CN112113502A

CN112113502A - Fracture block positioning method and device

Info

Publication number: CN112113502A
Application number: CN202010947155.1A
Authority: CN
Inventors: 何滨; 沈丽萍; 陈�峰; 王亭; 徐琦
Original assignee: Hangzhou Santan Medical Technology Co Ltd
Current assignee: Hangzhou Santan Medical Technology Co Ltd
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2020-12-22
Anticipated expiration: 2040-09-10
Also published as: CN112113502B

Abstract

The embodiment of the invention provides a fracture block positioning method and device, and relates to the technical field of medical treatment. The method is applied to the electronic equipment and comprises the following steps: acquiring a first positioning result of a positioning device in a preset positioning system coordinate system; the positioning device is arranged on a fracture block to be reset, the positioning device is provided with a positioning mark, and the first positioning result is obtained based on a shot image containing the positioning mark; and determining a second positioning result of the fracture block to be reset in the coordinate system of the positioning system based on the first positioning result and a preset first coordinate conversion relation between the coordinate system of the positioning device corresponding to the positioning device and the scanning coordinate system. Compared with the prior art, the scheme provided by the embodiment of the invention can improve the accuracy of determining the position and the posture of each fracture block at the fracture part under the condition of reducing radiation injury.

Description

Fracture block positioning method and device

Technical Field

The invention relates to the technical field of medical treatment, in particular to a fracture block positioning method and device.

Background

For fracture patients, reduction of the fracture site is an essential process prior to fracture fixation. Wherein, reset means: the fracture part is reset and closed, namely, a plurality of fracture blocks formed by fracture of the fracture part are reset and closed.

In the process of reduction, doctors need to determine the position and the posture of each fracture block in a plurality of fracture blocks of the fracture part by some processing methods to obtain the positioning result of each fracture block.

For example, a doctor can perform fluoroscopy on a fracture site by means of X-rays, determine the position and posture of each fracture block of the fracture site according to X-ray images, and obtain the positioning result of each fracture block. However, X-ray transmission will increase radiation damage to the patient and the physician during the reduction procedure.

Based on this, there is a need for a fracture block positioning method to improve the accuracy of determining the position and posture of each fracture block at the fracture site while reducing radiation damage.

Disclosure of Invention

The embodiment of the invention aims to provide a fracture block positioning method and device, so as to improve the accuracy of determining the position and the posture of each fracture block at a fracture part under the condition of reducing radiation injury.

The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a fracture block positioning method, which is applied to an electronic device, and the method includes:

acquiring a first positioning result of a positioning device in a preset positioning system coordinate system; the positioning device is arranged on a fracture block to be reset, the positioning device is provided with a positioning mark, and the first positioning result is obtained based on a shot image containing the positioning mark;

determining a second positioning result of the fracture block to be reset in a positioning system coordinate system based on the first positioning result and a preset first coordinate conversion relation between a positioning device coordinate system corresponding to the positioning device and a scanning coordinate system;

the first coordinate conversion relation between the coordinate system of the positioning device corresponding to the positioning device and the scanning coordinate system is determined based on the second coordinate conversion relation between the coordinate system of the scanning coordinate system and the coordinate system of the positioning system; the second coordinate conversion relation is determined based on the scanning image and the initial image of the fracture part where the fracture block to be reduced is located; the initial image is obtained by acquiring an image of the fracture part in an initial state by preset image acquisition equipment, and the initial image comprises the positioning mark; the scanned image comprises at least four marker balls arranged on a positioning device arranged on a fracture block of the fracture part; the positioning system coordinate system is a three-dimensional coordinate system corresponding to the image acquisition equipment, and the scanning coordinate system is a three-dimensional coordinate system corresponding to the scanned image.

Optionally, in a specific implementation manner, the step of obtaining a first positioning result of the positioning device in a preset positioning system coordinate system includes:

acquiring an image which is shot by the image acquisition equipment and comprises the positioning mark;

and carrying out target identification on the acquired image to obtain a first positioning result of the positioning device in a preset positioning system coordinate system.

Optionally, in a specific implementation, the fracture site includes a plurality of fracture fragments, and the method further includes:

outputting a three-dimensional image of each fracture block included in the fracture part; wherein the three-dimensional image of each fracture block is determined based on the third positioning result of the fracture block in the scanning coordinate system.

