CN112237477B - Fracture reduction closed operation positioning navigation device - Google Patents
Fracture reduction closed operation positioning navigation device Download PDFInfo
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- CN112237477B CN112237477B CN201910646671.8A CN201910646671A CN112237477B CN 112237477 B CN112237477 B CN 112237477B CN 201910646671 A CN201910646671 A CN 201910646671A CN 112237477 B CN112237477 B CN 112237477B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The invention relates to a positioning navigation device for fracture reduction closed surgery, which comprises: the positioning device comprises a preoperative positioning mechanism and an intraoperative positioning mechanism, wherein the preoperative positioning mechanism and the intraoperative positioning mechanism respectively comprise a positioning support rod, a positioning mark and a common positioning support, and the positioning mark comprises a positioning ball; the space position and the space distance between the positioning ball used for the preoperative positioning mechanism and the positioning ball used for the intraoperative positioning mechanism are the same; the length of the positioning support rod of the preoperative positioning mechanism is smaller than that of the intraoperative positioning support rod.
Description
Technical Field
The invention relates to a positioning navigation device for fracture reduction closed surgery, in particular to positioning navigation for reduction closed surgery of multi-section broken bones or fractures.
Background
In the existing interventional operation, no operation is needed, and only a special surgical instrument is required to be stretched to a focus position or an operation target position of a human body in a small wound, and then the aim of treatment is achieved through various physical or chemical therapy methods. Computer-assisted surgery navigation techniques have been developed because medical personnel cannot visually see the lesion or the site to be treated in the patient's body with the naked eye during the interventional procedure. The operation navigation system is used for mutually linking preoperative medical image data of a patient with an operation position in an operation through a positioning mechanism, and finally projecting an image or a three-dimensional image of a focus or the operation position on a screen to help medical staff to carry out an operation. However, when a general operation is performed on a human organ or a limb, the medical image before the operation and the operation site during the operation are connected to each other by the positioning mechanism, but the positioning mechanism is not directly fixed to the lesion.
For a patient with a fracture, it is necessary to surgically reduce the fractured bones and then close the reduced fractured bones to each other. Since the outside of the human skeleton is covered with muscles and skin, doctors who have fractured bones or fractures cannot directly see or observe the position, posture, displacement and the like of the fractured bones with naked eyes. Therefore, a computer-aided operation navigation system is also adopted in the broken bone or fracture reduction closed operation, so that medical staff can better see the condition of the affected limb and know the position of the broken bone, and the operation is conveniently carried out.
In the prior art, the bone condition of a patient before and during operation is usually obtained by using CT or X-ray. However, when the doctor provides information such as the shape and position of the fractured bone by means of X-ray fluoroscopy or CT scanning, the patient and the medical staff are injured by radiation during the operation.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a navigation device for a fractured bone reduction closed surgery, which can accurately display the fracture or fractured bone shape without using X-ray fluoroscopy or CT scanning during the surgery.
In order to achieve the above object, the present invention provides a positioning navigation device for a fracture reduction closed surgery, comprising: the preoperative positioning mechanism and the intraoperative positioning mechanism respectively comprise a positioning support rod, a positioning mark and a common positioning support, and the positioning mark comprises a positioning ball; the space position and the space distance between the positioning ball used for the preoperative positioning mechanism and the positioning ball used for the intraoperative positioning mechanism are the same; the length of the positioning support rod of the preoperative positioning mechanism is smaller than that of the intraoperative positioning support rod;
the device, when in use, comprises the following steps:
respectively installing a preoperative positioning mechanism on each broken bone segment, and performing CT scanning to obtain image information of the broken bone and the preoperative positioning mechanism;
determining the data information of the positioning balls of each broken bone segment and the preoperative positioning mechanism;
dividing the obtained data information into data groups by taking each broken bone segment and a positioning ball of the preoperative positioning mechanism as a group, and determining the spherical center coordinates of the positioning ball in the preoperative positioning mechanism contained in each data group;
determining the pairing relation between each preoperative positioning mechanism and the corresponding fractured bone segment according to the sphere center coordinates of the positioning spheres;
detaching the preoperative positioning mechanism and installing the intraoperative positioning mechanism;
the infrared light is utilized to track and identify the positioning balls of the intraoperative positioning mechanisms, so as to determine the coordinates of the centers of the positioning balls of the intraoperative positioning mechanisms;
determining the spatial posture of each intraoperative positioning mechanism according to the spherical center coordinates of each intraoperative positioning mechanism, and determining the spatial posture of each intraoperative broken bone segment according to the coordinate conversion relation between the preoperative positioning mechanism and the intraoperative positioning mechanism;
and displaying each broken bone model.
