CN111281541B - Method and apparatus for detecting intra-operative navigation marker movement - Google Patents
Method and apparatus for detecting intra-operative navigation marker movement Download PDFInfo
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- CN111281541B CN111281541B CN202010157062.9A CN202010157062A CN111281541B CN 111281541 B CN111281541 B CN 111281541B CN 202010157062 A CN202010157062 A CN 202010157062A CN 111281541 B CN111281541 B CN 111281541B
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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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Abstract
The application is applicable to the technical field of computers, and provides a method and a device for detecting movement of a navigation marker in an operation, wherein the method comprises the following steps: receiving reflected infrared light reflected by the target during the surgical procedure; determining a first position of the target object according to the reflected infrared light; acquiring relative position information between a plurality of fixtures on a navigation marker; determining a second position of the navigation marker according to the relative position information; and detecting whether the navigation marker moves or not according to the first position and the second position. By adopting the method, whether the navigation marker moves in the orthopedic surgery process can be detected in real time, and the surgery risk is reduced.
Description
Technical Field
The application belongs to the technical field of computers, and particularly relates to a method and a device for detecting movement of a navigation marker in an operation.
Background
In recent years, with the progress of related technologies such as computers, precision mechanical engineering, image engineering, and medicine, computer-assisted surgery has been rapidly developed. Computer-assisted surgery techniques can help physicians make accurate diagnoses of patients; in the operation process, the accurate position of the operation tool relative to the affected part can be clearly observed, so that a doctor is guided to perform the operation quickly and accurately, the operation time is saved, and the operation wound is reduced.
Taking an orthopedic surgery as an example, a doctor can assist in completing a surgical process through an orthopedic surgery navigation system. Currently, in an orthopedic surgery navigation system, an infrared camera can capture an image acquired after infrared rays emitted by the camera are reflected by a marker, and then the pose of the marker is calculated.
During surgery, the infrared-reflecting markers affixed to the patient's leg bones are not allowed to move or rotate, which would otherwise result in a failure of the surgical tracking pose. However, the screws fixed to the markers of the leg bones of the patient are loosened due to the vibration of the surgical instrument, the bone screws fixed to the patient's bones are not firmly fixed, the infrared-reflecting markers fixed to the leg bones of the patient are moved by the accidental collision of the surgical operator, and the like, thereby causing the failure of the surgery. Therefore, it is important to detect and warn whether the infrared reflective markers fixed to the leg bones of the patient move in real time.
Disclosure of Invention
In view of this, the embodiments of the present application provide a method and an apparatus for detecting movement of a navigation marker in an operation, so as to solve the problem in the prior art that it is impossible to detect whether a navigation marker moves in real time in a hand-on process.
A first aspect of embodiments of the present application provides a method of detecting intraoperative navigation marker movement, comprising:
receiving reflected infrared light reflected by the target during the surgical procedure;
determining a first position of the target object according to the reflected infrared light;
acquiring relative position information between a plurality of fixtures on a navigation marker;
determining a second position of the navigation marker according to the relative position information;
and detecting whether the navigation marker moves or not according to the first position and the second position.
A second aspect of embodiments of the present application provides an apparatus for detecting intraoperative navigation marker movement, comprising:
the receiving module is used for receiving the reflected infrared light reflected by the target object in the operation process;
the first determining module is used for determining a first position of the target object according to the reflected infrared light;
an acquisition module for acquiring relative position information between a plurality of fixtures on a navigation marker;
a second determining module, configured to determine a second position of the navigation marker according to the relative position information;
and the detection module is used for detecting whether the navigation marker moves or not according to the first position and the second position.
A third aspect of embodiments of the present application provides a terminal device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for detecting movement of an intraoperative navigation marker as described in the first aspect above.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of detecting intra-operative navigation marker movement as described in the first aspect above.
A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a terminal device, causes the terminal device to perform the method for detecting intraoperative navigation marker movement described in the first aspect above.
