CN112155734B

CN112155734B - Readable storage medium, bone modeling and registering system and bone surgery system

Info

Publication number: CN112155734B
Application number: CN202011057116.0A
Authority: CN
Inventors: 邵辉; 孙峰; 李涛; 何超
Original assignee: Suzhou Xiaowei Changxing Robot Co ltd
Current assignee: Suzhou Xiaowei Changxing Robot Co ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2022-01-28
Anticipated expiration: 2040-09-29
Also published as: CN112155734A; WO2022068340A1

Abstract

The invention provides a readable storage medium, a bone modeling registration system and an orthopaedic surgery system, the readable storage medium having stored thereon a program which when executed implements: acquiring bone surface data of a predetermined object, the bone surface data being obtained via a depth sensor connected to a predetermined object; performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between a depth sensor coordinate system and a navigation image coordinate system; and based on the first coordinate conversion relation, obtaining real-time coordinates of the preset object in a navigation image coordinate system by utilizing real-time bone surface data feedback acquired by the depth sensor. The configuration realizes the registration of the preoperative image model and the intraoperative actual bone model. Drilling is not needed in the whole registration process, no additional trauma is caused, and the possibility of infection is reduced.

Description

Readable storage medium, bone modeling and registering system and bone surgery system

Technical Field

The invention relates to the field of robot-assisted surgery systems, in particular to a readable storage medium, a bone modeling and registering system and an orthopedic surgery system.

Background

In recent years, surgical navigation systems have been increasingly used in surgical operations, particularly orthopedic operations. For example, MAKO navigation system for orthopedic surgery, robodyc navigation system for orthopedic surgery, etc., all utilize the combination of mechanical arm and infrared optical navigation device, according to the preoperative planning of doctor, in combination with the registration and registration technology in the operation, use robot to assist doctor to complete the operation. The bone registration and 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 universal registration tool and method have the following problems:

1) the process is tedious, increase extra operation time, the bone registration method that is generally used at present is: the probe with the target tracking ball is used for collecting the bone in a single point, the single point collecting speed is low, meanwhile, due to the fact that the quantity of collected samples is limited, and due to misoperation of artificial collecting points, registration failure is easily caused, and the whole operation time is prolonged.

2) Due to the fact that a layer of soft tissue exists on the surface of the bone, a pointed probe needs to be used for puncturing the soft tissue for universal bone registration, the force and depth for puncturing the soft tissue are difficult to grasp artificially, the collection point is not accurate enough, and the error of the collection point is large, so that the registration error is large.

Disclosure of Invention

The invention aims to provide a readable storage medium, a bone modeling and registering system and an orthopedic surgery system, so as to solve the problems of the existing bone registration and registration.

To solve the above technical problem, according to a first aspect of the present invention, there is provided a readable storage medium having stored thereon a program which when executed implements:

acquiring bone surface data of a predetermined object, the bone surface data being obtained via a depth sensor connected to a predetermined object;

performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model;

registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between a depth sensor coordinate system and a navigation image coordinate system;

and based on the first coordinate conversion relation, obtaining real-time coordinates of the preset object in a navigation image coordinate system by utilizing real-time bone surface data feedback acquired by the depth sensor.

Optionally, the first virtual model and the second virtual model are both bone models.

Optionally, when the program on the readable storage medium is executed, the step of performing three-dimensional reconstruction according to the ultrasound image data to obtain a first virtual model includes:

carrying out segmentation processing on the ultrasonic image data to obtain bone contour point cloud data;

and performing three-dimensional reconstruction based on the bone contour point cloud data to obtain the first virtual model.

Optionally, when the program on the readable storage medium is executed, the step of registering the first virtual model with a preset second virtual model includes:

calculating to obtain a minimum bounding box of the outer boundary of the joint according to the second virtual model, and acquiring the center of the minimum bounding box;

converting the bone contour point cloud data into a coordinate system of the second virtual model through a coarse registration matrix, and acquiring a converted point cloud central point;

connecting the center of the minimum bounding box with the joint center of the predetermined object to define a first vector;

connecting the point cloud central point with the joint center to define a second vector, wherein an included angle between the second vector and the first vector is alpha, a normal vector of a plane formed by the first vector and the second vector is epsilon, and rotating the bone contour point cloud data by an alpha angle around an epsilon axis to enable the first vector and the second vector to coincide on an axis epsilon'; and

and rotating the bone contour point cloud data rotated by the angle alpha around the epsilon vector by an angle beta around an axis epsilon'.

Optionally, the step of registering the first virtual model with a preset second virtual model when the program on the readable storage medium is executed further comprises:

calculating the root mean square between the bone contour point cloud data after rotating around the axis epsilon 'by an angle beta and the bone contour point cloud data before rotating around the epsilon vector by an angle alpha, and if the root mean square is larger than a preset first threshold, repeating the steps of rotating the bone contour point cloud data around the axis epsilon by the angle alpha and rotating around the axis epsilon' by the angle beta until the root mean square is not larger than the first threshold.

Optionally, when the program on the readable storage medium is executed, after the first virtual model is registered with a preset second virtual model, the method further includes:

and comparing the point cloud registration matrix at the current moment with the point cloud registration matrix at the preset interval moment, and triggering the first virtual model and the second virtual model to re-register if the rotation and the translation between the point cloud registration matrix at the current moment and the point cloud registration matrix at the preset interval moment are greater than a preset second threshold value.

Optionally, when the program on the readable storage medium is executed, a preset second virtual model is created according to an image obtained by scanning the predetermined object through CT scanning or MRI scanning.

Optionally, when executed, the program on the readable storage medium further implements:

obtaining a second coordinate conversion relation between the depth sensor coordinate system and the target coordinate system based on the target connected with the depth sensor;

obtaining a third coordinate conversion relation between the target coordinate system and the navigation image coordinate system through the coordinate system conversion of the first coordinate conversion relation and the second coordinate conversion relation;

and obtaining the real-time coordinate of the preset object in a navigation image coordinate system by utilizing the real-time coordinate feedback of the target based on the third coordinate conversion relation.