According to one aspect of the invention, the positioning ball for the preoperative positioning mechanism is a rigid round ball made of a metal material, the positioning ball for the intraoperative positioning mechanism is a round ball made of a plastic material, and the outer surface of the positioning ball is coated with an infrared reflecting material.
According to one aspect of the present invention, the data set of the positioning balls including the positioning marks of the preoperative positioning mechanism includes the center coordinates of the 4 positioning balls and the postures of the preoperative positioning marks determined by the 4 positioning balls.
According to one aspect of the invention, a preoperative positioning mechanism is mounted on each of the fractured bone segments.
According to one scheme of the invention, the marking mechanism in the positioning and marking mechanism is made of metal or plastic material coated with a near-infrared reflective coating, the marking position of the marking mechanism can be collected by image collecting equipment, the real-time tracking of the space pose of the broken bone is realized, and the tracked broken bone is displayed on a display screen in real time.
According to the invention, when positioning is carried out before and during operation, the positioning support rod and the identification frame are fixed on the steel needle, so that positioning deviation can be brought only by dimensional tolerance when manufacturing each part. Whereas the errors in machining can be controlled within a very small range, for example only of the order of 0.01 mm. This positioning error is much smaller than the positioning error calculated in the prior art in the order of millimeters. Therefore, the positioning accuracy according to the present invention is greatly improved.
In addition, because the positioning mechanism in the operation is used as the positioning standard, the position of the broken bone is not determined by X-ray fluoroscopy or CT scanning, and the radiation injury of X-rays to patients and medical staff in the operation is completely avoided.
According to the invention, the positioning ball and the corresponding broken bone are associated and correspond to each other, and the positioning ball is used for determining the related bone segment in data processing or calculation. Therefore, according to the concept of the invention, the information of all the broken bones or broken bone pieces can be collected in one CT scanning or infrared tracking process, then the corresponding bone segments are determined according to the positioning balls, and the collected overall information is further divided into the information of each corresponding bone segment. This will facilitate the calculation and determination of position information for different bone segments.
According to the concept of the invention, the preoperative and intraoperative bone interruption position relationship is determined by replacing the preoperative positioning mechanism and the intraoperative positioning mechanism and adopting different CT scanning and infrared ray tracking devices, so that accurate intraoperative bone interruption position and posture information is provided for doctors, and simultaneously any radiation source harmful to human bodies is completely avoided, thereby effectively protecting doctors and patients from being damaged by radiation in the operation.
According to the concept of the invention, the positioning support and the steel needle in the outer fixing support are fixedly connected with each other before and during the operation, and different positioning support rods and positioning marks are replaced according to the progress of the examination and treatment, so that the position of the positioning ball relative to the fractured bone segment is relatively fixed, and the problem of positioning accuracy between the fractured bone segment and the positioning mechanism is basically changed. According to the present invention, there is no positional drift or variation between the fractured bone segments and the positioning mechanism at all before and during the operation. This makes the position and posture of the fractured bone segments and the relation between the fractured bone segments displayed for the doctor in the operation completely coincide with the actual situation.
