CN116473674A - Surgical navigation system and surgical navigation method - Google Patents

Abstract

The invention provides a surgical navigation system and a surgical navigation method. The surgical navigation system includes: the cloud server is in communication connection with the display screen and is used for sending a processing command to the display screen according to a preset processing flow; the calibration body is fixed at a first preset position of a patient through fixing equipment, and is an optical calibration body; the binocular camera is arranged in a preset distance range from the calibration body, is in communication connection with the cloud server, is used for collecting images of the calibration body in real time, calculates coordinates of the calibration body according to the images of the calibration body, and sends the coordinates to the display screen and the cloud server; the cloud server is also used for receiving the coordinates of the calibration body, performing data processing according to the coordinates of the real-time calibration body, and sending the data processing result to the display screen to assist doctors in operation; and the display screen is used for displaying the position of the coordinates of the calibration body, the processing flow corresponding to the processing command and the data processing result. The invention can reduce the equipment cost and improve the treatment efficiency.

Description

Surgical navigation system and method for surgical navigation

technical field

The invention relates to the field of medical technology, in particular to a surgical navigation system and a surgical navigation method.

Background technique

In recent years, during osteotomy and orthopedic surgery, a complete device is generally used for navigation and to assist doctors in the operation. This complete device is equipped with a professional high-precision camera, a host server and a display screen. The high-precision camera is used to capture real-time scenes during the operation, and the host server is used to receive the images captured by the high-precision camera and reconstruct the 3D model based on the pre-stored patient's CT film. The reconstructed image is displayed on the display screen.

However, when the complete device in the prior art assists the doctor in processing, it needs to reconstruct the 3D model of the image. Image processing results in low processing speed and low efficiency. In addition, the cost of the high-precision camera installed on the complete device is high.

Contents of the invention

Embodiments of the present invention provide a surgical navigation system and a surgical navigation method to solve the problems of high equipment cost and slow image processing efficiency in the prior art.

In the first aspect, an embodiment of the present invention provides a surgical navigation system, including: a cloud server, a display screen, a calibration body, a fixing device, and a binocular camera;

The cloud server communicates with the display screen, and is used to send a processing command to the display screen according to a preset processing flow, so that the doctor can operate according to the processing flow corresponding to the processing command displayed on the display screen;

The calibration body is fixed at a first preset position of the patient by the fixing device, and the calibration body is an optical calibration body;

The binocular camera is set within a preset distance from the calibration body, and establishes a communication connection with the cloud server for real-time collection of the image of the calibration body, and calculates the coordinates of the calibration body according to the image of the calibration body, and sends the coordinates of the calibration body to the display screen and the cloud server;

The cloud server is also used to receive the coordinates of the calibration body, perform data processing according to the coordinates of the calibration body, and send the data processing results to the display screen to assist doctors in operation;

The display screen is used to display the coordinate position of the calibration body, the processing flow corresponding to the processing command, and the data processing result.

In a possible implementation manner, the display screen is a transparent lens, and the transparent lens is arranged on a spectacle frame.

In a possible implementation manner, the binocular cameras are respectively attached to the left and right frames of the spectacle frame.

In a possible implementation manner, it also includes: a probe;

A preset number of optical calibration balls are set on the probe to calibrate the second preset position of the patient; the second preset position is a position within a preset range of the first preset position;

The binocular camera is used to collect the images of the probe and the calibration body, and calculate the coordinates of the probe and the coordinates of the calibration body according to the images of the probe and the calibration body, and send the coordinates of the probe and the coordinates of the calibration body to the display screen and the cloud server.

In a possible implementation manner, the number of the calibration bodies is two or more;

The calibration body includes at least three optical calibration balls, and at least three optical calibration balls are not on the same straight line;

The probe includes at least three optical calibration balls, and the heights of the at least three optical calibration balls are different.