Optionally, the real-time coordinate of the predetermined object in the navigation image coordinate system obtained by using the real-time bone surface data feedback and the real-time coordinate of the predetermined object in the navigation image coordinate system obtained by using the real-time coordinate feedback of the target are checked with each other, and when one of the real-time coordinates is abnormal, alarm information is generated.

To solve the above technical problem, according to a second aspect of the present invention, there is also provided a bone modeling registration system, comprising: a processor and a stationary detection device; the fixed detection device is provided with a ring part with an adjustable inner size and a depth sensor, wherein the ring part is used for being arranged around a preset object; the depth sensor is connected with the annular part;

the processor is in communication connection with the fixed detection device; the processor is configured to acquire bone surface data of a predetermined object obtained via the depth sensor; performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between a depth sensor coordinate system and a navigation image coordinate system; and based on the first coordinate conversion relation, obtaining real-time coordinates of the preset object in a navigation image coordinate system by utilizing real-time bone surface data feedback acquired by the depth sensor.

Optionally, the bone modeling registration system further includes: a navigation device and a target; the target is connected with the annular part, the navigation device is in communication connection with the processor, and the navigation device is matched with the target and used for acquiring real-time coordinate feedback of the target 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 and a target coordinate system; obtaining a third coordinate conversion relation between the target coordinate system and the navigation image coordinate system through the coordinate system conversion of the first coordinate conversion relation and the second coordinate conversion relation; and obtaining the real-time coordinate of the preset object in a navigation image coordinate system by utilizing the real-time coordinate feedback of the target based on the third coordinate conversion relation.

Optionally, the bone modeling registration system further includes: an alarm device; the alarm device is configured to send alarm information when the depth sensor fails to obtain real-time bone surface data feedback, or the navigation device fails to obtain real-time coordinate feedback of the target.

To solve the above technical problem, according to a third aspect of the present invention, there is also provided an orthopedic surgical system comprising the bone modeling registration system as described above.

In summary, in the readable storage medium, the bone modeling and registration system and the bone surgery system provided by the present invention, the readable storage medium stores a program, and the program when executed implements: acquiring bone surface data of a predetermined object, the bone surface data being obtained via a depth sensor connected to a predetermined object; performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between a depth sensor coordinate system and a navigation image coordinate system; and based on the first coordinate conversion relation, obtaining real-time coordinates of the preset object in a navigation image coordinate system by utilizing real-time bone surface data feedback acquired by the depth sensor.

According to the configuration, the depth sensor is used for acquiring bone surface data, the first virtual model is obtained through reconstruction, and real-time coordinates of the preset object in the navigation image coordinate system can be obtained through real-time bone surface data feedback acquired by the depth sensor based on registration of the first virtual model and the preset second virtual model and conversion among coordinate systems. Namely, the registration of the preoperative image model and the intraoperative actual bone model is realized. Drilling is not needed in the whole registration process, no additional trauma is caused, and the possibility of infection is reduced. In addition, the bone modeling and registering system is simple in arrangement, the installation of registering and registering tools in the operation is simplified, the registering process is simplified, the complexity of the operation is reduced, and the operation time is shortened.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of an operative scene of an orthopaedic surgical system to which the present invention relates;

FIG. 2 is a flow chart of an orthopedic surgical procedure of the orthopedic surgical system according to the present invention;

FIG. 3 is a schematic view of a fixture detection apparatus according to a first embodiment of the present invention;

FIG. 4 is a schematic view illustrating an installation and use of a fixture inspection apparatus according to a first embodiment of the present invention;

FIG. 5 is a schematic view of a ring adjustment according to a first embodiment of the present invention;

FIG. 6 is a schematic view of the ring portion being removed according to the first embodiment of the present invention;

FIG. 7 is a schematic diagram of coordinate transformation according to the first embodiment of the present invention;

fig. 8a is a schematic diagram of a first step registration of a first embodiment of the present invention;

FIG. 8b is a schematic diagram of a second registration step in accordance with a first embodiment of the present invention;

fig. 9 is a flowchart of a registration algorithm according to a first embodiment of the present invention;

FIG. 10 is a schematic diagram of a post-registration error real-time calibration according to a first embodiment of the present invention;

FIG. 11 is a schematic view of a fixture detecting apparatus according to a second embodiment of the present invention;

FIG. 12 is a schematic view of a fixture detecting apparatus according to a third embodiment of the present invention;

FIG. 13 is a schematic view of a third embodiment of the invention showing the mounting and use of the fixture detecting apparatus;

FIG. 14 is a schematic diagram of coordinate transformation according to the third embodiment of the present invention;

FIG. 15 is a schematic view of a fixture detecting apparatus according to a fourth embodiment of the present invention;

FIG. 16 is a schematic view of the fixed detecting unit according to the fourth embodiment of the present invention;

fig. 17 is a schematic diagram of coordinate conversion according to the fourth embodiment of the present invention.

In the drawings:

1-operating trolley; 2, a mechanical arm; 3-a tool target; 4-osteotomy guiding tool; 5-surgical tools; 6-a tracker; 7-an auxiliary display; 8-a main display; 9-navigation trolley; 10-a keyboard; 11-femoral target; 12-the femur; 13-a tibial target; 14-tibia; 15-base target; 17-the patient; 18-an operator;

21-an ultrasonic probe array coordinate system; 22-target coordinate system; 23-a navigation device coordinate system; 24-navigation image coordinate system; 25-depth sensor coordinate system;

100-fixing the detection device; 110-a ring-shaped portion; 120-an ultrasound probe array; 130-a target; 140-an inertial component; 150-depth sensor.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, the term "proximal" is usually the end near the operator, the term "distal" is usually the end near the operated object, the terms "end" and "other end" and "proximal" and "distal" are usually corresponding two parts, which include not only end points, but also the terms "mounting", "connecting" and "connecting", which are to be understood in a broad sense, for example, may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The core idea of the invention is to provide a readable storage medium, a bone modeling registration system and an orthopedic surgery system to solve one or more problems of the existing bone registration.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of an operation scenario of an orthopedic surgery system according to the present invention; fig. 2 is a flow chart of an orthopedic surgical procedure of the orthopedic surgical system according to the present invention.