According to the invention, if the coordinate systems are established on the preoperative and intraoperative positioning mechanisms, respectively, the replacement of the preoperative positioning mechanism and the intraoperative positioning mechanism involves only translation of the two coordinate systems, since only the length of the marking rod in the preoperative and intraoperative positioning mechanisms changes, and other structural features are the same. Therefore, according to the invention, the real-time position, posture and other information of the corresponding fractured bone segment are derived through infrared ray tracking and translation conversion relation of two coordinate systems instead of determining the real-time position of the fractured bone segment through methods such as CT or X-ray in the operation, and are displayed to an operator. Thus, according to the invention, there is no risk of radiation injury during surgery.
Drawings
Fig. 1 is a schematic view showing the use flow of the positioning navigation device for the reduction and closure surgery of bone fracture according to the invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship that is based on the orientation or positional relationship shown in the associated drawings, which is for convenience and simplicity of description only, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above-described terms should not be construed as limiting the present invention.
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
Fig. 1 is a flow chart schematically showing the positioning navigation device for the fracture reduction closed surgery according to the invention. The apparatus according to the inventive concept will now be described with reference to fig. 1.
Generally, when a fractured patient is sent to a hospital, it is first necessary to fix the fractured bone and then perform a reduction closure operation on the fractured bone or fractured bone segments. Thus, an external fixation frame is installed on the affected limb of the patient to fix the fractured bone segments. Subsequently, the affected limb which is fixed by the external fixing support is scanned by CT or X-ray, and the medical image information of the broken bone is obtained. When the operation is carried out, the position and the posture information of the broken bone are obtained through equipment such as CT or X-ray and the like so as to guide an operator to carry out the reduction and closure operation.
According to the concept of the invention, after the outer fixing bracket is arranged on the affected limb, the steel needle in the outer fixing bracket is used as a fulcrum, and the preoperative positioning mechanism is arranged on the affected limb. The preoperative positioning mechanism comprises a positioning support, a positioning support rod and a positioning mark. When the preoperative positioning mechanism is arranged on the external fixing support, the positioning support is firstly arranged and fixed on the steel needle of the external fixing support and is close to the skin of the affected limb as much as possible. Then, the positioning struts of the preoperative positioning mechanism are mounted on the positioning supports. Usually, the positioning support rod and the positioning mark are fixedly connected with each other. However, the positioning support rod can be installed first, and then the positioning mark is installed and fixed on the positioning support rod. The positioning mark in the preoperative positioning mechanism comprises a positioning ball and a bracket for supporting the positioning ball. According to the invention, four positioning balls are used, and the four positioning balls are arranged at different heights relative to the horizontal plane at intervals, and at least three balls are not on the same straight line. That is, four are at different heights in the three-dimensional coordinate system, are at a distance from each other, and at least three balls are not in a straight line with each other. In short, the four spheres are not coplanar, the three spheres are different lines.
According to the present invention, the positioning marks of the preoperative positioning mechanism mounted on each of the bone fragments are different from each other. That is, the spatial positional relationship of the positioning balls in each positioning mark with respect to each other is different. Therefore, the distribution condition or the distribution rule of the positioning balls arranged on each broken bone segment in the three-dimensional space is different, so that each broken bone segment corresponds to a unique and mutually different positioning mechanism. Therefore, according to the space distribution rule of the 4 positioning balls, the corresponding broken bone segment can be determined. This will provide uniquely defined, data accurate results for the next intraoperative identification and determination of the coordinates and pose of the fractured bone segment.
According to the invention, a CT scanning device is adopted to obtain the medical image of the broken bone of the affected limb before the operation. The positioning ball for the preoperative positioning mechanism is made of metal materials. For example, metal balls of aluminum material are used. This helps to obtain a clear image of the fractured bone.
After the preoperative positioning mechanism is installed, the affected limb is scanned through CT equipment, so that medical image data comprising all the broken bone segments and the dedicated and matched preoperative positioning mechanism corresponding to each broken bone segment are obtained. The medical image data includes both the images of all the bone fragments and the positioning means mounted on the respective bone fragments. Because the spatial position relations among the positioning balls of the positioning marks contained in each preoperative positioning mechanism are different, each broken bone segment corresponds to the three-dimensional image information of the specific positioning ball matched with the broken bone segment.