In a second aspect, an embodiment of the present invention provides a surgical navigation device, including: using the surgical navigation system described in any of the above possible implementation manners, the surgical navigation method includes:

The cloud server sends a processing command to the display screen, so that the display screen displays the processing flow corresponding to the processing command, and the doctor operates according to the processing flow, and the processing command is an order generated according to a preset processing flow;

The binocular camera captures the image of the calibration body in real time, calculates the coordinates of the calibration body, and sends the coordinates of the calibration body to the cloud server;

The cloud server performs data processing according to the coordinates of the calibration body, and sends the data processing result to the display screen, so that the doctor can refer to the data and assist the doctor in operation.

In a possible implementation, it also includes:

The binocular camera shoots images including the probe and the calibration body in real time, calculates the coordinates of the probe and the coordinates of the calibration body, and sends the coordinates of the probe and the calibration body to the cloud server;

The cloud server performs data processing according to the coordinates of the calibration body, including:

The cloud server performs data processing according to the coordinates of the probe and the coordinates of the calibration body.

In a possible implementation, the binocular camera shoots images including the probe and the calibration body in real time, and calculates the coordinates of the probe and the calibration body, including:

When the tip of the probe is at a preset position, the binocular camera captures multiple images including the probe and the calibration body in real time, and calculates the coordinates of the multiple probes and the coordinates of the multiple calibration bodies;

When the obtained coordinates of multiple consecutive probes are the same, and the coordinates of multiple consecutive calibration bodies are the same, determine the coordinates of the preset position, and send the coordinates of the probes and the coordinates of the calibration body to the cloud server.

In a possible implementation manner, the cloud server performs data processing according to the coordinates of the calibration body, including:

When the doctor rotates the leg in the hip joint according to the process of obtaining the coordinates of the center of rotation of the femoral head corresponding to the processing command, the doctor receives the coordinates of multiple calibration bodies sent by the binocular camera in real time;

When the cloud server receives the coordinates of the current calibration body, it compares the coordinates of the current calibration body with the coordinates of the calibration body received before, and when the coordinates of the current calibration body are different from the coordinates of the previous calibration body, it is determined that the coordinates of the current calibration body are the target coordinates;

According to the above method of determining the target coordinates, when a preset number of target coordinates are obtained, the coordinates of the rotation center of the femoral head are calculated according to all the target coordinates.

In a possible implementation manner, the cloud server performs data processing according to the coordinates of the calibration body, including:

The cloud server performs preset calculations according to the coordinates of the probe, the coordinates of the calibration body, and the coordinates of the center of rotation of the femoral head to obtain data processing results.

The embodiment of the present invention provides a surgical navigation system and a surgical navigation method. The navigation operation in the surgical process can be completed through a cloud server, a display screen, a calibration body, a fixed device, and a binocular camera. Compared with the prior art that uses a high-precision camera and a physical server that requires complex image processing, the cost of the equipment in this embodiment is low, and there is no need for image transmission during the surgical navigation process, only coordinate data transmission is required, thereby reducing the amount of image processing and improving processing efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings used in the embodiments or prior art descriptions. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings can also be obtained based on these drawings without creative work.

FIG. 1 is a schematic diagram of a surgical navigation system provided by an embodiment of the present invention;

2 is a schematic diagram of a display screen and a binocular camera provided by an embodiment of the present invention;

Figure 3-1 is a schematic diagram of the probe provided by the embodiment of the present invention;

Figure 3-2 is a schematic diagram of the calibration body provided by the embodiment of the present invention;

Fig. 4 is a flow chart of the implementation of the surgical navigation method provided by the embodiment of the present invention.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to make the purpose, technical solution and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

FIG. 1 is a schematic diagram of a surgical navigation system provided by an embodiment of the present invention, which is described in detail as follows:

The surgical navigation system includes: a cloud server 10, a display screen 20, a calibration body 30, a fixed device 40 and a binocular camera 50;

The cloud server 10 is connected in communication with the display screen 20, and is used to send processing commands to the display screen 20 according to the preset processing flow, so that the doctor can operate according to the processing flow corresponding to the processing command displayed on the display screen 20;

The calibration body 30 is fixed at the first preset position of the patient by the fixing device 40, and the calibration body 30 is an optical calibration body;

