, those skilled in the art can also reasonably improve the reconstruction method of the first virtual model according to the prior art.

优选的，在步骤SB3中，预置的第二虚拟模型根据CT扫描或MRI扫描所述预定对象所得的影像建立。具体的，可于术前通过CT扫描或MRI扫描得到CT扫描影像或MRI扫描影像，并传输至处理器，处理器根据CT扫描影像或MRI扫描影像建立第二虚拟模型。进一步的，将根据骨表面数据建立的第一虚拟模型与根据术前影像建立的第二虚拟股模型进行配准，即实现了术前影像模型与术中实际骨模型的配准。Preferably, in step SB3, the preset second virtual model is established based on images obtained by CT scanning or MRI scanning of the predetermined object. Specifically, the CT scan image or the MRI scan image can be obtained through the CT scan or MRI scan before the operation, and transmitted to the processor, and the processor establishes the second virtual model according to the CT scan image or the MRI scan image. Further, the first virtual model established according to the bone surface data is registered with the second virtual femoral model established according to the preoperative image, that is, the registration of the preoperative image model and the intraoperative actual bone model is realized.

请参考图14，步骤SB4的目的是将坐标系进行统一。具体的，深度传感器150相对于环状部110的位置关系可以预先设置或根据配准文件获得，深度传感器150相对于环状部110之间的相对位置是可以预知的，因此通过第一虚拟模型与第二虚拟模型进行配准，可以获得深度传感器坐标系25与导航影像坐标系24之间的转换关系。Please refer to FIG. 14 , the purpose of step SB4 is to unify the coordinate system. Specifically, the positional relationship of the depth sensor 150 with respect to the annular portion 110 can be preset or obtained according to a registration file, and the relative position of the depth sensor 150 with respect to the annular portion 110 can be predicted. Therefore, through the first virtual model By registering with the second virtual model, the transformation relationship between the depth sensor coordinate system 25 and the navigation image coordinate system 24 can be obtained.

步骤SB5中，在完成步骤SB3的配准，以及步骤SB4的坐标系转换后，即可通过深度传感器150所获取的实时骨表面数据反馈，对股骨的实际位置进行实时跟踪。In step SB5, after completing the registration in step SB3 and the coordinate system conversion in step SB4, the actual position of the femur can be tracked in real time through the feedback of real-time bone surface data obtained by the depth sensor 150.

如此配置，利用深度传感器150获取骨表面数据，重建得到第一虚拟模型，基于第一虚拟模型与预置的第二虚拟模型的配准及坐标系之间的转换，利用深度传感器150所获取的实时骨表面数据反馈，即可得到预定对象于导航影像坐标系24下的实时坐标。即实现了术前影像模型与术中实际骨模型的配准。整个配准过程中无需钻孔，无额外创伤，降低感染的可能。此外，骨建模配准***的设置简单，简化了手术中配准注册工具的安装，简化了配准流程，降低了手术的复杂度，缩减了手术时间。In this configuration, the depth sensor 150 is used to obtain bone surface data, and the first virtual model is reconstructed to obtain the first virtual model. With real-time bone surface data feedback, the real-time coordinates of the predetermined object in the navigation image coordinate system 24 can be obtained. That is, the registration of the preoperative image model and the actual intraoperative bone model is realized. No drilling is required during the entire registration process, no additional trauma is required, and the possibility of infection is reduced. In addition, the setting of the bone modeling registration system is simple, which simplifies the installation of the registration tool during the operation, simplifies the registration process, reduces the complexity of the operation, and shortens the operation time.