Fig. 1 shows an application scenario of knee joint replacement using the orthopedic surgical system in an exemplary embodiment, however, the orthopedic surgical system of the present invention is not particularly limited to the application environment, and can be applied to other orthopedic surgeries. In the following description, an orthopaedic surgical system is described by way of example for use in knee joint replacement, but the invention is not intended to be limited thereto.

As shown in fig. 1, the orthopedic surgical system includes a control device, a navigation device, a robotic arm 2, and an osteotomy guiding tool 4. The robotic arm 2 is provided on the surgical trolley 1, and the control device is in some embodiments, but not limiting to this, a computer provided with a processor, a main display 8 and a keyboard 10, and more preferably also an auxiliary display 7. The contents displayed by the auxiliary display 7 and the main display 8 may be the same or different. The navigation device may be an electromagnetic positioning navigation device, an optical positioning navigation device or an electromagnetic positioning navigation device. Preferably, the navigation device is an optical positioning navigation device, compared with other navigation modes, the measurement precision is high, and the positioning precision of the osteotomy guiding tool 4 can be effectively improved. In the following description, the optical positioning navigation device is taken as an example for illustration, but not limited thereto.

The navigation device comprises in particular a navigation marker comprising a base target 15 and a tool target 3, the base target 15 being immobilized, e.g. the base target 15 is fixed on the surgical trolley 1 for providing a base coordinate system (or base target coordinate system), and the tool target 3 is mounted on the osteotomy guiding tool 4 for tracking the position of the osteotomy guiding tool 4. The osteotomy guide tool 4 is mounted at the distal end of the robot arm 2, so that the osteotomy guide tool 4 is supported by the robot arm 2 and the spatial position and posture of the osteotomy guide tool 4 are adjusted.

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 (i.e. the position and attitude of the tool target 3 under the base mark), and then the computer program stored in the memory of the control device controls the mechanical arm 2 to move according to the current position and the desired position of the tool target 3, so that the mechanical arm 2 drives the osteotomy guide tool 4 and the tool target 3 to move and make the tool target 3 reach the desired position, and the desired position of the tool target 3 corresponds to the desired position of the osteotomy guide tool 4.

Therefore, for the application of the bone surgery system, the automatic positioning of the osteotomy guiding tool 4 can be realized, the real-time pose of the osteotomy guiding tool 4 is tracked and fed back by the tool target 3 in the surgery process, and the position and the posture of the osteotomy guiding tool 4 can be adjusted by controlling the motion of the mechanical arm, so that the positioning precision of the osteotomy guiding tool 4 is high, the osteotomy guiding tool 4 is supported by the mechanical arm 2 without fixing the guiding tool on a human body, and the secondary injury to the human body can be avoided.

Typically, the orthopaedic surgery system further comprises a surgery trolley 1 and a navigation trolley 9. The control means and a part of the navigation means are mounted on a navigation trolley 9, for example the processor is mounted inside the navigation trolley 9, the keyboard 10 is placed outside the navigation trolley 9 for operation, the main display 8, the auxiliary display 7 and the tracker 6 are all mounted on a stand which is vertically fixed on the navigation trolley 9, and the robot arm 2 is mounted on the surgical trolley 1. The use of the operation trolley 1 and the navigation trolley 9 makes the whole operation more convenient.

Referring to fig. 2, when performing a knee replacement surgery, the usage of the orthopedic surgery system of the present embodiment generally includes the following operations:

step SK 1: moving the operation trolley 1 and the navigation trolley 9 to proper positions beside a sickbed;

step SK 2: installing navigation markers (the navigation markers also include a femoral target 11, a tibial target 13), the osteotomy guide tool 4, and other related components (such as a sterile bag);

step SK 3: planning before an operation; specifically, the operator 18 introduces a bone CT/MRI scanning model of the patient 17 into the computer for preoperative planning to obtain an osteotomy plan, which includes information such as an osteotomy plane coordinate, a prosthesis model, and a prosthesis installation position; specifically, a three-dimensional knee joint virtual model is created according to knee joint image data of a patient obtained through CT/MRI scanning, and then an osteotomy scheme is created according to the three-dimensional knee joint virtual model, so that an operator can perform preoperative evaluation according to the osteotomy scheme, more specifically, the osteotomy scheme is determined based on the three-dimensional knee joint virtual model by combining the obtained size specification of a prosthesis and the installation position of an osteotomy plate, and is finally output in an operation report form, and a series of reference data such as an osteotomy plane coordinate, an osteotomy amount, an osteotomy angle, a prosthesis specification, an installation position of the prosthesis and an operation auxiliary tool are recorded in the osteotomy scheme, and particularly, a series of theoretical explanations are included, such as a reason explanation for selecting the osteotomy angle, so as to provide reference for the operator; wherein, the three-dimensional knee joint virtual model can be displayed through the main display 8, and the operator can input operation parameters through the keyboard 10 so as to perform preoperative planning;

step SK 4: bone real-time registration; after pre-operation evaluation, the positions of the characteristic points of the bone need to be obtained in real time, then the processor can obtain the actual positions of the femur 12 and the tibia 14 through a characteristic matching algorithm and correspond to the image positions of the femur 12 and the tibia 14, and then the navigation device associates the actual positions of the femur 12 and the tibia 14 with the corresponding targets installed on the femur 12 and the tibia 14, so that the femur target 11 and the tibia target 13 can track the actual positions of the bones in real time. The actual positions of the femur 12 and the tibia 14 are connected with the corresponding targets arranged on the femur 12 and the tibia 14 through the navigation device, so that the actual positions of bones can be tracked in real time by the femur target 11 and the tibia target 13, and in the operation process, as long as the relative positions of the targets and the bones are fixed, the operation effect cannot be influenced by the movement of the bones;