The binocular camera 50 is set within the preset distance range from the calibration body 30, and establishes a communication connection with the cloud server 10 for real-time collection of the image of the calibration body 30, and calculates the coordinates of the calibration body 30 according to the image of the calibration body 30, and sends the coordinates of the calibration body 30 to the display screen 20 and the cloud server 10;

The cloud server 10 is also used to receive the coordinates of the calibration body 30, and perform data processing according to the coordinates of the calibration body 30, and send the data processing results to the display screen 20 to assist the doctor in operation;

The display screen 20 is used to display the coordinate position of the calibration body 30 , the processing flow corresponding to the processing command and the data processing result.

Optionally, the cloud server 10 pre-stores the standard processing flow corresponding to the current operation. It should be noted that the standard processing flow corresponding to different operations is different, but the standard processing flow corresponding to the same operation is the same. Unlike the prior art, the CT film of the patient and the corresponding processing flow need to be preset on the server.

The display screen 20 is used to display the operation process. It should be noted that the processing process can be displayed one by one, or all the standard processing processes can be displayed at the preset position of the display screen 20, and the current processing process is displayed emphatically, so that the doctor can see the entire operation process more intuitively and grasp the progress of the operation. For example, all standard processing procedures are displayed one by one on the left side of the display screen 20, and the specific steps of the standard processing procedures are not limited in this embodiment.

Exemplarily, the current operation may be an osteotomy orthopedic operation, and its corresponding standard processing flow may include four steps of determining the coordinates of the calibration body, obtaining the coordinates of the center of rotation of the femoral head, registering and navigating.

The calibration body 30 may be an optical calibration body, and the light irradiated on the calibration body 30 may be captured by the camera through reflection. In this embodiment, at least two calibration bodies 30 can be provided, and the calibration bodies 30 are fixed at the first preset position of the patient by the fixing device 40 to prevent them from being moved during the operation and affecting the calculation results of the cloud server.

Exemplarily, during osteotomy orthopedic surgery, the calibration body 30 can be respectively set in the middle of the femur and the tibia. Since the entire surgical navigation process does not process images, the positions of the patient's femur and tibia are unclear, so two calibration bodies 30 are used to represent the femur and tibia respectively for subsequent calculation and processing.

The binocular camera 50 is a convenient camera with a simple calculation function, and the cost is lower than that of the high-precision camera on the complete machine equipment in the prior art.

The binocular camera 50 is set within a range where the calibration object can be photographed in real time, for example, the binocular camera 50 is set within a range of 1.5 meters to 2 meters from the calibration object 30 .

In this embodiment, after the binocular camera 50 captures the image containing the calibration object, it does not directly send the image to the cloud server 10 for subsequent processing, but calculates the coordinates of the calibration object based on the image, and sends the coordinates of the calibration object to the cloud server 10. In this way, the amount of data transmitted will be significantly smaller than the amount of image data transmission in the prior art, and the processing efficiency and transmission speed will be improved.

In one embodiment, as shown in FIG. 2 , the display screen 20 is a transparent lens, and the transparent lens is arranged on the frame of the glasses.

The transparent lens is used as a display screen and is worn on the head of the attending doctor, so that the attending doctor can look at the display screen in the operating room without turning or looking up, and can see the content displayed on the screen at any time. The purpose of setting the transparent lens here is not to block the doctor's field of vision, so that the doctor can easily see the patient's affected area and operate conveniently. Compared with the real-time display scene of the AI glasses in the prior art, the combination of virtual and reality improves the operation efficiency and has stronger applicability.

In one embodiment, as shown in FIG. 2 , the binocular camera 50 is respectively attached to the left and right frames of the spectacle frame. The binocular camera 50 is a portable camera with light weight, which can be attached to the glasses frame and worn on the head of the attending doctor. The field of vision of the attending doctor is the best during the operation, so the binocular camera 50 can capture better and clearer images in real time with the movement of the attending doctor, providing a better data basis and making the data processing results of the cloud server 10 more accurate. In Fig. 2, the eye frame adopts strap 21 to replace the spectacle legs on the usual glasses, which can better fix the glasses on the doctor's eyes and prevent the glasses from moving when the head shakes.