Optionally, in a specific implementation manner, the fracture site includes a plurality of fracture blocks, and each fracture block is provided with a positioning device with a positioning mark;

the method for determining the first coordinate transformation relation between the coordinate system of the positioning device corresponding to each positioning device and the scanning coordinate system comprises the following steps:

determining a third coordinate transformation relation between a positioning device coordinate system corresponding to each positioning device and the positioning system coordinate system based on the attitude information of the positioning mark on each positioning device in the positioning system coordinate system; wherein pose information of the positioning markers on each positioning device in the positioning system coordinate system is determined based on the initial image;

and determining a first coordinate conversion relation between the coordinate system of the positioning device corresponding to each positioning device and the scanning coordinate system based on a second coordinate conversion relation between the scanning coordinate system and the coordinate system of the positioning system and a third coordinate conversion relation between the coordinate system of the positioning device corresponding to each positioning device and the coordinate system of the positioning system.

Optionally, in a specific implementation manner, at least two positioning devices are provided with marker balls, the number of the marker balls provided on each positioning device provided with a marker ball is at least two, and each marker ball can be developed in the scanned image;

the determining method of the second coordinate transformation relation between the scanning coordinate system and the positioning system coordinate system comprises the following steps:

determining first coordinates of each marker ball in the scanning coordinate system based on the scanned image of the fracture site; determining a second coordinate of a positioning mark on each positioning device provided with a marking ball in the positioning system coordinate system based on the initial image of the fracture part;

determining a third coordinate of each marker ball in the coordinate system of the positioning system based on the position relation between the marker ball and the positioning mark on the positioning device provided with the marker ball and the second coordinate;

and determining a second coordinate transformation relation of the scanning coordinate system and the positioning system coordinate system based on the first coordinate of each marker ball in the scanning coordinate system and the third coordinate of each marker ball in the positioning system coordinate system.

In a second aspect, an embodiment of the present invention provides a fracture block positioning apparatus, which is applied to an electronic device, and includes:

the result acquisition module is used for acquiring a first positioning result of the positioning device in a preset positioning system coordinate system; the positioning device is arranged on a fracture block to be reset, the positioning device is provided with a positioning mark, and the first positioning result is obtained based on a shot image containing the positioning mark;

the fracture block positioning module is used for determining a second positioning result of the fracture block to be reset in a positioning system coordinate system based on the first positioning result and a preset first coordinate conversion relation between a positioning device coordinate system corresponding to the positioning device and a scanning coordinate system;

Optionally, in a specific implementation manner, the result obtaining module is specifically configured to:

acquiring an image which is shot by the image acquisition equipment and comprises the positioning;

and carrying out target identification on the acquired image to obtain a first positioning result positioned in a preset positioning system coordinate system.

Optionally, in a specific implementation manner, the fracture site includes a plurality of fracture pieces, and the apparatus further includes:

the image output module is used for outputting scanning sub-images of all fracture blocks of the fracture part according to a second positioning result of each fracture block of the fracture part in the coordinate system of the positioning system; wherein the scan sub-image of each fracture block is obtained by image segmentation of the scan image.

the device further comprises: the first relation determining module is used for determining a first coordinate conversion relation between a positioning device coordinate system corresponding to each positioning device and a scanning coordinate system; the first relationship determination module is specifically configured to:

the device further comprises: a second relationship determination module for determining a second coordinate transformation relationship of the scanning coordinate system and the positioning system coordinate system; the second relationship determining module is specifically configured to:

In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;

a memory for storing a computer program;

a processor, configured to implement the steps of any of the fracture block positioning methods provided in the first aspect when executing a program stored in the memory.

In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the fracture block positioning methods provided in the first aspect.

In a fifth aspect, embodiments of the present invention also provide a computer program product containing instructions, which when run on a computer, cause the computer to perform the steps of any of the fracture fragment locating methods provided in the first aspect.

The embodiment of the invention has the following beneficial effects:

by applying the scheme provided by the embodiment of the invention, when each fracture block at the fracture part is positioned to obtain the positioning result of each fracture block, a positioning device can be arranged on each fracture block. Wherein, each positioning device is provided with a positioning mark, and each positioning device is provided with at least four marking balls. Furthermore, an initial image obtained by acquiring an image of the fracture part which is not reset and is in the initial state by a preset image acquisition device and a scanned image obtained by scanning the fracture part which is not reset and is in the initial state by a scanning device can be obtained, wherein the initial image comprises the positioning mark on each positioning device, and the scanned image comprises the at least four marking balls.