step SK 5: driving the mechanical arm to move in place and executing operation; and then send the plane coordinate of cutting the bone planned before the art to arm 2 through navigation head, arm 2 is after the predetermined position is fixed a position to the plane of cutting the bone through instrument target 3 and move, makes arm 2 enter holding state (promptly motionless), and afterwards, the operator can use operation instrument 5 such as pendulum saw or electric drill to cut the bone and/or drilling operation through cutting bone guiding tool 4. After the osteotomy and drilling operations are completed, the operator can install the prosthesis and perform other surgical operations.

Traditional operation and do not have the navigation operation system that the arm participated in the location, need manual adjustment to cut bone guiding orientation instrument, the precision is poor, and the adjustment is inefficient, and uses arm location guiding instrument, and the operator need not use extra bone nail to fix guiding instrument on the bone, reduces patient's traumatic surface to reduce the operation time.

In this embodiment, the navigation markers further include a femoral target 11 and a tibial target 13. The femoral target 11 is used for positioning the spatial position and posture of the femur 12, and the tibial target 13 is used for positioning the spatial position and posture of the tibia 14. As mentioned above, the tool target 3 is mounted on the osteotomy guiding tool 4, but in other embodiments, the tool target 3 may be mounted on the end joint of the robotic arm 2.

Based on the orthopedic surgery system, the robot-assisted surgery can be realized, and an operator is helped to position the position needing to be cut so as to be convenient for the operator to cut the bone. However, after pre-operative assessment, the bone virtual model needs to be registered with the position of the actual bone, and the femoral target 11 and the tibial target 13 can realize the function of tracking the bone in real time. To this end, the invention provides a bone modeling registration system comprising: a processor, a navigation device, and a fixation detection device 100; the processor may be a shared processor in a computer provided on the surgical cart 1, or may be a processor provided separately; similarly, the navigation device can utilize the tracker 6 in the orthopedic surgery system, and can also be independently arranged. The orthopaedic surgical system includes a bone modeling registration system as described above, which may be used to register bone positions preoperatively or intraoperatively. The readable storage medium, the bone modeling and registration system and the bone surgery system provided by the invention are described in detail by several embodiments in combination with the accompanying drawings.

[ EXAMPLES one ]

Referring to fig. 3 to 10, fig. 3 is a schematic view of a fixing detection apparatus according to a first embodiment of the invention; FIG. 4 is a schematic view illustrating an installation and use of a fixture inspection apparatus according to a first embodiment of the present invention; FIG. 5 is a schematic view of a ring adjustment according to a first embodiment of the present invention; FIG. 6 is a schematic view of the ring portion being removed according to the first embodiment of the present invention; FIG. 7 is a schematic diagram of coordinate transformation according to the first embodiment of the present invention; fig. 8a is a schematic diagram of a first step registration of a first embodiment of the present invention; FIG. 8b is a schematic diagram of a second registration step in accordance with a first embodiment of the present invention; fig. 9 is a flowchart of a registration algorithm according to a first embodiment of the present invention; fig. 10 is a schematic diagram of real-time calibration of errors after registration according to a first embodiment of the present invention.

Fig. 3 and 4 illustrate a fixed inspection apparatus 100 according to an embodiment of the present invention, the fixed inspection apparatus 100 having an inner-dimension-adjustable ring portion 110, an ultrasonic probe array 120 and a target 130, the ultrasonic probe array 120 being distributed circumferentially along the ring portion 110 for placement around a predetermined object; the target 130 is connected to the ring portion 110; the navigation device is adapted to the target 130 (e.g., the tracker 6 is adapted to an optical target) to obtain real-time coordinate feedback of the target 130 and transmit the real-time coordinate feedback to the processor; the processor is respectively in communication connection with the navigation device and the fixed detection device 100; the processor is configured to acquire ultrasound image data of a predetermined object obtained via the ultrasound probe array 120; performing three-dimensional reconstruction according to the ultrasonic image data to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate transformation relation between an ultrasonic probe array coordinate system and a navigation image coordinate system (namely a coordinate system of a CT image or an MRI image for navigation); obtaining a second coordinate conversion relation between the ultrasonic probe array coordinate system and the target coordinate system; obtaining a third coordinate conversion relation between the target coordinate system and the navigation image coordinate system through the coordinate system conversion of the first coordinate conversion relation and the second coordinate conversion relation; and based on the third coordinate conversion relation, obtaining the real-time coordinate of the preset object in a navigation image coordinate system 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 from a mechanical design file or by way of calibration. Preferably, 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, which is established according to ultrasound image data, and the second virtual model is a bone model, which is established according to an image of the bone obtained by preoperative CT/MRI scanning.

Thus, the present embodiment also provides a readable storage medium, on which a program is stored, the program when executed implements:

step SA 1: acquiring ultrasound image data of a predetermined object, the ultrasound image data being obtained via an array of ultrasound probes 120 arranged annularly around a predetermined object;

step SA 2: performing three-dimensional reconstruction according to the ultrasonic image data to obtain a first virtual model;

step SA 3: registering the first virtual model with a preset second virtual model;

step SA 4: obtaining a coordinate transformation relation among the ultrasonic probe array coordinate system, the target coordinate system, the navigation device coordinate system and the navigation image coordinate system based on the target 130 connected with the ultrasonic probe array 120;

step SA 5: based on the coordinate transformation relationship, the real-time coordinate of the predetermined object in the navigation image coordinate system is obtained by using the real-time coordinate feedback of the target 130 under the navigation device.