步骤SB3的配准算法，与实施例一的步骤SA3相类似，请参考实施例一，这里不再重复说明。进一步的，本实施例三的可读存储介质上的程序被执行时也可以包括误差校准的步骤，具体请参考实施例一，若当前时刻的点云配准矩阵与预定间隔时刻下的点云配准矩阵之间的点云配准矩阵的旋转和平移大于预设的第二阈值，则触发进行重新配准。The registration algorithm in step SB3 is similar to step SA3 in the first embodiment, please refer to the first embodiment, and the description will not be repeated here. Further, when the program on the readable storage medium of the third embodiment is executed, the step of error calibration may also be included. For details, please refer to the first embodiment. If the point cloud registration matrix at the current moment and the point cloud at a predetermined interval are If the rotation and translation of the point cloud registration matrix between the registration matrices are greater than the preset second threshold, re-registration is triggered.

【实施例四】[Example 4]

请参考图15至图17，其中，图15是本发明实施例四的固定检测装置的示意图；图16是本发明实施例四的固定检测装置安装使用的示意图；图17是本发明实施例四的坐标转换示意图。Please refer to FIGS. 15 to 17 , wherein, FIG. 15 is a schematic diagram of the fixed detection device according to the fourth embodiment of the present invention; FIG. 16 is a schematic diagram of the installation and use of the fixed detection device according to the fourth embodiment of the present invention; FIG. 17 is the fourth embodiment of the present invention. Schematic diagram of coordinate transformation.

本发明实施例四提供的可读存储介质、骨建模配准***及骨科手术***与实施例三提供的可读存储介质、骨建模配准***及骨科手术***基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。The readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the fourth embodiment of the present invention are basically the same as the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the third embodiment. Again, only different points will be described below.

如图15至图17所示，实施例四提供的骨建模配准***中，所述固定检测装置还包括：导航装置与靶标130；所述靶标130与所述环状部110连接；所述导航装置与所述处理器通信连接，所述导航装置与所述靶标130相适配(如与跟踪仪6相适配的光学靶标)，用以获取所述靶标130的实时坐标反馈，并将所述实时坐标反馈传输至所述处理器；所述处理器还被配置为，获得所述深度传感器坐标系25与靶标坐标系22之间的第二坐标转换关系；通过所述第一坐标转换关系与所述第二坐标转换关系的坐标系转换，获得所述靶标坐标系22与所述导航影像坐标系24的第三坐标转换关系；基于所述第三坐标转换关系，利用所述靶标130的实时坐标反馈，得到所述预定对象于导航影像坐标系24下的实时坐标。As shown in FIGS. 15 to 17 , in the bone modeling registration system provided in the fourth embodiment, the fixed detection device further includes: a navigation device and a target 130 ; the target 130 is connected to the annular portion 110 ; The navigation device is connected in communication with the processor, and the navigation device is adapted to the target 130 (eg, an optical target adapted to the tracker 6 ) to obtain real-time coordinate feedback of the target 130, and transmitting the real-time coordinate feedback to the processor; the processor is further configured to obtain a second coordinate transformation relationship between the depth sensor coordinate system 25 and the target coordinate system 22; through the first coordinate The coordinate system conversion between the conversion relationship and the second coordinate conversion relationship is to obtain the third coordinate conversion relationship between the target coordinate system 22 and the navigation image coordinate system 24; based on the third coordinate conversion relationship, the target is used The real-time coordinate feedback of 130 is performed to obtain the real-time coordinates of the predetermined object in the navigation image coordinate system 24 .

基于本实施例四的骨建模配准***，所述可读存储介质上的程序被执行时，还可进一步实现：Based on the bone modeling registration system of the fourth embodiment, when the program on the readable storage medium is executed, it can further realize:

步骤SB6：基于与所述深度传感器150连接的靶标130，获得深度传感器坐标系25与靶标坐标系22之间的第二坐标转换关系；Step SB6: Based on the target 130 connected to the depth sensor 150, obtain a second coordinate conversion relationship between the depth sensor coordinate system 25 and the target coordinate system 22;

步骤SB7：通过所述第一坐标转换关系与所述第二坐标转换关系的坐标系转换，获得所述靶标坐标系22与所述导航影像坐标系24的第三坐标转换关系；Step SB7: Obtain a third coordinate transformation relationship between the target coordinate system 22 and the navigation image coordinate system 24 through the coordinate system transformation between the first coordinate transformation relationship and the second coordinate transformation relationship;

步骤SB8：基于所述第三坐标转换关系，利用所述靶标130的实时坐标反馈，得到所述预定对象于导航影像坐标系24下的实时坐标。Step SB8: Based on the third coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system 24 are obtained by using the real-time coordinate feedback of the target 130 .