According to the invention, after the above medical image data information is acquired, it is first preprocessed. And respectively extracting bone data and positioning ball data in the preoperative positioning mechanism according to the CT threshold value of the bone. The locating ball is a solid ball, the data information of the locating ball refers to the data of all points forming the ball, and the coordinates of the center of the ball are the space coordinates of the center of the solid ball calculated according to the data. And then, the obtained data is subjected to noise reduction, filtering and other processing to improve the data cleanliness. The preprocessed data is still complete data including all the fractured bone segments and the preoperative positioning mechanism corresponding to the fractured bone segments.
According to the present invention, the data obtained is divided into a plurality of groups, each of which is a group of a bone fragment and a preoperative positioning mechanism fixed to the bone fragment. Bone data for each broken bone containing the preoperative specific pre-positioning mechanism data is obtained separately. For example, in the case of a patient with a broken humerus in three segments, the humerus splits into three segments, a, b, and c. At this time, on each humerus segment, on the a segment, the b segment and the c segment, the preoperative positioning mechanisms are respectively installed, and the positioning balls contained in the preoperative positioning mechanisms installed on the a segment, the b segment and the c segment are different from each other. According to one embodiment of the invention, there are 4 location balls in each location mark, and each of the 4 balls has a fixed spatial relationship with each other. It is particularly important that the spatial position relationship of each group of positioning balls is different from that of other groups of positioning balls. Thereby forming each bone fragment segment to correspond to a particular preoperative positioning mechanism.
According to the invention, the multiple groups of fractured bone data and positioning mechanism data obtained after the segmentation are respectively analyzed and calculated to obtain the spherical center coordinates of the positioning ball contained in each group. According to the present invention, each set of data includes 4 pieces of spherical center coordinate data. After the sphere center coordinate data are determined, the corresponding relation between the positioning identification in the preoperative positioning mechanism and the fractured bone segment is determined according to the arrangement rule of the sphere center coordinates of the positioning spheres in the three-dimensional space. In other words, the mutual correspondence of each broken bone segment and the positioning mark mounted on the broken bone segment and in the preoperative positioning mechanism is obtained. Thus determining pairwise corresponding relations between each broken bone segment and the positioning marks in the corresponding preoperative positioning mechanism. For example, the corresponding relationship between the fractured bone segment a and the positioning mark m in the corresponding preoperative positioning mechanism. And then, calculating the position relation between the broken bone segment and the positioning mark in the preoperative positioning mechanism according to the segmented bone data. For example, the position relationship between the fractured bone segment a and the positioning mark m in the preoperative positioning mechanism is obtained.
Assuming that the scan data of the fractured bone a based on the CT coordinate system is recorded as a set a, any point on the fractured bone a belongs to the set a, and since the fractured bone a and the preoperative marker set m are acquired in the same CT scan, the sphere center coordinates of the positioning sphere in the preoperative marker set m are based on the CT coordinate system. Firstly, a preoperative marker coordinate system is established on the preoperative marker set m, and then the conversion relation between the preoperative marker coordinate system and the CT coordinate system, namely a rotation matrix R1 and a translation matrix T1, can be calculated according to the four spherical center coordinates of the preoperative marker set m. Then, the fractured bone a is obtained by a preoperative operation, F1(a, R, T1), based on the scanning data in the preoperative marker coordinate system, that is, the positional relationship between the fractured bone a and the preoperative marker group m. Wherein, A preoperatively represents the fractured bone a based on a set of scanning data under a preoperative identification coordinate system, and F1 represents the mapping relation of coordinate transformation. And the position relation of other broken bones relative to the corresponding preoperative identification group can be calculated.
After the relationship between each broken bone segment and the corresponding positioning mark is determined, the preoperative positioning mechanism can be used for replacing the preoperative positioning mechanism.