In one embodiment, the surgical navigation system may further include: a probe 60;

A preset number of optical calibration balls are arranged on the probe 60 for calibration of the second preset position of the patient.

3-1 is a schematic diagram of the probe 60 , the tip of the probe 60 is used to hold down the second preset position of the patient, and an optical calibration ball is set on the pen end of the probe 60 to mark the coordinates corresponding to the second preset position shown. The binocular camera 50 collects the image of the optical calibration sphere of the probe 60 , calculates the coordinates of the probe 60 , and calibrates the position of the probe 60 .

Optionally, when the position of the probe 60 is calibrated, it needs to be calibrated according to the coordinates of the calibration body 30. Since no image processing is performed in this embodiment, the positions of the femur and the tibia of the patient are not clear during the whole process. The positions of the femur and the tibia are represented by the two calibration bodies 30, so the position of the calibration body 30 is relatively fixed. The position of the probe 60 is determined through the position of the calibration body 30 .

The binocular camera 50 is used to collect the images of the probe and the calibration body, and calculate the coordinates of the probe and the calibration body according to the images of the probe and the calibration body, and send the coordinates of the probe and the calibration body to the display screen 20 and the cloud server 10.

At this time, in addition to displaying the above-mentioned standard processing flow, the display screen 20 also displays the coordinates of the calibration body and the coordinates of the probe. It should be noted that the coordinates of the calibration body and the probe displayed here do not display coordinate data, but display the relative positions between the coordinates.

Wherein, different types of coordinates may be represented by the same mark, or may be represented by different marks, for example, the coordinates of the calibration body are represented by solid circles, and the coordinates of the probe are represented by hollow circles.

Exemplarily, when the registration process is emphatically displayed in the standard processing flow, the doctor holds the probe 60 at a preset position on the patient and presses it, and the binocular camera 50 collects images of the probe and the calibration body. It should be noted that the calibration of the probe 60 here is only for data collection and surgical assistance, and doctors can perform calibration at any desired position according to their own experience.

Optionally, the number of calibration bodies 30 is two or more, the calibration body 30 includes at least three optical calibration spheres, and at least three optical calibration spheres are not on the same straight line;

The probe 60 includes at least three optical calibration balls, and the heights of the at least three optical calibration balls are different.

Referring to Fig. 3-2, three optical calibration spheres are arranged on each calibration body 30. In order for doctors to clearly distinguish different calibration bodies 30, the connecting rods between any two of the three optical calibration spheres on different calibration bodies 30 can be set as connecting rods of different shapes. As shown in Figure 3-2, the connecting rod between the two optical calibration spheres on one calibration body 30 is set as a straight rod, and the connecting rod between the two optical calibration spheres on the other calibration body 30 is set as a curved rod.

The reason for using three optical calibration spheres is that the shape of the triangle determined by the three points has higher fixity, and it is not easy to be deformed due to collision or other emergencies during the operation.

For example, when performing osteotomy orthopedic surgery, after the cloud server 10 is turned on, the standard processing flow corresponding to the selected preset operation is sent to the display screen 20 for display, and the fixing device 40 is fixed in advance at the first preset position of the patient, and the calibration body 30 is fixed on the fixing device 40, and the positions of the planes where the three optical calibration spheres of the calibration body 30 are adjusted, so that the binocular camera 50 can conveniently capture the images of the three optical calibration spheres.

After the operation starts, the cloud server 10 issues a processing command corresponding to the first processing flow, and the display screen 20 displays or emphatically displays the first processing flow. For example, the first processing procedure is to obtain the position of the calibration body.

The binocular camera 50 captures the images of the two calibration bodies 30 in real time, and calculates the coordinates of the calibration bodies 30, specifically, calculates the coordinates of each optical calibration ball on the calibration body 30, and sends them to the cloud server 10 and the display screen 20, and the display screen 20 displays the coordinates of all optical calibration balls, that is, 6 coordinates.