需要说明的，这里步骤SB6～步骤SB8并不限定按顺序在步骤SB5之后执行，而是可以在步骤SB1～步骤SB5在的任一个步骤之前或之后执行。It should be noted that the steps SB6 to SB8 are not limited to be executed after the step SB5 in order, but may be executed before or after any of the steps from the steps SB1 to SB5.

基于上述骨建模配准***和可读存储介质，处理器可以获取两套跟踪数据，一套是通过导航装置-靶标130的跟踪***，另一套为利用深度传感器150的跟踪***。进一步的，利用所述实时骨表面数据反馈得到的所述预定对象于导航影像坐标系24下的实时坐标，与利用所述靶标130的实时坐标反馈得到的所述预定对象于导航影像坐标系24下的实时坐标互为校验，当其中一者发生异常，则产生报警信息。Based on the above-mentioned bone modeling registration system and readable storage medium, the processor can acquire two sets of tracking data, one is the tracking system through the navigation device-target 130 , and the other is the tracking system using the depth sensor 150 . Further, the real-time coordinates of the predetermined object in the navigation image coordinate system 24 obtained by using the real-time bone surface data feedback, and the real-time coordinates of the predetermined object obtained by using the real-time coordinate feedback of the target 130 in the navigation image coordinate system 24 The real-time coordinates below are checked for each other. When one of them is abnormal, an alarm message will be generated.

在一些实施例中，利用所述深度传感器150获取实时骨表面数据反馈需要占用较大的计算资源，而利用导航装置跟踪靶标130的位置和姿态则较为方便可靠，因此处理器在可以获取两套跟踪数据时，优选以导航装置所获取的靶标130的实时坐标为主要数据，来计算得到所述预定对象于导航影像坐标系24下的实时坐标。而当靶标130发生被遮挡或者无法识别的情况，处理器可通过深度传感器150获取实时骨表面数据反馈对靶标130的位置进行修正和补偿，从而可避免由于靶标130丢失跟踪造成的误差。In some embodiments, using the depth sensor 150 to obtain real-time bone surface data feedback requires large computing resources, and using the navigation device to track the position and attitude of the target 130 is more convenient and reliable, so the processor can obtain two sets of When tracking data, preferably the real-time coordinates of the target 130 acquired by the navigation device are used as the main data to calculate the real-time coordinates of the predetermined object in the navigation image coordinate system 24 . When the target 130 is blocked or cannot be identified, the processor can obtain real-time bone surface data feedback through the depth sensor 150 to correct and compensate the position of the target 130, thereby avoiding errors caused by the target 130 losing tracking.

优选的，所述骨建模配准***还包括：报警装置(未图示)；所述报警装置被配置为，所述报警装置被配置为，在所述深度传感器150无法获取实时骨表面数据反馈，或者所述导航装置无法获取所述靶标130的实时坐标反馈时，发出报警信息。报警装置如包括LED灯或者蜂鸣器等，当深度传感器150无法获取实时骨表面数据反馈时，或者当导航装置无法获取靶标130的实时坐标反馈时，报警装置即发出报警信息，以提示操作者至少一个跟踪***存在问题。Preferably, the bone modeling and registration system further comprises: an alarm device (not shown); the alarm device is configured, and the alarm device is configured so that the depth sensor 150 cannot acquire real-time bone surface data When the feedback is received, or the navigation device cannot obtain the real-time coordinate feedback of the target 130, an alarm message is issued. The alarm device includes LED lights or buzzers, etc. When the depth sensor 150 cannot obtain real-time bone surface data feedback, or when the navigation device cannot obtain real-time coordinate feedback of the target 130, the alarm device will issue an alarm message to remind the operator. There is a problem with at least one tracking system.