Compared with the prior art, the embodiment of the application has the following advantages:
according to the embodiment of the application, the reflected infrared light reflected by the target object is received in the operation process, so that the first position of the target object can be determined according to the reflected infrared light; meanwhile, after the relative position information between a plurality of fixed objects on the navigation marker is acquired, the second position of the navigation marker can be determined according to the relative position information between the fixed objects, and then whether the navigation marker moves or not can be detected according to the first position and the second position, so that the movement condition of the navigation marker can be monitored in time, the surgical risk is reduced, the occurrence of surgical accidents caused by the movement of the navigation marker is avoided, and the safety and the reliability of the operation of the surgical navigation system are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart illustrating steps of a method for detecting intra-operative navigation marker movement according to one embodiment of the present application;
FIG. 2 is a schematic view of the fixation of navigation markers during a surgical procedure according to one embodiment of the present application;
FIG. 3 is a flow chart illustrating steps of another method of detecting intra-operative navigation marker movement according to one embodiment of the present application;
FIG. 4 is a schematic view of a camera coordinate system of one embodiment of the present application;
FIG. 5 is a schematic view of an apparatus for detecting intraoperative navigation marker movement according to one embodiment of the present application;
fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The technical solution of the present application will be described below by way of specific examples.
Referring to fig. 1, a schematic flow chart illustrating steps of a method for detecting movement of a navigation marker in an operation according to an embodiment of the present application is shown, which may specifically include the following steps:
s101, receiving reflected infrared light reflected by a target object in the operation process;
it should be noted that the method can be applied to an orthopedic surgery navigation system. Through the navigation marker and the target object fixed on the bone of the patient and the infrared camera, an alarm signal can be generated when the navigation marker and the target object move relatively, so that the power supply of the orthopedic electric tool is cut off, and the problem of inaccurate navigation and even operation failure caused by the movement of the navigation marker in the operation process is prevented.
Fig. 2 is a schematic view illustrating a fixing manner of the navigation marker during the operation according to an embodiment of the present application. The navigation marker comprises a plurality of fixtures, and the fixtures are fixed on the navigation marker through a fixing frame. The navigation marker further comprises a linkage rod which can be fixed on the bone of the patient through a screw. A screw knob is arranged between the fixing frame and the connecting rod, and the rotating angle can be adjusted after the knob is loosened, so that a fixture on the fixing frame can be better aligned with the infrared camera. On the other hand, a target object arranged corresponding to the navigation marker can be used for detecting the relative position between the target object and the navigation marker so as to determine whether the navigation marker moves.
Thus, both the target and the fixture in this embodiment may be infrared reflective spheres.
During the operation, the target object and the plurality of fixed objects can reflect infrared light, so that the infrared camera collects the infrared light reflected by the target object and the fixed objects.
It should be noted that the emitted infrared light may be generated by an infrared camera or other light sources, which is not limited in this embodiment.
S102, determining a first position of the target object according to the reflected infrared light;
in this application embodiment, the infrared light that passes through the reflection can be caught by infrared camera, and then determines the first position of target object.
In a specific implementation, the infrared camera can calculate the first position of the target object according to the incident angle of the reflected infrared light, the receiving time and other data. Alternatively, when the infrared camera includes a plurality of infrared cameras, for example, when there are two infrared cameras, the first position of the target object may be calculated based on a mathematical trigonometric principle according to a trigonometric relationship between the two infrared cameras and the target object. The embodiment does not limit how the first position of the target object is calculated from the reflected infrared light.
S103, acquiring relative position information among a plurality of fixed objects on the navigation marker;
in embodiments of the present application, the relative position information between multiple fixtures on a navigation marker can be pre-written to the system. For example, for the 4 infrared reflecting spheres shown in fig. 2, the positional relationship between each sphere can be measured in advance and written into the system for subsequent calculation.
Generally, to ensure the accuracy of the subsequent position calculation, the plurality of infrared reflective spheres on the fixing frame should be avoided from being symmetrically arranged.
S104, determining a second position of the navigation marker according to the relative position information;
since the fixtures can also reflect infrared light, the position information of each fixture can be calculated in the same manner as the first position of the calculation target object, and then the second position of the navigation marker can be calculated based on the relative position information between each fixture, taking the entire fixture and fixture as a whole.
And S105, detecting whether the navigation marker moves or not according to the first position and the second position.
In a specific implementation, whether the navigation marker moves may be detected according to whether a relative distance between the first position and the second position changes; whether the navigation marker moves or not can be detected by placing the first position and the second position in the same coordinate system and judging the change situation of the coordinate values of the first position and the second position on different axes of the coordinate system. For example, the coordinate system may be a three-dimensional coordinate system, and the navigation marker may be determined to have moved if any numerical difference is greater than 1.2mm by comparing numerical differences between coordinate values of the first position and the second position on the X-axis, the Y-axis, or the Z-axis, respectively. Of course, according to the actual situation, after the first position and the second position are obtained by calculation, a person skilled in the art may also use other methods to detect whether the navigation marker moves, which is not limited in this embodiment.