The three-dimensional coordinate system corresponding to the image acquisition device is a coordinate system of the positioning system in the embodiment of the invention, and the three-dimensional coordinate system corresponding to the scanned image is a coordinate system of the scanning system in the embodiment of the invention.

And aiming at the fracture block to be restored at the fracture part, determining a second coordinate conversion relation between a scanning coordinate system corresponding to the scanning image and the coordinate system of the positioning system by using the initial image and the scanning image. Further, the second coordinate transformation relation can be used to determine the first coordinate transformation relation between the coordinate system of the positioning device corresponding to the positioning device installed on the fracture block to be restored and the scanning coordinate system.

After determining the first coordinate conversion relation between the coordinate system of the positioning device arranged on the fracture block to be restored and the scanning coordinate system, when the fracture block to be restored is positioned, the image acquisition equipment can be used for shooting the fracture part so as to obtain an image comprising the positioning marks arranged on the positioning device arranged on the fracture block to be restored.

The position relationship between the fracture block and the positioning means mounted on the fracture block is fixed for the fracture block to be reduced, so that when the fracture block is moved, the positioning means mounted on the fracture block can move along with the fracture block, and the moving direction and the moving distance of the fracture block and the positioning means are the same. The result of the positioning of the fracture block in the positioning system coordinate system can thus be determined from the result of the positioning device attached to the fracture block in the positioning system coordinate system.

The first positioning result of the positioning device in the preset positioning system coordinate system can be obtained according to the shot image comprising the positioning mark on the positioning device arranged on the fracture block aiming at the fracture block to be reset. Then, the first positioning result and the predetermined first coordinate transformation relation between the coordinate system of the positioning device corresponding to the positioning device installed on the fracture block to be reset and the scanning coordinate system can be used for determining the second positioning result of the fracture block to be reset in the coordinate system of the positioning system. Thus, the positioning of the fracture block to be reduced is realized.

The first positioning result can represent a coordinate conversion relationship between a positioning device coordinate system corresponding to the positioning device and the positioning system coordinate system, and correspondingly, a positioning result of the fracture block to be reset, which is provided with the positioning device, in the positioning device coordinate system corresponding to the positioning device can be determined through the first coordinate conversion relationship between the positioning device coordinate system corresponding to the positioning device and the scanning coordinate system, so that the positioning result of the fracture block to be reset in the positioning system coordinate system can be obtained through the first positioning result and the first coordinate conversion relationship, and the second positioning result can be obtained.

Based on the above, by applying the scheme provided by the embodiment of the invention, when each fracture block at the fracture part is positioned, the positioning result of each fracture block in the coordinate system of the positioning system can be obtained by using the acquired image containing the positioning mark on the positioning device mounted on each fracture block based on the predetermined position relation between each fracture block and the mounted positioning device.

The image containing the positioning marks on the positioning device arranged on each fracture block is obtained by using an image acquisition device without the need of seeing through the fracture part by means of X-rays, so that when each fracture block on the fracture part is positioned to obtain the positioning result of each fracture block in a coordinate system of a positioning system, the X-rays are not needed, and therefore radiation injury of a patient and a doctor in the resetting process can be reduced, and the accuracy of determining the position and the posture of each fracture block on the fracture part is improved under the condition of reducing the radiation injury.

In addition, by applying the scheme provided by the embodiment of the invention, in the process of resetting each fracture block at the fracture part, the positioning device is only required to be arranged on each fracture block in a minimally invasive mode, and the skin and the tissue of the patient are not required to be cut, so that a larger wound is generated for open resetting, thereby further reducing the injury to the patient and shortening the postoperative rehabilitation time of the patient.

Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.

Drawings

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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart illustrating a determination method of a first coordinate transformation relationship between a coordinate system of a positioning device and a scanning coordinate system corresponding to each positioning device according to an embodiment of the present invention;

fig. 2 is a schematic flow chart illustrating a determination manner of a second coordinate transformation relationship between the scanning coordinate system and the positioning system coordinate system according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart illustrating a method for locating a fracture block according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating an embodiment of S301 in FIG. 3;

FIG. 5 is a schematic flow chart illustrating another method for locating a fracture site according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a fracture positioning device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

For fracture patients, reduction of the fracture site is an essential process prior to fracture fixation. In the process of reduction, doctors need to determine the position and the posture of each fracture block in a plurality of fracture blocks of the fracture part by some processing methods to obtain the positioning result of each fracture block. There is a need for a method of locating bone fragments that improves the accuracy of determining the position and posture of individual bone fragments at a fracture site while reducing radiation damage.