综上所述，在本发明提供的可读存储介质、骨建模配准***及骨科手术***中，一个优选实施例提供的可读存储介质上的程序被执行时实现：获取预定对象的超声图像数据，所述超声图像数据经围绕一预定对象布置的超声探头阵列获得；根据所述超声图像数据进行三维重建，得到第一虚拟模型；将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得超声探头阵列坐标系与导航影像坐标系之间的第一坐标转换关系；基于与所述超声探头阵列连接的靶标，获得所述超声探头阵列坐标系与靶标坐标系之间的第二坐标转换关系；通过所述第一坐标转换关系与所述第二坐标转换关系的坐标系转换，获得所述靶标坐标系与所述导航影像坐标系的第三坐标转换关系；基于所述第三坐标转换关系，利用所述靶标的实时坐标反馈，得到所述预定对象于导航影像坐标系下的实时坐标。To sum up, in the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided by the present invention, when the program on the readable storage medium provided by a preferred embodiment is executed, the following is achieved: acquiring ultrasound of a predetermined object image data, the ultrasonic image data is obtained by an array of ultrasonic probes arranged around a predetermined object; three-dimensional reconstruction is performed according to the ultrasonic image data to obtain a first virtual model; the first virtual model is combined with a preset second virtual model The model is registered to obtain the first coordinate transformation relationship between the ultrasonic probe array coordinate system and the navigation image coordinate system; based on the target connected to the ultrasonic probe array, the relationship between the ultrasonic probe array coordinate system and the target coordinate system is obtained. The second coordinate conversion relationship is obtained; the third coordinate conversion relationship between the target coordinate system and the navigation image coordinate system is obtained through the coordinate system conversion between the first coordinate conversion relationship and the second coordinate conversion relationship; based on the In the third coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time coordinate feedback of the target.

如此配置，利用围绕一预定对象布置的超声探头阵列获取超声图像数据，重建得到第一虚拟模型，基于第一虚拟模型与预置的第二虚拟模型的配准及各坐标系之间的转换，利用靶标的实时坐标反馈，即可得到预定对象于导航影像坐标系下的实时坐标。即实现了术前影像模型与术中实际骨模型的配准。In this configuration, ultrasonic image data is obtained by using an ultrasonic probe array arranged around a predetermined object, and a first virtual model is obtained by reconstruction. Based on the registration of the first virtual model and the preset second virtual model and the conversion between the coordinate systems, Using the real-time coordinate feedback of the target, the real-time coordinates of the predetermined object in the navigation image coordinate system can be obtained. That is, the registration of the preoperative image model and the actual intraoperative bone model is realized.

另一个优选实施例提供的可读存储介质上的程序被执行时实现：获取预定对象的骨表面数据，所述骨表面数据经与一预定对象连接的深度传感器获得；根据所述骨表面数据进行三维重建，得到第一虚拟模型；将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得深度传感器坐标系与导航影像坐标系之间的第一坐标转换关系；基于所述第一坐标转换关系，利用所述深度传感器所获取的实时骨表面数据反馈，得到所述预定对象于导航影像坐标系下的实时坐标。When the program on the readable storage medium provided by another preferred embodiment is executed, it realizes: acquires bone surface data of a predetermined object, the bone surface data is obtained through a depth sensor connected to a predetermined object; three-dimensional reconstruction to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate transformation relationship between the depth sensor coordinate system and the navigation image coordinate system; based on the In the first coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time bone surface data feedback obtained by the depth sensor.