According to the embodiment of the application, the reflected infrared light reflected by the target object is received in the operation process, so that the first position of the target object can be determined according to the reflected infrared light; meanwhile, after the relative position information between a plurality of fixed objects on the navigation marker is acquired, the second position of the navigation marker can be determined according to the relative position information between the fixed objects, and then whether the navigation marker moves or not can be detected according to the first position and the second position, so that the movement condition of the navigation marker can be monitored in time, the surgical risk is reduced, the occurrence of surgical accidents caused by the movement of the navigation marker is avoided, and the safety and the reliability of the operation of the surgical navigation system are improved.
Referring to fig. 3, a flow chart illustrating steps of another method for detecting movement of a navigation marker in an operation according to an embodiment of the present application is shown, which may specifically include the following steps:
s301, in the operation process, controlling an infrared camera to emit infrared light, and receiving the reflected infrared light reflected by the target object;
it should be noted that the method can be applied to an orthopedic surgery navigation system, and the system can be operated in a terminal device. Therefore, the execution main body of the embodiment can be a terminal device, whether the navigation marker moves in the operation is monitored through the terminal device, and the navigation marker is helpful for giving an alarm to an operation operator in time or automatically cutting off a working power supply of a corresponding operation tool when the navigation marker moves, so that the operation risk is reduced.
In the embodiment of the present application, before the operation is started, the navigation marker and the target object shown in fig. 2 may be first fixed at different positions on the bone of the patient, and then the infrared camera is controlled to emit infrared light for determining the first position of the fixed target object.
Generally, an infrared camera may emit infrared light of a particular wavelength. Therefore, the infrared camera in the orthopedic surgery navigation system can be directly controlled to emit infrared light, and after the infrared light is emitted by the infrared reflection ball serving as a target object, an image of the infrared reflection ball can be captured by the infrared camera for subsequent position calculation.
In a specific implementation, the infrared cameras configured in the surgical navigation system may include at least two infrared cameras, and during operation, infrared light may be emitted through any two of the infrared cameras, and the infrared reflecting balls may respectively reflect infrared light of each infrared camera, and enable another infrared camera to capture reflected infrared light.
S302, determining a triangular relation between the target object and any two infrared cameras according to the reflected infrared light;
s303, calculating a first position of the target object under a preset camera coordinate system based on the triangular relation;
in the embodiment of the application, after the infrared light is emitted by the infrared reflection ball, the two infrared cameras can present images of the infrared reflection ball, and the infrared reflection ball is particularly obvious in the images. Because two infrared cameras are arranged, the first position of the infrared reflection ball under the camera coordinate system can be calculated by utilizing the principle of triangulation.
Fig. 4 is a schematic diagram of a camera coordinate system according to an embodiment of the present application. In the example shown in fig. 4, the camera coordinate system may be a three-dimensional coordinate system including X, Y, and Z axes of the coordinate system, respectively. The coordinate system can be written into a system in advance, and the specific position of the object in the current camera coordinate system is determined according to the position of the object in the image acquired by the camera. The position can be represented by the corresponding coordinate values of the position on the X-axis, Y-axis and Z-axis of the coordinate system.
Thus, the first position may be represented by its first X-axis coordinate, first Y-axis coordinate, and first Z-axis coordinate in the camera coordinate system.
S304, acquiring relative position information among a plurality of fixed objects on the navigation marker;
as shown in fig. 2, the fixture may be an infrared reflective sphere disposed on the mount. It should be noted that the infrared reflecting ball as the fixed object and the infrared reflecting ball as the target object may be made of the same material, and the infrared reflecting ball on the fixing frame should be avoided from being symmetrically arranged as much as possible.
Since there are a minimum of three fixed objects (infrared reflection balls) on a rigid body, the position and posture of the rigid body can be obtained by capturing with an infrared camera. Therefore, in the embodiment of the present application, at least three infrared reflecting balls may be included on the fixing frame.