Taking the femur as an example of a predetermined object, the ring portion 110 can be bound around the femur on the thigh of the patient, so that the ultrasound probe array 120 can acquire ultrasound image data of the femur. Referring to fig. 5 and 6, preferably, the inner dimension of the ring portion 110 is adjustable and openably and closably configured, i.e., in use, the ring portion 110 can be opened, fitted over the thigh of a patient, and then closed to adjust the inner dimension to fit the size of the thigh of a different patient. Alternatively, the ring portion 110 may be made of a steel band or the like.

In step SA1, the annularly arranged ultrasound probe array 120 may acquire ultrasound image data of the femur, and further transmit the acquired ultrasound image data to the processor. Further, step SA2 specifically includes:

step SA 21: carrying out segmentation processing on the ultrasonic image data to obtain bone contour point cloud data;

step SA 22: and performing three-dimensional reconstruction based on the bone contour point cloud data to obtain the first virtual model, namely the reconstructed virtual model of the femur.

Preferably, in step SA3, a preset second virtual model is created according to an image obtained by CT scanning or MRI scanning the predetermined object. Specifically, a CT scan image or an MRI scan image can be obtained by 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. Furthermore, the first virtual model established according to the ultrasonic image data is registered with the second virtual femoral model established according to the preoperative image, so that the registration of the preoperative image model and the intraoperative actual bone model is realized.

Referring to fig. 7, the purpose of step SA4 is to unify the coordinate systems. Specifically, since the ultrasound probe array 120 and the target 130 are respectively connected to the ring portion 110, the relative position between the ultrasound probe array 120 and the target 130 can be predicted, and thus the conversion relationship between the ultrasound probe array coordinate system 21 and the target coordinate system 22 is known, for example, through a configuration file. Since the navigation device (e.g., tracker 6) is adapted to both the target 130, the tracker 6 can know the position information of the target 130 in real time, and thus the conversion relationship between the target coordinate system 22 and the navigation device coordinate system 23 can be known by tracking 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, the conversion relationship between the target coordinate system 22 and the navigation image coordinate system 24 can be obtained through the conversion relationship between the coordinate systems.

In step SA5, after the registration in step SA3 and the coordinate system transformation 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 under the navigation device coordinate system 23.

With such configuration, the ultrasound probe array 120 arranged in a ring shape is used to acquire ultrasound image data, reconstruct the ultrasound image data to obtain a first virtual model, and obtain real-time coordinates of the predetermined object in the navigation image coordinate system by using real-time coordinate feedback of the target based on registration between the first virtual model and a preset second virtual model and conversion between coordinate systems. Namely, the registration of the preoperative image model and the intraoperative actual bone model is realized. Drilling is not needed in the whole registration process, no additional trauma is caused, and the possibility of infection is reduced. In addition, the bone modeling and registering system is simple in arrangement, the installation of registering and registering tools in the operation is simplified, the registering process is simplified, the complexity of the operation is reduced, and the operation time is shortened.

Referring to fig. 8a, 8b and 9, the step of registering the first virtual model with a preset second virtual model includes:

step SA 31: according to the second virtual model, calculating to obtain a minimum bounding box of the outer boundary of the joint, and acquiring the center C of the minimum bounding box_kj；

Step SA 32: subjecting the bone contour point cloud data to a coarse registration matrix T₀Converting the point cloud into a coordinate system of the first virtual model, and acquiring a point cloud center point C after conversion_b(ii) a The following formula is specified:

P_{CT}＝T₀P_{R}

wherein, P_{CT}Refers to any point in the point cloud data of the bone contour, P_{R}RepresentsThe coordinate system of the acquired first virtual model (i.e. the ultrasound probe array coordinate system) is actually reconstructed.

Step SA 33: center C of the minimum bounding box_kjA center h of a joint with the predetermined object_ctThe connection defines a first vector q; it should be understood that if the predetermined object is a femur, the corresponding joint center is a hip joint center, and if the predetermined object is a tibia, the corresponding joint center is an ankle joint center.

Step SA 34: the point cloud center point C_bAnd the joint center h_ctConnecting and defining a second vector s, wherein the included angle between the second vector s and the first vector q is alpha, the normal vector of the plane formed by the first vector q and the second vector s is epsilon, rotating the bone contour point cloud data by an angle alpha around the epsilon vector to enable the first vector q and the second vector s to be coincident on an axis epsilon'; a first step of registration is achieved (as shown in fig. 8 a).

Step SA 35: rotating the bone contour point cloud data by an angle beta around an axis epsilon'. After the axes of the step SA34 are overlapped, a declination angle of β around the axis e 'exists between the bone contour point cloud data before and after rotating the α around the ∈ vector, so that the bone contour point cloud data after rotating the α around the ∈ vector needs to be rotated by β around the axis e'; a second registration step is achieved (as shown in fig. 8 b).

Further, the step of registering the first virtual model with a preset second virtual model further comprises:

step SA 36: calculating the Root Mean Square (RMS) between the bone contour point cloud data after rotating around the axis epsilon 'by an angle beta and the bone contour point cloud data before rotating around the epsilon vector by an angle alpha, and if the RMS is larger than a preset first threshold, repeating the steps of rotating the bone contour point cloud data around the epsilon axis by the angle alpha and rotating around the axis epsilon' by the angle beta until the RMS is not larger than the first threshold. Specifically, step SA34 and step SA35 may be repeated multiple times until a convergence condition is reached when the root mean square is not greater than the first threshold, and the registration is completed. The following formula is specified:

T′_n＝T(h_CT)R₁(ε_n,α_n)T(-h_ct)T_n

T_n+1＝T(h_ct)R₂(ε′_n,β_n)T(-h_ct)T′_n

wherein, T_nIs the registration matrix after the nth iteration, T'_nIs the axial rotational registration matrix (i.e., the matrix employed in step SA 34) for the nth iteration, R1 is the rotation around epsilon by an angle α; t is_n+1Is the axially autorotation registration matrix of iteration n +1 (i.e., the matrix employed in step SA 35); r2 is based on a rotation of β degrees around the epsilon' axis after the last axial rotation.