如此配置，利用深度传感器获取骨表面数据，重建得到第一虚拟模型，基于第一虚拟模型与预置的第二虚拟模型的配准及各坐标系之间的转换，利用深度传感器所获取的实时骨表面数据反馈，即可得到预定对象于导航影像坐标系下的实时坐标。即实现了术前影像模型与术中实际骨模型的配准。整个配准过程中无需钻孔，无额外创伤，降低感染的可能。此外，骨建模配准***的设置简单，简化了手术中配准注册工具的安装，简化了配准流程，降低了手术的复杂度，缩减了手术时间。In this configuration, the depth sensor is used to obtain bone surface data, and the first virtual model is reconstructed to obtain the first virtual model. The bone surface data feedback can obtain the real-time coordinates of the predetermined object in the navigation image coordinate system. That is, the registration of the preoperative image model and the actual intraoperative bone model is realized. No drilling is required during the entire registration process, no additional trauma is required, and the possibility of infection is reduced. In addition, the setting of the bone modeling registration system is simple, which simplifies the installation of the registration tool during the operation, simplifies the registration process, reduces the complexity of the operation, and shortens the operation time.

上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosure all belong to the protection scope of the claims.

Claims

一种可读存储介质，其上存储有程序，其特征在于，所述程序被执行时实现：A readable storage medium on which a program is stored, characterized in that, when the program is executed, it realizes:

获取预定对象的骨表面数据，所述骨表面数据经与一预定对象连接的深度传感器获得；acquiring bone surface data of a predetermined object, the bone surface data obtained through a depth sensor connected to a predetermined object;

根据所述骨表面数据进行三维重建，得到第一虚拟模型；performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model;

将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得深度传感器坐标系与导航影像坐标系之间的第一坐标转换关系；registering the first virtual model with the preset second virtual model to obtain a first coordinate transformation relationship between the depth sensor coordinate system and the navigation image coordinate system;

基于所述第一坐标转换关系，利用所述深度传感器所获取的实时骨表面数据反馈，得到所述预定对象于导航影像坐标系下的实时坐标。Based on the first coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time bone surface data feedback obtained by the depth sensor.
根据权利要求1所述的可读存储介质，其特征在于，所述第一虚拟模型与所述第二虚拟模型均为骨模型。The readable storage medium according to claim 1, wherein the first virtual model and the second virtual model are both bone models.
根据权利要求1所述的可读存储介质，其特征在于，根据所述骨表面数据进行三维重建，得到第一虚拟模型的步骤包括：The readable storage medium according to claim 1, wherein the step of obtaining the first virtual model by performing three-dimensional reconstruction according to the bone surface data comprises:

对所述骨表面数据进行分割处理，获取骨轮廓点云数据；Segmenting the bone surface data to obtain bone contour point cloud data;

基于所述骨轮廓点云数据进行三维重建，得到所述第一虚拟模型。Three-dimensional reconstruction is performed based on the bone contour point cloud data to obtain the first virtual model.
根据权利要求3所述的可读存储介质，其特征在于，将所述第一虚拟模型与预置的第二虚拟模型进行配准的步骤包括：The readable storage medium according to claim 3, wherein the step of registering the first virtual model with the preset second virtual model comprises:

根据所述第二虚拟模型，计算得到关节外边界的最小包围盒，并获取所述最小包围盒的中心；According to the second virtual model, the minimum bounding box of the outer boundary of the joint is obtained by calculation, and the center of the minimum bounding box is obtained;

将所述骨轮廓点云数据经粗配准矩阵转换到所述第二虚拟模型的坐标系，并获取转换后的点云中心点；Converting the bone contour point cloud data to the coordinate system of the second virtual model through a rough registration matrix, and acquiring the converted point cloud center point;

将所述最小包围盒的中心与所述预定对象的关节中心连接限定第一向量；connecting the center of the minimum bounding box with the joint center of the predetermined object to define a first vector;

将所述点云中心点与所述关节中心连接限定第二向量，所述第二向量与所述第一向量之间的夹角为α，所述第一向量与所述第二向量组成的平面的法向量为ε，将所述骨轮廓点云数据围绕ε轴旋转α角，使所述第一向量与所述第二向量在轴线ε’上重合；以及A second vector is defined by connecting the point cloud center point and the joint center, the angle between the second vector and the first vector is α, and the first vector and the second vector are composed of The normal vector of the plane is ε, and the bone contour point cloud data is rotated around the ε axis by an angle α, so that the first vector and the second vector coincide on the axis ε'; and