For example, the fixture shown in FIG. 2 includes four infrared reflective spheres thereon. The adoption of four infrared reflection balls can provide certain redundancy, and if one infrared reflection ball is blocked, other three infrared reflection balls can also continuously reflect infrared light for obtaining the position and the posture of the infrared reflection ball.
In the embodiment of the application, the relative position information between the infrared reflection balls on the fixing frame can be written into the system in advance.
S305, respectively receiving infrared light reflected by at least three fixed objects;
s306, calculating position information of the at least three fixed objects under a preset camera coordinate system based on the infrared light reflected by the at least three fixed objects;
similar to determining the first position of the target object, after the infrared light emitted by the two infrared cameras is reflected by the fixed object, based on the same principle of triangulation, the position information of each infrared reflection sphere serving as the fixed object in the current camera coordinate system can also be calculated, and the position information can also include the coordinate values of the X axis, the Y axis and the Z axis of each infrared reflection sphere in the camera coordinate system.
S307, calculating a second position of the navigation marker in a camera coordinate system according to position information of the at least three fixtures in a preset camera coordinate system and relative position information among the fixtures;
in the embodiment of the application, because the position relationship between the infrared reflecting balls on the fixing frame is written into the system in advance, after the position information of each infrared reflecting ball in the camera coordinate system is calculated, the matching can be performed through a matching algorithm, and the second position of the whole navigation marker in the camera coordinate system is obtained. The second position also includes a second X-axis coordinate, a second Y-axis coordinate, and a second Z-axis coordinate in the camera coordinate system.
S308, detecting whether the navigation marker moves or not according to the first position and the second position;
in the embodiment of the present application, the first position of the infrared reflective sphere as the target object in the camera coordinate system is known, and the second position and the posture of the navigation marker as a whole in the camera coordinate system can also be obtained through calculation. Both are in the same camera coordinate system, and therefore the position difference between them can be found by position addition and subtraction.
In the embodiment of the present application, first, the squares of the differences between the first X-axis coordinate and the second X-axis coordinate, the first Y-axis coordinate and the second Y-axis coordinate, and the first Z-axis coordinate and the second Z-axis coordinate may be calculated, respectively, and the squares of the differences may be added to obtain the detection value.
In a specific implementation, assuming that [ a, b, c ] represents a first X-axis coordinate, a first Y-axis coordinate and a first Z-axis coordinate (in mm) in a first position, and [ X, Y, Z ] represents a second X-axis coordinate, a second Y-axis coordinate and a second Z-axis coordinate (in mm) in a second position, the above calculation process can be expressed as:
T＝(x-a)2+(y-b)2+(z-c)2
that is, the value T is the above-described detected value.
In this embodiment, if the detection value T is greater than a preset value, it may be determined that the navigation marker has moved.
As an example of the present embodiment, the preset value may be 1 (in mm of square millimeter)2) That is, when the calculated value T is greater than 1, it can be determined that the navigation marker has moved.
Of course, the preset value is only an example, and other values may be set as the preset value according to different requirements of accuracy. But it should generally be guaranteed that the preset value is less than 4, otherwise even if the navigation marker has moved, it cannot be detected in time.
S309, when the navigation marker is detected to move, generating an alarm signal, and cutting off the power supply of the operation electric tool according to the alarm signal.
In the operation process, when the navigation marker is detected to move, the doctor needs to be alarmed in time, the power supply of the operation electric tool is automatically cut off, and operation accidents are prevented from happening separately.
For the orthopedic surgery, the electric tool for the surgery mainly comprises a medical orthopedic swing saw and a medical bone drill, and a direct-current power supply of the electric tool is provided by a power supply module of an orthopedic navigation system. Therefore, after the orthopedic navigation system calculates the movement of the navigation marker through the steps, an alarm signal can be generated in time, and the direct current power supply of the orthopedic electric tool is cut off under the control of the single chip microcomputer.
According to the embodiment of the application, the navigation marker and the target object are fixed on the bone of the patient, the respective positions of the navigation marker and the target object can be determined based on the reflected infrared light of the infrared camera, whether the navigation marker moves or not can be monitored in real time based on the positions, the reduction of operation risks is facilitated, and the operation safety and reliability of an operation navigation system are improved.