Through the steps, registration of the bone contour point cloud data and the second virtual model is achieved.

Further, after registering the first virtual model with a preset second virtual model, the program on the readable storage medium when executed further implements: and comparing the point cloud registration matrix at the current moment with the point cloud registration matrix at the preset interval moment, and triggering the first virtual model and the second virtual model to re-register if the rotation and the translation between the point cloud registration matrix at the current moment and the point cloud registration matrix at the preset interval moment are greater than a preset second threshold value. Referring to fig. 10, after registration, the error may also be calibrated in real time. In the operation process, the ultrasound image data acquired by the ultrasound probe array 120 in real time is segmented and reconstructed to obtain point cloud data, and if the rotation and translation between the current and the latter registration matrixes are greater than a preset second threshold, the current target 130 is considered to have moved, and re-registration is triggered (for example, step SA31 to step SA36 are re-executed) until the rotation and translation are within an acceptable range, so that error calibration is completed.

[ example two ]

Please refer to fig. 11, which is a diagram illustrating a fixing detection apparatus according to a second embodiment of the present invention.

The readable storage medium, the bone modeling registration system and the bone surgery system provided in the second embodiment of the present invention are substantially the same as the readable storage medium, the bone modeling registration system and the bone surgery system provided in the first embodiment, and the same parts are not described again, and only different points are described below.

As shown in fig. 11, in the bone modeling and registration system according to the second embodiment, the fixation detecting apparatus further includes: an inertial component 140; the inertial component 140 is connected to the target and is configured to obtain position information and attitude information of the target 130 in real time; the processor is further configured to derive 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 the attitude information of the target 130 acquired by the inertial component 140 in real time. Optionally, the inertial component 140 includes a gyroscope and/or an acceleration sensor; the gyroscope is used for acquiring the attitude information of the target 130, and the acceleration sensor is used for acquiring the position information of the target 130. The gyroscope may be, for example, a three-axis gyroscope and the acceleration sensor may be, for example, a three-axis acceleration sensor. The target of the three-axis gyroscope measurement is the angular velocity of rotation, and the attitude information of the target 130 can be obtained by integrating and accumulating the 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.

Based on the bone modeling and registration system provided in the second embodiment, when the program on the readable storage medium is executed, in addition to the steps SA 1-SA 5 in the first embodiment, the method can further implement:

step SA 6: acquiring position information and attitude information of the target 130 in real time, wherein the position information and the attitude information of the target 130 come from an inertial component 140 connected with the target 130;

step SA 7: the real-time coordinate feedback of the target 130 is obtained based on the initial coordinates of the target 130 in the navigation device coordinate system 23 and the position information and the posture information of the target 130 acquired by the inertial component 140 in real time.

Note that, here, step SA6 and step SA7 are not limited to being performed after step SA5 in order, and may be performed before or after any one of step SA1 to step SA 5.

Based on the bone modeling registration system and the readable storage medium, the processor may acquire two sets of tracking data, one via the navigation device-target 130 and the other via 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 inertia element 140 and the real-time coordinate feedback of the target 130 directly obtained by the navigation device are mutually verified, and when one of the real-time coordinate feedback and the real-time coordinate feedback of the target 130 is abnormal, alarm information is generated. In some embodiments, the target 130 is an optical target, when the navigation device tracks the position and posture of the target 130, the target 130 is occluded or cannot be identified, and the processor can correct and compensate the position of the target 130 through the inertial tracking system, so that the error caused by the loss of the tracking of the target 130 can be avoided.

Preferably, the bone modeling registration system further comprises: an alarm device (not shown); the alert device is configured to send an alert message when either of the inertial component 140 and the navigation device is unable to obtain real-time coordinate feedback of the target 130. If the alarm device comprises an LED lamp or a buzzer, etc., when the inertia component 140 cannot provide accurate information or when the navigation device cannot obtain real-time coordinate feedback of the target 130, the alarm device sends alarm information to prompt an operator that at least one tracking system is in a problem.

[ EXAMPLE III ]

Referring to fig. 12 to 14, fig. 12 is a schematic view of a fixing detection device according to a third embodiment of the present invention; FIG. 13 is a schematic view of a third embodiment of the invention showing the mounting and use of the fixture detecting apparatus; fig. 14 is a schematic diagram of coordinate transformation according to the third embodiment of the present invention.

The readable storage medium, the bone modeling registration system and the bone surgery system provided in the third embodiment of the present invention are basically the same as the readable storage medium, the bone modeling registration system and the bone surgery system provided in the first embodiment, and the same parts are not described again, and only different points are described below.

Referring to fig. 12 and 13, a fixing detection device 100 according to a third embodiment is shown, in which the fixing detection device 100 has a ring-shaped portion 110 with an adjustable inner dimension and a depth sensor 150, and the ring-shaped portion 110 is arranged around a predetermined object; the depth sensor 150 is connected to the annular portion 110; the processor is in communication with the stationary detection device 100; the processor is configured to acquire bone surface data of a predetermined object obtained via the depth sensor 150; performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between a depth sensor coordinate system and a navigation image coordinate system; and based on the first coordinate conversion relation, obtaining real-time coordinates of the predetermined object in a navigation image coordinate system by using real-time bone surface data feedback acquired by the depth sensor 150.

Thus, the third embodiment further provides a readable storage medium, on which a program is stored, the program, when executed, implementing:

step SB 1: acquiring bone surface data of a predetermined object, the bone surface data being obtained via a depth sensor connected to a predetermined object;

step SB 2: performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model;

step SB 3: registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between a depth sensor coordinate system and a navigation image coordinate system;

step SB 4: and based on the first coordinate conversion relation, obtaining real-time coordinates of the preset object in a navigation image coordinate system by utilizing real-time bone surface data feedback acquired by the depth sensor.