将围绕ε向量旋转α角后的骨轮廓点云数据围绕轴线ε’转动β角度。The bone contour point cloud data rotated by α angle around the ε vector is rotated by β angle around the axis ε'.
根据权利要求4所述的可读存储介质，其特征在于，将所述第一虚拟模型与预置的第二虚拟模型进行配准的步骤还包括：The readable storage medium according to claim 4, wherein the step of registering the first virtual model with the preset second virtual model further comprises:

计算围绕轴线ε’转动β角度后的骨轮廓点云数据与围绕ε向量旋转α角前的骨轮廓点云数据之间的均方根，若所述均方根大于预设的第一阈值，则重复将所述骨轮廓点云数据围绕ε轴旋转α角以及围绕轴线ε’转动β角度的步骤，直至所述均方根不大于所述第一阈值。Calculate the root mean square between the bone contour point cloud data after rotating the β angle around the axis ε' and the bone contour point cloud data before rotating the α angle around the ε vector. If the root mean square is greater than the preset first threshold, Then, the steps of rotating the bone contour point cloud data by an angle α around the ε axis and by an angle β around the axis ε′ are repeated until the root mean square is not greater than the first threshold.
根据权利要求3所述的可读存储介质，其特征在于，在将所述第一虚拟模型与预置的第二虚拟模型进行配准后，所述程序被执行时还实现：The readable storage medium according to claim 3, wherein after the first virtual model is registered with the preset second virtual model, the program further implements when executed:

比较当前时刻的点云配准矩阵与预定间隔时刻下的点云配准矩阵，若当前时刻的点云配准矩阵与预定间隔时刻下的点云配准矩阵之间的旋转和平移大于预设的第二阈值，则触发所述第一虚拟模型与所述第二虚拟模型进行重新配准。Compare the point cloud registration matrix at the current moment with the point cloud registration matrix at the predetermined interval, if the rotation and translation between the point cloud registration matrix at the current moment and the point cloud registration matrix at the predetermined interval are greater than the preset is the second threshold, triggering the re-registration of the first virtual model and the second virtual model.
根据权利要求1所述的可读存储介质，其特征在于，预置的第二虚拟模型根据CT扫描或MRI扫描所述预定对象所得的影像建立。The readable storage medium according to claim 1, wherein the preset second virtual model is established based on images obtained by CT scanning or MRI scanning of the predetermined object.
根据权利要求1所述的可读存储介质，其特征在于，所述程序被执行时还实现：The readable storage medium according to claim 1, wherein, when the program is executed, it further realizes:

基于与所述深度传感器连接的靶标，获得深度传感器坐标系与靶标坐标系之间的第二坐标转换关系；obtaining a second coordinate conversion relationship between the depth sensor coordinate system and the target coordinate system based on the target connected to the depth sensor;

通过所述第一坐标转换关系与所述第二坐标转换关系的坐标系转换，获得所述靶标坐标系与所述导航影像坐标系的第三坐标转换关系；Obtaining a third coordinate transformation relationship between the target coordinate system and the navigation image coordinate system through the coordinate system transformation between the first coordinate transformation relationship and the second coordinate transformation relationship;