In order to solve the above technical problems, an embodiment of the present invention provides a fracture block positioning method.

The fracture block positioning method provided by the embodiment of the present invention may be applied to any scene where fracture blocks are positioned, and the fracture block positioning method may be applied to any type of electronic device, that is, the main execution body of the fracture block positioning method may be any type of electronic device, for example, a laptop computer, a desktop computer, a device integrated with a processor, a camera, and a display device, and the like. Based on this, the embodiment of the present invention does not limit the application scenario and the execution main body of the fracture block positioning method.

Furthermore, the method for positioning a fractured block provided by the embodiment of the present invention includes the following steps:

the first coordinate conversion relation between the coordinate system of the positioning device corresponding to the positioning device and the scanning coordinate system is determined based on the first coordinate conversion relation between the coordinate system of the scanning coordinate system and the coordinate system of the positioning system; the first coordinate conversion relation is determined based on a scanning image and an initial image of a fracture part where the fracture block to be reduced is located; the initial image is obtained by acquiring an image of the fracture part block in an initial state by preset image acquisition equipment, and the initial image comprises the positioning mark; the scanned image comprises at least four marker balls arranged on a positioning device arranged on a fracture block of the fracture part; the positioning system coordinate system is a three-dimensional coordinate system corresponding to the image acquisition equipment, and the scanning coordinate system is a three-dimensional coordinate system corresponding to the scanned image.

As can be seen from the above, by applying the solution provided by the embodiment of the present invention, when positioning each fracture block at the fracture part to obtain the positioning result of each fracture block, a positioning device can be installed on each fracture block. Wherein, each positioning device is provided with a positioning mark, and each positioning device is provided with at least four marking balls. Furthermore, an initial image obtained by acquiring an image of the fracture part which is not reset and is in the initial state by a preset image acquisition device and a scanned image obtained by scanning the fracture part which is not reset and is in the initial state by a scanning device can be obtained, wherein the initial image comprises the positioning mark on each positioning device, and the scanned image comprises the at least four marking balls.

The following describes a fracture block positioning method according to an embodiment of the present invention in detail with reference to the accompanying drawings.

It should be noted that, for the fracture part, the number of the fracture blocks included in the fracture part is at least two, that is, the fracture part includes a plurality of fracture blocks, and each fracture block is a fracture block to be reduced, so that the reduction of the fracture part can be realized by reducing each fracture block to be reduced.

When the fracture blocks to be reduced are reduced, the positions of the fracture blocks to be reduced need to be moved, so that the accuracy of the determined relative position relationship between the fracture blocks to be reduced is improved, the moving accuracy of the fracture blocks is improved, the reduction effect is improved, and the fracture blocks need to be positioned in the fracture reduction process.

For example, after each movement of a bone fracture to be reduced, each bone fracture to be reduced is positioned to see whether each movement is appropriate, and for example, before each movement of a bone fracture to be reduced, each bone fracture to be reduced is positioned to determine the bone fracture to be reduced that needs to be moved, the position to which the bone fracture to be reduced needs to be moved, and the like.

Thus, in order to implement the fracture block positioning method provided by the embodiment of the invention, after the fracture part is determined, a positioning device can be installed on each fracture block of the fracture part, namely, a positioning device is installed on each fracture block to be reduced. Wherein each positioning device is mounted with a positioning mark.

Furthermore, since the fracture site includes a plurality of fracture fragments, a plurality of positioning devices may be installed for the fracture site, wherein at least four marker balls may be provided on the plurality of positioning devices.

Optionally, since the fracture part includes a plurality of fracture pieces, that is, the fracture part includes at least two fracture pieces, at least two of the positioning devices mounted on each fracture piece are provided with the marker balls, and the number of the marker balls provided on each positioning device provided with the marker balls is at least two, and each marker ball can be developed in the scanned image.

For example, if the fracture site includes two fracture pieces, a positioning device is mounted on each fracture piece, and each positioning device has a positioning mark and two marker balls.