It should be noted that, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Referring to fig. 5, a schematic diagram of an apparatus for detecting movement of a navigation marker in surgery according to an embodiment of the present application is shown, which may specifically include the following modules:
a receiving module 501, configured to receive reflected infrared light reflected by a target during a surgical procedure;
a first determining module 502, configured to determine a first position of the target object according to the reflected infrared light;
an acquisition module 503 for acquiring relative position information between a plurality of fixtures on the navigation marker;
a second determining module 504, configured to determine a second position of the navigation marker according to the relative position information;
a detecting module 505, configured to detect whether the navigation marker moves according to the first position and the second position.
In this embodiment, the receiving module 501 may specifically include the following sub-modules:
the camera control submodule is used for controlling the infrared camera to emit infrared light in the operation process;
the first infrared light receiving sub-module is used for receiving the reflected infrared light reflected by the target object.
In this embodiment of the application, the infrared cameras include at least two, and the first determining module 502 may specifically include the following sub-modules:
the triangular relation determining submodule is used for determining the triangular relation between the target object and any two infrared cameras according to the reflected infrared light;
and the first position calculating submodule is used for calculating a first position of the target object under a preset camera coordinate system based on the triangular relation.
In the embodiment of the present application, the fixture includes at least three, and the second determining module 504 specifically includes the following sub-modules:
the second infrared light receiving sub-module is used for respectively receiving the infrared light reflected by at least three fixed objects;
the position information calculation submodule is used for calculating position information of the at least three fixed objects under a preset camera coordinate system based on the infrared light reflected by the at least three fixed objects;
and the second position calculation sub-module is used for calculating a second position of the navigation marker in the camera coordinate system according to the position information of the at least three fixtures in the preset camera coordinate system and the relative position information among the fixtures.
In this embodiment, the first position may include a first X-axis coordinate, a first Y-axis coordinate, and a first Z-axis coordinate in the camera coordinate system, the second position may include a second X-axis coordinate, a second Y-axis coordinate, and a second Z-axis coordinate in the camera coordinate system, and the detection module 505 may specifically include the following sub-modules:
the detection value calculation submodule is used for calculating the squares of the differences between the first X-axis coordinate and the second X-axis coordinate, the first Y-axis coordinate and the second Y-axis coordinate and the first Z-axis coordinate and the second Z-axis coordinate respectively, and adding the squares of the differences to obtain a detection value;
and the movement judgment submodule is used for judging that the navigation marker has moved if the detection value is larger than a preset value.
In this embodiment, the apparatus may further include the following modules:
the alarm module is used for generating an alarm signal when detecting that the navigation marker moves;
and the cutting-off module is used for cutting off the power supply of the operation electric tool according to the alarm signal.
In an embodiment of the present application, the target and the fixture may be infrared reflective spheres.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to the description of the method embodiment section for relevant points.
Referring to fig. 6, a schematic diagram of a terminal device according to an embodiment of the present application is shown. As shown in fig. 6, the terminal device 600 of the present embodiment includes: a processor 610, a memory 620, and a computer program 621 stored in the memory 620 and operable on the processor 610. The processor 610, when executing the computer program 621, implements the steps in the various embodiments of the method for detecting intra-operative navigation marker movement described above, such as steps S101 to S105 shown in fig. 1. Alternatively, the processor 610, when executing the computer program 621, implements the functions of each module/unit in each device embodiment described above, such as the functions of the modules 501 to 505 shown in fig. 5.
Illustratively, the computer program 621 may be divided into one or more modules/units, which are stored in the memory 620 and executed by the processor 610 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution process of the computer program 621 in the terminal device 600. For example, the computer program 621 may be divided into a receiving module, a first determining module, an obtaining module, a second determining module, and a detecting module, and the specific functions of the modules are as follows:
the receiving module is used for receiving the reflected infrared light reflected by the target object in the operation process;
the first determining module is used for determining a first position of the target object according to the reflected infrared light;
an acquisition module for acquiring relative position information between a plurality of fixtures on a navigation marker;
a second determining module, configured to determine a second position of the navigation marker according to the relative position information;
and the detection module is used for detecting whether the navigation marker moves or not according to the first position and the second position.
The terminal device 600 may include, but is not limited to, a processor 610, a memory 620. Those skilled in the art will appreciate that fig. 6 is only one example of a terminal device 600 and does not constitute a limitation of the terminal device 600 and may include more or less components than those shown, or combine certain components, or different components, for example, the terminal device 600 may also include input and output devices, network access devices, buses, etc.