After issuing the processing command corresponding to the first processing flow, the cloud server 10 receives and saves the coordinates of each calibration body 30 sent by the binocular camera 50 .

The cloud server 10 issues a processing command corresponding to the second processing flow, and the display screen 20 displays or emphatically displays the second processing flow. For example, the second processing procedure is to obtain the coordinates of the rotation center of the femoral head.

After seeing the second processing flow displayed on the display screen 20, the doctor performs corresponding operations. For example, lift the patient's leg, rotate the leg in the hip joint, the binocular camera 50 takes real-time images of two calibration bodies 30, and sends the coordinates of multiple calibration bodies 30 to the cloud server 10;

The cloud server 10 calculates the coordinates of the center of rotation of the femoral head according to the received coordinates of the plurality of calibration bodies 30 .

After obtaining the coordinates of the center of rotation of the femoral head, the cloud server 10 sends it to the display screen 20 for display, and the doctor stops the operation after seeing the coordinates of the center of rotation of the femoral head displayed on the display screen. The cloud server 10 issues a processing command corresponding to the third processing flow, and the display screen 20 displays or emphatically displays the third processing flow. For example, the third processing flow is a registration flow. The registration process here refers to the acquisition of other points in order to calibrate the specific positions of the femur and tibia.

After the doctor sees the third processing flow shown on the display screen 20, he presses the patient's medial epicondyle point with the probe 60, and the binocular camera 50 takes real-time images of the probe 60 and the two calibration bodies 30, and sends the coordinates of the probe 60 and the calibration body 30 to the cloud server 10;

The cloud server 10 determines the position of the probe according to the coordinates of the probe 60 and the coordinates of the calibration body 30, calibrates the position of the probe as the position of the medial epicondyle point, and sends the determined coordinates of the probe to the display screen 20 for display. After seeing the coordinates of the probe 60 displayed on the display screen, the doctor uses the probe 60 to perform the operation of the next point. In the manner described above, the probe 60 is used to calibrate the position of the lateral epicondyle point, the position of the medial malleolus, and the position of the lateral malleolus to complete the registration process.

The cloud server 10 performs preset calculations according to all received coordinates, for example, calculating the angle between the femur and the tibia.

Exemplarily, the preset calculation method may include: determining the center position of the knee joint according to the position of the medial epicondyle point and the position of the lateral epicondyle point; determining the center position of the distal end of the tibia according to the position of the medial malleolus and the position of the lateral malleolus, calculating the angle between the line segment from the center of rotation of the femoral head to the center position of the knee joint, and the line segment from the center position of the knee joint to the center position of the distal end of the tibia, to obtain the angle between the femur and the tibia.

In the prior art, the doctor directly observes whether the femur and the tibia are in a straight line. The human eye observation is related to experience, and it is not accurate, and the small angle cannot be seen. However, the cloud server 10 can calculate the angle between the femur and the tibia, which can be accurate to the required accuracy, with high accuracy, and does not rely on the doctor's experience.

The above-mentioned surgical navigation system can complete the navigation operation during the operation through the cloud server, the display screen, the calibration body, the fixed equipment and the binocular camera. The cost of the equipment is low, and the transmission of the image is not required during the surgical navigation process, only the transmission of the coordinate data is required, thereby reducing the amount of image processing and improving the processing efficiency. By adding the probe, it can be combined with the calibration body to calibrate the required position, so that the calculation of the cloud server can replace the data in the prior art that requires doctors to judge based on experience in the surgical navigation process, improve the accuracy of data processing, and assist doctors to operate faster and more conveniently.

FIG. 4 is a flow chart of a surgical navigation method provided by an embodiment of the present invention. Using the surgical navigation system of any of the above-mentioned embodiments, the surgical navigation method is described in detail as follows:

In step 401, the cloud server sends a processing command to the display screen, so that the display screen displays the processing flow corresponding to the processing command, and the doctor operates according to the processing flow, and the processing command is an order generated according to a preset processing flow.

The cloud server 10 sequentially sends processing commands to the display screen 20 according to the standard processing flow, so that the doctor can perform corresponding operations according to the processing flow displayed on the display screen.