基于所述第三坐标转换关系，利用所述靶标的实时坐标反馈，得到所述预定对象于导航影像坐标系下的实时坐标。Based on the third coordinate conversion relationship, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained by using the real-time coordinate feedback of the target.
根据权利要求8所述的可读存储介质，其特征在于，利用所述实时骨表面数据反馈得到的所述预定对象于导航影像坐标系下的实时坐标，与利用所述靶标的实时坐标反馈得到的所述预定对象于导航影像坐标系下的实时坐标互为校验，当其中一者发生异常，则产生报警信息。The readable storage medium according to claim 8, wherein the real-time coordinates of the predetermined object in the navigation image coordinate system obtained by using the real-time bone surface data feedback are different from those obtained by using the real-time coordinate feedback of the target. The real-time coordinates of the predetermined objects in the navigation image coordinate system are checked against each other, and an alarm message will be generated when one of them is abnormal.
一种骨建模配准***，其特征在于，包括：处理器以及固定检测装置；所述固定检测装置具有内尺寸可调节的环状部及深度传感器，所述环状部用于围绕一预定对象布置；所述深度传感器与所述环状部连接；A bone modeling registration system, comprising: a processor and a fixation detection device; the fixation detection device has an annular part and a depth sensor with adjustable inner dimensions, the annular part is used to surround a predetermined an object arrangement; the depth sensor is connected to the annular portion;

所述处理器与所述固定检测装置通信连接；所述处理器被配置为，获取经所述深度传感器所得到的预定对象的骨表面数据；根据所述骨表面数据进行三维重建，得到第一虚拟模型；将所述第一虚拟模型与预置的第二虚拟模型进行配准，获得深度传感器坐标系与导航影像坐标系之间的第一坐标转换关系；基于所述第一坐标转换关系，利用所述深度传感器所获取的实时骨表面数据反馈，得到所述预定对象于导航影像坐标系下的实时坐标。The processor is connected in communication with the fixation detection device; the processor is configured to acquire bone surface data of a predetermined object obtained by the depth sensor; perform three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; register the first virtual model with the preset second virtual model to obtain a first coordinate transformation relationship between the depth sensor coordinate system and the navigation image coordinate system; based on the first coordinate transformation relationship, Using the real-time bone surface data feedback obtained by the depth sensor, the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained.
根据权利要求10所述的骨建模配准***，其特征在于，所述骨建模配准***还包括：导航装置及靶标；所述靶标与所述环状部连接，所述导航装置与所述处理器通信连接，所述导航装置与所述靶标相适配，用以获取所述靶标的实时坐标反馈，并将所述实时坐标反馈传输至所述处理器；The bone modeling registration system according to claim 10, wherein the bone modeling registration system further comprises: a navigation device and a target; the target is connected to the annular portion, and the navigation device is connected to The processor is connected in communication, and the navigation device is adapted to the target to obtain real-time coordinate feedback of the target, and transmit the real-time coordinate feedback to the processor;

所述处理器还被配置为，获得所述深度传感器坐标系与靶标坐标系之间的第二坐标转换关系；通过所述第一坐标转换关系与所述第二坐标转换关系的坐标系转换，获得所述靶标坐标系与所述导航影像坐标系的第三坐标转换关系；基于所述第三坐标转换关系，利用所述靶标的实时坐标反馈，得到所述预定对象于导航影像坐标系下的实时坐标。The processor is further configured to obtain a second coordinate transformation relationship between the depth sensor coordinate system and the target coordinate system; through the coordinate system transformation between the first coordinate transformation relationship and the second coordinate transformation relationship, Obtain the third coordinate conversion relationship between the target coordinate system and the navigation image coordinate system; based on the third coordinate conversion relationship, use the real-time coordinate feedback of the target to obtain the predetermined object in the navigation image coordinate system. real-time coordinates.
根据权利要求11所述的骨建模配准***，其特征在于，所述骨建模配准***还包括：报警装置；所述报警装置被配置为，在所述深度传感器无法获取实时骨表面数据反馈，或者所述导航装置无法获取所述靶标的实时坐标反馈时，发出报警信息。The bone modeling registration system according to claim 11, wherein the bone modeling registration system further comprises: an alarm device; the alarm device is configured to, when the depth sensor cannot acquire the real-time bone surface Data feedback, or when the navigation device cannot obtain the real-time coordinate feedback of the target, an alarm message is issued.
一种骨科手术***，其特征在于，包括根据权利要求10～12中任一项所述的骨建模配准***。An orthopedic surgery system, characterized by comprising the bone modeling registration system according to any one of claims 10-12.