The Processor 610 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 620 may be an internal storage unit of the terminal device 600, such as a hard disk or a memory of the terminal device 600. The memory 620 may also be an external storage device of the terminal device 600, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so on, provided on the terminal device 600. Further, the memory 620 may also include both an internal storage unit and an external storage device of the terminal device 600. The memory 620 is used for storing the computer program 621 and other programs and data required by the terminal device 600. The memory 620 may also be used to temporarily store data that has been output or is to be output.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (7)
1. A terminal device comprising a memory, a processor and a computer program stored in said memory and executable on said processor for detecting the movement of an intra-operative navigation marker, said navigation marker being arranged outside a patient's body, characterized in that said processor implements the following steps when executing said computer program:
during a surgical procedure, receiving reflected infrared light reflected by a target object, the reflected infrared light being generated by an infrared camera;
determining a first position of the target object according to the reflected infrared light;
acquiring relative position information among a plurality of fixed objects on a navigation marker, wherein the fixed objects are infrared reflecting balls;
determining a second position of the navigation marker according to the relative position information, wherein the first position and the second position are coordinate values in a preset camera coordinate system;
detecting whether the navigation marker moves according to the first position and the second position;
the fixture includes at least three, the determining a second position of the navigation marker from the relative position information includes:
respectively receiving infrared light reflected by at least three fixed objects;
calculating position information of the at least three fixtures under a preset camera coordinate system based on the infrared light reflected by the at least three fixtures;
and calculating a second position of the navigation marker in the camera coordinate system according to the position information of the at least three fixtures in the preset camera coordinate system and the relative position information among the plurality of fixtures.
2. The terminal device of claim 1, wherein the receiving reflected infrared light reflected from the target during the procedure comprises:
controlling the infrared camera to emit infrared light during the operation process;
receiving the reflected infrared light reflected by the target object.
3. The terminal device of claim 2, wherein the infrared camera comprises at least two, and wherein determining the first position of the target object from the reflected infrared light comprises:
determining the triangular relation between the target object and any two infrared cameras according to the reflected infrared light;
and calculating a first position of the target object under a preset camera coordinate system based on the triangular relation.
4. The terminal device according to claim 1, wherein the first position comprises a first X-axis coordinate, a first Y-axis coordinate and a first Z-axis coordinate in the camera coordinate system, the second position comprises a second X-axis coordinate, a second Y-axis coordinate and a second Z-axis coordinate in the camera coordinate system, and the detecting whether the navigation marker moves according to the first position and the second position comprises:
respectively calculating the first X-axis coordinate and the second X-axis coordinate, the first Y-axis coordinate and the second Y-axis coordinate, and the square of the difference between the first Z-axis coordinate and the second Z-axis coordinate, and adding the squares of the differences to obtain a detection value;
and if the detection value is larger than a preset value, judging that the navigation marker moves.
5. The terminal device according to any of claims 1-4, further comprising:
generating an alarm signal upon detecting that the navigation marker has moved;
and cutting off the power supply of the operation electric tool according to the alarm signal.
6. The terminal device of claim 5, wherein the target object is an infrared reflective sphere.
7. An apparatus for detecting movement of a navigation marker during surgery, the navigation marker being disposed outside a patient's body, comprising:
the receiving module is used for receiving reflected infrared light reflected by a target object in the operation process, and the reflected infrared light is generated by the infrared camera;
the first determining module is used for determining a first position of the target object according to the reflected infrared light;
an acquisition module for acquiring relative position information between a plurality of fixtures on a navigation marker;
the second determining module is used for determining a second position of the navigation marker according to the relative position information, wherein the first position and the second position are coordinate values in a preset camera coordinate system;
the detection module is used for detecting whether the navigation marker moves or not according to the first position and the second position;
the fixture includes at least three, the determining a second position of the navigation marker from the relative position information includes:
respectively receiving infrared light reflected by at least three fixed objects;
calculating position information of the at least three fixtures under a preset camera coordinate system based on the infrared light reflected by the at least three fixtures;
and calculating a second position of the navigation marker in the camera coordinate system according to the position information of the at least three fixtures in the preset camera coordinate system and the relative position information among the plurality of fixtures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010157062.9A CN111281541B (en) | 2020-03-09 | 2020-03-09 | Method and apparatus for detecting intra-operative navigation marker movement |
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