Step 402, the binocular camera shoots the image of the calibration object in real time, calculates the coordinates of the calibration object, and sends the coordinates of the calibration object to the cloud server.

During the doctor's operation, the binocular camera captures the image of the calibration body in real time, and calculates the coordinates of the calibration body based on the image of the calibration body, and uses the coordinates of the calibration body to represent the corresponding position of the patient.

For example, when performing osteotomy orthopedic surgery, after the cloud server 10 is turned on, the standard processing flow corresponding to the selected preset operation is sent to the display screen 20 for display, and the fixing device 40 is fixed in advance at the first preset position of the patient, and the calibration body 30 is fixed on the fixing device 40, and the positions of the planes where the three optical calibration spheres of the calibration body 30 are adjusted, so that the binocular camera 50 can conveniently capture the images of the three optical calibration spheres.

After the operation starts, the cloud server 10 issues a processing command corresponding to the first processing flow, and the display screen 20 displays or emphatically displays the first processing flow. For example, the first processing procedure is to obtain the position of the calibration body.

The binocular camera 50 captures the images of the two calibration bodies 30 in real time, and calculates the coordinates of the calibration bodies 30, specifically, calculates the coordinates of each optical calibration ball on the calibration body 30, and sends them to the cloud server 10 and the display screen 20, and the display screen 20 displays the coordinates of all optical calibration balls, that is, 6 coordinates. Optionally, when performing osteotomy orthopedic surgery, one calibration body 30 is used to demarcate the femur, and the other calibration body 30 is used to demarcate the tibia.

In this embodiment, the images captured by the binocular camera 50 are not directly transmitted to the cloud server 10, but the calculated coordinates of the calibration body are sent to the cloud server 10, so that the cloud server 10 cannot obtain images of the patient's legs, but fix the calibration bodies 30 to preset positions of the patient's legs.

Optionally, after the preset position of the patient is calibrated by the calibration body 30 , the coordinates of some positions can be calculated according to the calibration body 30 .

For example, the cloud server 10 issues a processing command corresponding to the second processing flow, and the display screen 20 displays or emphatically displays the second processing flow. For example, the second processing procedure is to obtain the coordinates of the rotation center of the femoral head.

The doctor lifts the patient's leg, rotates the leg in the hip joint, and the binocular camera 50 captures the images of the two calibration bodies 30 in real time, and sends the coordinates of the multiple calibration bodies 30 to the cloud server 10 .

The cloud server 10 calculates the coordinates of the center of rotation of the femoral head according to the received coordinates of the plurality of calibration bodies 30 .

The cloud server 10 calculates the coordinates of the center of rotation of the femoral head according to the preset number of target coordinates. The preset number here can be set according to actual needs, for example, the preset number can be 30, 50 and other data. A preset number of target coordinates constitute a point cloud data matrix, which is shaped like a cone centered on the coordinates of the femoral head rotation center, and the coordinates of the femoral head rotation center can be obtained by calculating the coordinates of the center through the calculation method in the prior art.

After obtaining the coordinates of the center of rotation of the femoral head, the cloud server 10 sends the coordinates of the center of rotation of the femoral head to the display screen 20 for display. A processing command corresponding to the third processing flow is issued, and the display screen 20 displays or emphatically displays the third processing flow. For example, the third processing flow is a registration flow. The registration process here refers to the acquisition of other points in order to calibrate the specific positions of the femur and tibia.

In one embodiment, registration requires calibration of the femur and tibia with probe 60 .

When the probe 60 is used for calibration, the binocular camera 50 captures images including the probe 60 and the calibration body 30 in real time, calculates the coordinates of the probe 60 and the calibration body 30, and sends the coordinates of the probe 60 and the calibration body 30 to the cloud server 10; the cloud server 10 performs data processing according to the coordinates of the probe 60 and the calibration body 30.