Taking the femur as an example of a predetermined object, the ring portion 110 may be tied around the femur to the thigh of the patient, and the depth sensor 150 (which may include a depth camera, for example) extends toward the knee joint. The depth sensor 150 can directly acquire bone surface data of the exposed femur by exposing one end of the femur near the knee joint before operation. Specifically, the bone surface data here includes image depth data and the like. Since the positional relationship of the depth sensor 150 with respect to the ring portion 110 may be preset or obtained from a registration file, it may be considered that the depth sensor 150 forms a predictable connection relationship with the femur.

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:

step SB 21: carrying out segmentation processing on the bone surface data to obtain bone contour point cloud data;

step SB 22: and performing three-dimensional reconstruction based on the bone contour point cloud data to obtain the first virtual model, namely the reconstructed virtual model of the femur.

In an example, after acquiring the bone surface data, the depth sensor 150 may acquire the region-of-interest data of the user through a visual window on the depth sensor 150, through an automatic region acquisition algorithm or an interactive manner, perform bone segmentation through an automatic segmentation algorithm, and reconstruct the segmented result. Of course, those skilled in the art can reasonably improve the reconstruction method of the first virtual model according to the prior art.

Preferably, in step SB3, a preset second virtual model is created based on an image obtained by CT scanning or MRI scanning the predetermined object. Specifically, a CT scan image or an MRI scan image can be obtained by 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. Furthermore, the first virtual model established according to the bone surface data and the second virtual femoral model established according to the preoperative image are registered, so that the registration of the preoperative image model and the intraoperative actual bone model is realized.

Referring to FIG. 14, the purpose of step SB4 is to unify the coordinate systems. Specifically, the position relationship of the depth sensor 150 with respect to the annular portion 110 may be preset or obtained from a registration file, and the relative position of the depth sensor 150 with respect to the annular portion 110 may be predicted, so that the conversion relationship between the depth sensor coordinate system 25 and the navigation image coordinate system 24 may be obtained by performing registration between the first virtual model and the second virtual model.

In step SB5, after the registration in step SB3 and the transformation of the coordinate system in step SB4 are completed, the actual position of the femur can be tracked in real time by the real-time bone surface data feedback acquired by the depth sensor 150.

With this configuration, the depth sensor 150 is used to acquire bone surface data, the first virtual model is reconstructed, and real-time coordinates of the predetermined object in the navigation image coordinate system 24 can be obtained by using real-time bone surface data feedback acquired by the depth sensor 150 based on registration of the first virtual model and the preset second virtual model and conversion between coordinate systems. Namely, the registration of the preoperative image model and the intraoperative actual bone model is realized. Drilling is not needed in the whole registration process, no additional trauma is caused, and the possibility of infection is reduced. In addition, the bone modeling and registering system is simple in arrangement, the installation of registering and registering tools in the operation is simplified, the registering process is simplified, the complexity of the operation is reduced, and the operation time is shortened.

The registration algorithm of step SB3 is similar to step SA3 of the first embodiment, please refer to the first embodiment, and the description is not repeated here. Further, the program on the readable storage medium of the third embodiment may also include a step of error calibration when executed, specifically referring to the first embodiment, if the rotation and translation of the point cloud registration matrix between the point cloud registration matrix at the current time and the point cloud registration matrix at the predetermined interval time are greater than the preset second threshold, the re-registration is triggered.

[ EXAMPLE IV ]

Please refer to fig. 15 to 17, wherein fig. 15 is a schematic view of a fixing detection apparatus according to a fourth embodiment of the present invention; FIG. 16 is a schematic view of the fixed detecting unit according to the fourth embodiment of the present invention; fig. 17 is a schematic diagram of coordinate conversion according to the fourth embodiment of the present invention.

The readable storage medium, the bone modeling registration system and the bone surgery system provided in the fourth embodiment of the present invention are basically the same as the readable storage medium, the bone modeling registration system and the bone surgery system provided in the third embodiment, and the same parts are not described again, and only different points are described below.

As shown in fig. 15 to 17, in the bone modeling registration system according to the fourth embodiment, the fixation detecting apparatus further includes: navigation device and target 130; the target 130 is connected to the ring portion 110; the navigation device is communicatively coupled to the processor, and the navigation device is adapted to the target 130 (e.g., an optical target adapted to the tracker 6) to obtain real-time coordinate feedback of the target 130 and transmit 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; obtaining a third coordinate transformation relation between the target coordinate system 22 and the navigation image coordinate system 24 through the coordinate system transformation of the first coordinate transformation relation and the second coordinate transformation relation; based on the third coordinate transformation relationship, the real-time coordinate of the predetermined object under the navigation image coordinate system 24 is obtained by using the real-time coordinate feedback of the target 130.

Based on the bone modeling registration system of the fourth embodiment, when the program on the readable storage medium is executed, the method may further implement:

step SB 6: obtaining a second coordinate transformation relationship between the depth sensor coordinate system 25 and the target coordinate system 22 based on the target 130 connected to the depth sensor 150;

step SB 7: obtaining a third coordinate transformation relation between the target coordinate system 22 and the navigation image coordinate system 24 through the coordinate system transformation of the first coordinate transformation relation and the second coordinate transformation relation;

step SB 8: based on the third coordinate transformation relationship, the real-time coordinate of the predetermined object under the navigation image coordinate system 24 is obtained by using the real-time coordinate feedback of the target 130.

Note that, here, the steps SB6 to SB8 are not limited to be performed after the step SB5 in order, but may be performed before or after any of the steps SB1 to SB 5.

Based on the bone modeling registration system and the readable storage medium, the processor may acquire two sets of tracking data, one via the navigation device-target 130 and the other using the depth sensor 150. Further, the real-time coordinates of the predetermined object under the navigation image coordinate system 24, which are 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 24, which are obtained by using the real-time coordinate feedback of the target 130, are checked with each other, and when one of the real-time coordinates is abnormal, alarm information is generated.