According to the invention, the spatial positions, arrangement rules and the like of the 4 positioning balls in the positioning mark in the preoperative positioning mechanism are completely the same as those of the 4 positioning balls in the mark in the intraoperative positioning mechanism. The two groups of positioning balls are different only in the material of the positioning balls. The positioning balls in the pre-operative positioning mechanism are metal balls, while the positioning balls in the intra-operative positioning mechanism are non-metal, e.g. plastic balls, and their outer surfaces are coated with an infrared reflective material. The purpose of this distinction is to: in the surgical navigation device, an infrared tracking device is adopted to track and determine the position of the positioning ball during surgery. Therefore, the posture and the position of the fractured bone are determined without any radiation equipment, and radiation injury to patients and medical staff is reduced.
Further, in the surgical navigation device according to the present invention, the positioning struts in the pre-operative positioning mechanism are shorter in length, and the positioning struts in the intra-operative positioning mechanism are longer. According to the present invention, for example, the ratio of the length of the preoperative positioning post to the intraoperative positioning post is about 1: 5. The positioning support rod in the preoperative positioning mechanism is shorter, so that the positioning mark in the preoperative positioning mechanism is favorable to being close to the skin of the diseased limb of the patient and the broken bone segment as far as possible. Therefore, when CT scanning is carried out, the interference or influence of the external fixed support on medical image imaging can be reduced to the maximum extent. According to the invention, the positioning support is preferably applied to the skin of the affected limb. In the operation, on one hand, because the position of the positioning mark is determined by adopting the infrared tracking equipment which is harmless to doctors and patients, the positioning mark needs to be fully exposed in the area irradiated by the infrared rays so as to avoid the shielding or interference of the external fixed support to the infrared rays; on the other hand, sufficient operation space is provided for the doctor to perform the reduction closure operation. Therefore, according to the present invention, by increasing the length of the intraoperative positioning stent, the intraoperative positioning marker is raised to a position which is not affected by the external fixation stent and provides sufficient space for the surgeon to perform the operation.
According to the invention, the preoperative and intraoperative positioning mechanisms adopt the same positioning support, and the positioning support is always kept in a fixed connection relation with the steel needle after being mounted on the steel needle in the external fixing bracket from the beginning. Meanwhile, the spatial position relations, distribution rules and the like of the 4 positioning balls in the positioning marks adopted before and during the operation are all the same. Therefore, the distances of the positioning balls in the preoperative positioning mark and the intraoperative positioning mark only change relative to the corresponding broken bone segments, and other corresponding relations are kept unchanged. That is, in the three-dimensional vector space, the positional relationship of the positioning ball and the corresponding fractured bone segment is the coordinate translation conversion relationship before and during the operation. It can be seen that the difference between the preoperative and the intraoperative positions of the positioning markers or positioning balls is merely a machining error of the components. The machining error of the mechanical parts is very small to be ignored for the navigation of the fracture reduction closed surgery. From the angle, the method for calibrating the position and the posture of the corresponding fractured bone segment by the preoperative and intraoperative positioning mechanisms and further providing navigation guidance for the operation has no error theoretically. The preoperatively determined information of the fractured bone segments is identical to the intraoperative information displayed to the surgeon, since possible errors are negligible in terms of magnitude.
According to the present invention, an intraoperative positioning mechanism is employed intraoperatively. Therefore, after the preoperative scanning is completed, the positioning support rod and the positioning mark in the preoperative positioning mechanism need to be detached, and meanwhile, the steel needle fixedly arranged on the outer fixing support by the positioning support is kept still. Before the reduction closed operation is carried out, an intraoperative positioning support rod and a positioning mark of a middle positioning mechanism are required to be arranged on a positioning support, then, infrared rays are utilized to search and track each positioning ball, and the position coordinates and the corresponding distribution form or rule of the positioning balls are determined. And analyzing and calculating the coordinate data of the sphere center of each group of positioning balls according to the data obtained by infrared ray tracking. And then the corresponding positioning identification data information is pushed out. The intraoperative location marker m' is determined, for example, by calculation. The corresponding fractured bone segments can be determined by determining the spherical center coordinates of the 4 positioning balls and the mutual distribution rules, and then the position information of the current fractured bone segments is estimated according to the information of the fractured bone segments obtained by preoperative scanning.