In one embodiment, when the binocular camera 50 calculates the coordinates of the probe 60, the doctor needs to press the probe to hold the patient's point to be calibrated to stabilize for a preset time, that is, when the coordinates of multiple probes 60 calculated by the binocular camera 50 are the same, it is determined that the coordinates to be calibrated are the coordinates of the current probe 60.

Optionally, the binocular camera shoots images including the probe and the calibration body in real time, and calculates the coordinates of the probe and the calibration body, including:

When the tip of the probe is pressed at the preset position, the binocular camera will capture multiple images including the probe and calibration body in real time, and calculate the coordinates of multiple probes and multiple calibration bodies;

When the obtained continuous coordinates of multiple probes are the same and the coordinates of multiple calibration bodies are the same, determine the coordinates of the preset position, and send the coordinates of the probes and the coordinates of the calibration body to the cloud server.

According to the above method, the probe is used to calibrate the position of the medial epicondyle point, the position of the lateral epicondyle point, the position of the medial malleolus, and the position of the lateral malleolus to complete the registration process.

Step 403, the cloud server performs data processing according to the coordinates of the calibration body, and sends the data processing result to the display screen, so that the doctor can refer to the data and assist the doctor in operation.

Optionally, the cloud server performs data processing according to the coordinates of the calibration body, which may include calculating the coordinates of the center of rotation of the femoral head by the cloud server according to the coordinates of the calibration body. For details, refer to the detailed description of step 402, which will not be repeated here.

Optionally, the cloud server performs data processing according to the coordinates of the calibration body, which may include the cloud server performing preset calculations according to the coordinates of the probe, the coordinates of the calibration body, and the coordinates of the femoral head rotation center to obtain data processing results.

The cloud server 10 performs preset calculations according to all received coordinates, for example, calculating the angle between the femur and the tibia.

Exemplarily, the preset calculation method may include: determining the center position of the knee joint according to the position of the medial epicondyle point and the position of the lateral epicondyle point; determining the center position of the distal end of the tibia according to the position of the medial malleolus and the position of the lateral malleolus, calculating the angle between the line segment from the center of rotation of the femoral head to the center position of the knee joint, and the line segment from the center position of the knee joint to the center position of the distal end of the tibia, to obtain the angle between the femur and the tibia.

In the prior art, the doctor usually directly observes whether the femur and the tibia are in a straight line with the eyes. The human eye observation is related to experience, and it is not accurate, and the small angle cannot be seen. However, the cloud server 10 can calculate the angle between the femur and the tibia, which can be accurate to the required accuracy, with high accuracy, and does not rely on the doctor's experience.

Other preset calculations can also be performed on the cloud server according to the received coordinates of the calibration body and/or the coordinates of the probe, and the calculation method is not limited in this embodiment.

In the embodiment of the present invention, the cloud server sends a processing command to the display screen, and the display screen displays the processing flow corresponding to the processing command. The doctor operates according to the processing flow. The position of the calibration body changes with the operation of the doctor. The binocular camera captures the image of the calibration body in real time, calculates the coordinates of the calibration body, and sends the coordinates of the calibration body to the cloud server. Image processing capacity, improve processing efficiency. In the surgical navigation process, the interaction between the binocular camera and the cloud server is used. Compared with the high-definition camera and the physical server that needs image processing in the prior art, the equipment cost is lower, the operation is more convenient, and the applicability is wider. In addition, in the process of surgical navigation, the calculation of the cloud server can replace the data that requires doctors to judge based on experience in the existing technology, improve the accuracy of data processing, and assist doctors to operate faster and more conveniently.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present invention.

The above-described embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should be included within the protection scope of the present invention.

Claims (10)

1. A surgical navigation system, comprising: the system comprises a cloud server, a display screen, a calibration body, fixed equipment and a binocular camera;

the cloud server is in communication connection with the display screen and is used for sending a processing command to the display screen according to a preset processing flow so that a doctor can operate according to the processing flow corresponding to the processing command displayed by the display screen;

the calibration body is fixed at a first preset position of a patient through the fixing equipment, and is an optical calibration body;

the binocular camera is arranged in a preset distance range from the calibration body, is in communication connection with the cloud server, and is used for collecting images of the calibration body in real time, calculating coordinates of the calibration body according to the images of the calibration body and sending the coordinates of the calibration body to the display screen and the cloud server;

the cloud server is also used for receiving the coordinates of the calibration body, performing data processing according to the coordinates of the calibration body, and sending a data processing result to the display screen to assist a doctor to operate;

the display screen is used for displaying the position of the coordinates of the calibration body, the processing flow corresponding to the processing command and the data processing result.