In some embodiments, the depth sensor 150 is used to obtain the real-time bone surface data feedback, which requires a large amount of computing resources, and the navigation device is used to track the position and posture of the target 130, so that the processor preferably uses the real-time coordinates of the target 130 obtained by the navigation device as the main data to calculate the real-time coordinates of the predetermined object in the navigation image coordinate system 24 when two sets of tracking data can be obtained. When the target 130 is blocked or cannot be identified, the processor can acquire real-time bone surface data feedback through the depth sensor 150 to correct and compensate the position of the target 130, so that errors caused by the loss of tracking of the target 130 can be avoided.

Preferably, the bone modeling registration system further comprises: an alarm device (not shown); the alarm device is configured to send an alarm message when the depth sensor 150 fails to obtain real-time bone surface data feedback or the navigation device fails to obtain real-time coordinate feedback of the target 130. If the alarm device comprises an LED lamp or a buzzer, etc., when the depth sensor 150 cannot acquire real-time bone surface data feedback, or when the navigation device cannot acquire real-time coordinate feedback of the target 130, the alarm device sends alarm information to prompt an operator that at least one tracking system is in a problem.

In summary, in the readable storage medium, the bone modeling and registration system and the bone surgery system provided by the present invention, a program on the readable storage medium provided by a preferred embodiment is executed to implement: acquiring ultrasound image data of a predetermined object, the ultrasound image data being obtained via an array of ultrasound probes arranged around a predetermined object; performing three-dimensional reconstruction according to the ultrasonic image data to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between an ultrasonic probe array coordinate system and a navigation image coordinate system; obtaining a second coordinate conversion relation between the coordinate system of the ultrasonic probe array and the coordinate system of the target on the basis of the target connected with the ultrasonic probe array; obtaining a third coordinate conversion relation between the target coordinate system and the navigation image coordinate system through the coordinate system conversion of the first coordinate conversion relation and the second coordinate conversion relation; and obtaining the real-time coordinate of the preset object in a navigation image coordinate system by utilizing the real-time coordinate feedback of the target based on the third coordinate conversion relation.

According to the configuration, ultrasonic probe arrays arranged around a preset object are used for acquiring ultrasonic image data, a first virtual model is obtained through reconstruction, and real-time coordinates of the preset object in a navigation image coordinate system can be obtained through real-time coordinate feedback of a target based on registration of the first virtual model and a preset second virtual model and conversion among coordinate systems. Namely, the registration of the preoperative image model and the intraoperative actual bone model is realized.

Another preferred embodiment provides a program on a readable storage medium that when executed implements: acquiring bone surface data of a predetermined object, the bone surface data being obtained via a depth sensor connected to a predetermined object; performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between a depth sensor coordinate system and a navigation image coordinate system; and based on the first coordinate conversion relation, obtaining real-time coordinates of the preset object in a navigation image coordinate system by utilizing real-time bone surface data feedback acquired by the depth sensor.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims

1. A readable storage medium having a program stored thereon, the program when executed implementing:

based on the first coordinate conversion relation, obtaining real-time coordinates of the preset object in a navigation image coordinate system by utilizing real-time bone surface data feedback acquired by the depth sensor;

performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model, comprising:

carrying out segmentation processing on the bone surface data to obtain bone contour point cloud data;

performing three-dimensional reconstruction on the basis of the bone contour point cloud data to obtain the first virtual model;

the step of registering the first virtual model with a preset second virtual model comprises:

2. The readable storage medium of claim 1, wherein the first virtual model and the second virtual model are both bone models.

3. The readable storage medium of claim 1, wherein the step of registering the first virtual model with a preset second virtual model further comprises:

4. The readable storage medium of claim 1, wherein after registering the first virtual model with a preset second virtual model, the program when executed further performs:

5. The readable storage medium of claim 1, wherein the preset second virtual model is created based on an image obtained by scanning the predetermined object through a CT scan or an MRI scan.

6. The readable storage medium of claim 1, wherein the program when executed further implements:

7. The readable storage medium of claim 6, wherein the real-time coordinates of the predetermined object in the navigation image coordinate system obtained by the real-time bone surface data feedback and the real-time coordinates of the predetermined object in the navigation image coordinate system obtained by the real-time coordinate feedback of the target are verified, and when one of the coordinates is abnormal, an alarm message is generated.

8. A bone modeling registration system, comprising: a processor and a stationary detection device; the fixed detection device is provided with a ring part with an adjustable inner size and a depth sensor, wherein the ring part is used for being arranged around a preset object; the depth sensor is connected with the annular part;

the processor is in communication connection with the fixed detection device; the processor is configured to acquire bone surface data of a predetermined object obtained via the depth sensor; performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model; registering the first virtual model with a preset second virtual model to obtain a first coordinate conversion relation between a depth sensor coordinate system and a navigation image coordinate system; based on the first coordinate conversion relation, obtaining real-time coordinates of the preset object in a navigation image coordinate system by utilizing real-time bone surface data feedback acquired by the depth sensor;

wherein, the step of performing three-dimensional reconstruction according to the bone surface data to obtain a first virtual model comprises:

9. The bone modeling registration system of claim 8, further comprising: a navigation device and a target; the target is connected with the annular part, the navigation device is in communication connection with the processor, and the navigation device is matched with the target and used for acquiring real-time coordinate feedback of the target and transmitting the real-time coordinate feedback to the processor;

10. The bone modeling registration system of claim 9, further comprising: an alarm device; the alarm device is configured to send alarm information when the depth sensor fails to obtain real-time bone surface data feedback, or the navigation device fails to obtain real-time coordinate feedback of the target.

11. An orthopedic surgical system comprising a bone modeling registration system according to any of claims 8-10.