For another example, the fracture site may include three fracture fragments, and the three fracture fragments may be numbered, so that a positioning device may be attached to each fracture fragment, and positioning marks and marking balls may be provided on the positioning devices attached to the fracture fragments numbered 1 and 2, and only the positioning marks and no marking balls may be provided on the fracture fragment numbered 3.

When the number of the marker balls arranged on the positioning device provided with the marker balls is two, the distance between the marker balls can be larger because the number of the marker balls arranged on the positioning device is smaller, so that the accuracy of the second coordinate conversion relation of the determined scanning coordinate system and the positioning system coordinate system can be improved, and the accuracy of the first coordinate conversion relation of the positioning device coordinate system corresponding to the positioning device arranged on each fracture block of the determined fracture part and the scanning system coordinate system can be improved. Thus, the positioning accuracy of each fracture block at the fracture part can be improved, and the reduction effect of each fracture block at the fracture part is improved.

In addition, because the number of the marking balls arranged on the positioning device is less, the size of the positioning device can be reduced to a certain extent, and therefore, the operation space in the reduction process can be increased, and each fracture block at the fracture part can be moved conveniently in the reduction process.

Similarly, for the positioning device without the marker ball, the volume of the positioning device can be reduced to a certain extent, so that the operation space in the reduction process can be increased, and each fracture block at the fracture part can be moved conveniently in the reduction process.

Optionally, in a specific implementation manner, the positioning mark on each positioning device may be a tag or a sensing device.

Further, optionally, in a specific implementation, the positioning mark on each positioning device cannot be developed in the scanned image.

Therefore, after the positioning device is installed for each fracture block to be reduced, the fracture part in the initial state can be shot by using the preset image acquisition equipment, and the fracture part in the initial state is scanned by using the scanning equipment so as to obtain the initial image and the scanning image of the fracture part.

Furthermore, the obtained initial image may include positioning marks on positioning devices attached to respective fracture blocks of the fracture site; and the obtained scanning image can contain at least four marker balls arranged on a plurality of positioning devices.

Among them, the fracture site in the initial state is: the fracture site is not yet subjected to a reduction operation for each fracture piece of the fracture site after the occurrence of the fracture. Further, the fracture site before operation can be understood.

The preset image acquisition equipment comprises: the device does not need to use X-ray to perform perspective and can acquire images of positioning marks on positioning devices arranged on each fracture block.

Optionally, the image capturing device may be: infrared trackers, binocular cameras, or magnetic navigation locators. Of course, the preset image capturing device may be any other device that can capture an image of the positioning mark on the positioning device installed on each fracture block without requiring fluoroscopy with X-ray.

Further, the preset image capturing device may correspond to a three-dimensional coordinate system, and the three-dimensional coordinate system corresponding to the image capturing device is a coordinate system of the positioning system.

The scanning device for obtaining the scanning image of the fracture part comprises: and the device can perform perspective on each fracture block to obtain a scanned image which can be developed by each fracture block and each marking ball.

For example, CT (Computed Tomography), etc.

When the scanning device is a CT, the obtained scanning image is a CT image, and the scanning image can be understood as a preoperative CT image of the fracture part.

Further, the scanned image may correspond to a three-dimensional coordinate system, and the three-dimensional coordinate system corresponding to the image capturing device is the scanned coordinate system.

It should be noted that, since each fracture block is provided with a positioning device, and the positioning device is provided with a positioning mark, and the position relationship between each fracture block and the positioning device mounted on the fracture block is fixed, when each fracture block is moved, the positioning mark on the positioning device mounted on the fracture block can move along with the fracture block, so that the positioning mark can move along with the fracture block in the coordinate system of the positioning system, and the moving direction and the moving distance of the fracture block and the positioning mark are the same.

Thus, since the positioning marks on the installed positioning devices can be seen in the image obtained by the image acquisition equipment for acquiring the image of the fracture part, but the images of the fracture blocks cannot be seen, after the positioning result of the installed positioning devices in the positioning system coordinate system is determined by using the positioning marks contained in the acquired image, the positioning result of each fracture block in the positioning system coordinate system can be determined according to the first coordinate conversion relation between the positioning device coordinate system corresponding to the positioning device installed on each fracture block and the scanning coordinate system, and therefore, the fracture blocks can be positioned.

That is, the positioning result of each fracture block in the coordinate system of the positioning system can be determined by the positioning result of the positioning mark on each positioning device installed on each fracture block in the coordinate system of the positioning system under the condition of not performing X-ray fluoroscopy on the fracture part, so that the reduction of each fracture block can be realized.