2. The surgical navigation system of claim 1, wherein the display screen is a transparent lens disposed on the eyeglass frame.

3. A surgical navigation system according to claim 2, wherein the binocular cameras are respectively attached to left and right rims of the eyeglass frame.

4. A surgical navigation system according to any one of claims 1-3, further comprising: a probe;

the probe is provided with a preset number of optical calibration balls for calibrating a second preset position of the patient; the second preset position is a position within a preset range of the first preset position;

the binocular camera is used for acquiring images of the probe and the calibration body, calculating coordinates of the probe and coordinates of the calibration body according to the images of the probe and the calibration body, and sending the coordinates of the probe and the coordinates of the calibration body to the display screen and the cloud server.

5. The surgical navigation system of claim 4, wherein the number of calibration bodies is two or more;

the calibration body comprises at least three optical calibration balls, and the at least three optical calibration balls are not on the same straight line;

the probe comprises at least three optical calibration balls, and the heights of the at least three optical calibration balls are different.

6. A method of surgical navigation employing the surgical navigation system of any of claims 1-5, the method comprising:

the cloud server sends a processing command to a display screen so that the display screen displays a processing flow corresponding to the processing command, a doctor operates according to the processing flow, and the processing command is a command generated according to a preset processing flow;

the binocular camera shoots an image of the calibration body in real time, calculates the coordinates of the calibration body, and sends the coordinates of the calibration body to the cloud server;

and the cloud server performs data processing according to the coordinates of the calibration body and sends a data processing result to a display screen so as to facilitate data reference of a doctor and assist the doctor in operation.

7. The method of surgical navigation of claim 6, further comprising:

the binocular camera shoots an image comprising a probe and a calibration body in real time, calculates coordinates of the probe and coordinates of the calibration body, and sends the coordinates of the probe and the coordinates of the calibration body to the cloud server;

the cloud server performs data processing according to the coordinates of the calibration body, and the data processing comprises:

and the cloud server performs data processing according to the coordinates of the probe and the coordinates of the calibration body.

8. The method of claim 7, wherein the binocular camera captures images of the probe and the calibration volume in real time, and calculating coordinates of the probe and coordinates of the calibration volume comprises:

when the tip of the probe is pressed at a preset position, the binocular camera shoots a plurality of images comprising the probe and the calibration body in real time, and coordinates of the plurality of probes and coordinates of the plurality of calibration bodies are obtained through calculation;

and when the obtained coordinates of the continuous multiple probes are the same, determining the coordinates of the preset positions, and sending the coordinates of the probes and the coordinates of the calibration bodies to a cloud server.

9. The method of claim 8, wherein the cloud server performs data processing according to coordinates of the calibration body, comprising:

when a doctor rotates the leg in the hip joint according to a procedure of acquiring the rotation center coordinates of the femoral head corresponding to the processing command, coordinates of a plurality of calibration bodies sent by the binocular camera in real time are received;

when the cloud server receives the coordinates of the current calibration body, comparing the coordinates of the current calibration body with the coordinates of the previously received calibration body, and when the coordinates of the current calibration body are different from the coordinates of the previous calibration body, determining the coordinates of the current calibration body as target coordinates;

and when the preset number of target coordinates are obtained according to the mode of determining the target coordinates, calculating the coordinates of the rotation center of the femoral head according to all the target coordinates.

10. The method of claim 9, wherein the cloud server performs data processing according to coordinates of the calibration body, comprising:

and the cloud server performs preset calculation according to the coordinates of the probe, the coordinates of the calibration body and the coordinates of the femoral head rotation center to obtain a data processing result.