Since the preoperative positioning mark m and the intraoperative positioning mark m 'are the same in correspondence, the fractured bone segment a corresponding to the intraoperative positioning mark m' can be deduced.
In other words, since the spatial position relationship of the positioning balls of the corresponding preoperative marker and the intraoperative marker is the same, the difference exists only in the length of the positioning strut. The coordinate systems are respectively established on the preoperative marker and the intraoperative marker, only a translation relation exists between the two coordinate systems, namely a translation matrix T2, and the intraoperative F2 (preoperative T2) is used for solving the intraoperative A, wherein the intraoperative A represents a set of the fractured bones a based on the scanning data under the intraoperative marker coordinate system, and F2 represents a mapping relation of coordinate transformation. In the same way, the spatial position relation of other broken bones relative to the intraoperative marker corresponding to the broken bones can be calculated. And calculating the coordinates of the center of sphere of each positioning ball by identifying the positioning ball marked in each operation. And determining the spatial arrangement of the intraoperative markers according to the spherical center coordinates to obtain a marker group of which the current intraoperative marker is subordinate, and calculating the spatial posture of each intraoperative marker group. And rendering and displaying each broken bone model in real time according to the position posture of each intraoperative identification group.
After the fractured bone model is obtained, it may be projected onto a display device, such as a display screen or a head-mounted VR device, to guide a doctor in performing a fractured bone reduction closure procedure.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. Fracture reduction closed operation location navigation head includes: the positioning device comprises a preoperative positioning mechanism and an intraoperative positioning mechanism, wherein the preoperative positioning mechanism and the intraoperative positioning mechanism respectively comprise a positioning support rod, a positioning mark and a common positioning support, and the positioning mark comprises a positioning ball; the space position and the space distance between the positioning ball used for the preoperative positioning mechanism and the positioning ball used for the intraoperative positioning mechanism are the same; the length of the positioning support rod of the preoperative positioning mechanism is smaller than that of the intraoperative positioning support rod;
the device, when in use, comprises the following steps:
respectively installing a preoperative positioning mechanism on each broken bone segment, and performing CT scanning to obtain image information of the broken bone and the preoperative positioning mechanism;
determining the data information of the positioning balls of each broken bone segment and the preoperative positioning mechanism;
dividing the obtained data information into data groups by taking each broken bone segment and a positioning ball of the preoperative positioning mechanism as a group, and determining the spherical center coordinates of the positioning ball in the preoperative positioning mechanism contained in each data group;
determining the pairing relation between each preoperative positioning mechanism and the corresponding fractured bone segment according to the sphere center coordinates of the positioning spheres;
detaching the preoperative positioning mechanism and installing the intraoperative positioning mechanism;
the infrared light is utilized to track and identify the positioning balls of the intraoperative positioning mechanisms, so as to determine the coordinates of the centers of the positioning balls of the intraoperative positioning mechanisms;
determining the spatial posture of each intraoperative positioning mechanism according to the spherical center coordinates of each intraoperative positioning mechanism, and determining the spatial posture of each intraoperative broken bone segment according to the coordinate conversion relation between the preoperative positioning mechanism and the intraoperative positioning mechanism;
and displaying each broken bone model.
2. The positioning and navigation device for closed fracture reduction surgery according to claim 1, wherein the positioning ball for the pre-operative positioning mechanism is a rigid round ball made of metal material, the positioning ball for the intra-operative positioning mechanism is a round ball made of plastic material, and the outer surface of the positioning ball is coated with infrared reflection material.
3. The positioning and navigation device for fracture reduction closed surgery according to claim 1 or 2, wherein the data set of the positioning balls containing the positioning identifier of the preoperative positioning mechanism comprises the center coordinates of 4 positioning balls and the posture of the preoperative positioning identifier determined by the 4 positioning balls.
4. The device for positioning and navigating the closed fracture reduction surgery of claim 1, wherein one preoperative positioning mechanism is installed on each broken bone segment.
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