Based on this, in the method for positioning a fracture block provided by the embodiment of the present invention, the determined result is the positioning result of the fracture block to be reduced in the coordinate system of the positioning system.

Further, optionally, in order to be able to view the position of each fracture block more intuitively, or in order to be able to view the position and posture of each fracture block more intuitively, thereby improving the accuracy of the determined relative position relationship between each fracture block to be reset, improving the moving accuracy of each fracture block, and improving the resetting effect. When the scanning image of the fracture part in the initial state is obtained, the scanning image can be subjected to image segmentation, so that the scanning sub-image of each fracture block of the fracture part is obtained, and the scanning sub-image of each fracture block can be displayed through the display device corresponding to the image acquisition device.

It should be noted that, since the frame displayed by the display device corresponding to the image capturing device corresponds to the coordinate system of the positioning system, the position of the object displayed in the frame reflects the positioning result of the object in the coordinate system of the positioning system.

Based on the above, the scanning sub-images of the fracture blocks are displayed on the display device corresponding to the image acquisition device, and the position of each scanning sub-image in the display screen of the display device is determined by the positioning result of the fracture block displayed by each scanning sub-image in the coordinate system of the positioning system.

Wherein, the first positioning result of the positioning device in the positioning system coordinate system and the second positioning result of the fracture block to be reduced in the positioning system coordinate system respectively comprise: the location coordinates of the positioning device and the fracture block on three axes of the positioning system coordinate system, and the offset angles from the three axes. The position coordinates on the three axes of the positioning system coordinate system and the offset angles from the three axes may be simply referred to as six degrees of freedom.

Moreover, for the positioning device, when the first positioning result of the positioning device in the coordinate system of the positioning system is determined through the image which is acquired by the image acquisition equipment and contains the positioning mark on the positioning device, the obtained first positioning result expressed by six degrees of freedom can also represent the coordinate conversion relationship between the coordinate system of the positioning device corresponding to the positioning device and the coordinate system of the positioning system.

Furthermore, after the initial image and the scanned image of the fracture part are obtained, the second coordinate conversion relationship between the scanning coordinate system corresponding to the scanned image and the coordinate system of the positioning system can be used by using the initial image and the scanned image. Further, the first coordinate conversion relationship between the coordinate system of the positioning device corresponding to the positioning device attached to each fracture block and the scan coordinate system can be determined by using the first coordinate conversion relationship. Therefore, the fracture positioning method provided by the embodiment of the invention can be realized by utilizing the determined first coordinate conversion relation.

Next, an example of a method of determining the first coordinate conversion relationship between the positioning apparatus coordinate system and the scanning coordinate system corresponding to each positioning apparatus will be described.

Optionally, in a specific implementation manner, fig. 1 is a schematic flow chart of a determination manner of a first coordinate conversion relationship between a positioning device coordinate system corresponding to each positioning device and a scanning coordinate system according to an embodiment of the present invention, as shown in fig. 1, the determination manner may include the following steps:

s101: determining a third coordinate transformation relation between a positioning device coordinate system corresponding to each positioning device and a positioning system coordinate system based on the attitude information of the positioning mark on each positioning device in the positioning system coordinate system;

wherein the pose information of the positioning mark on each positioning device in the positioning system coordinate system is determined based on the initial image;

for each positioning device, a positioning device coordinate system corresponding to the positioning device may be set in advance. And the coordinate system of the positioning device corresponding to each positioning device is a three-dimensional coordinate system.

Further, for each positioning device, by performing object recognition on the initial image of the fracture site, the posture information of the positioning mark on the positioning device in the positioning system coordinate system can be obtained.

Wherein, the attitude information of the positioning mark in the coordinate system of the positioning system includes: the position coordinates of the positioning mark on three axes of the positioning system coordinate system, and the offset angles from the three axes. That is, the orientation information of the positioning mark in the positioning system coordinate system also includes six degrees of freedom of the positioning mark in the positioning system coordinate system.

Furthermore, because the six degrees of freedom of the positioning mark in the positioning system coordinate system can represent the coordinate transformation relationship between the positioning device coordinate system corresponding to the positioning device where the positioning mark is located and the positioning system coordinate system, the third coordinate transformation relationship between the positioning device coordinate system corresponding to the positioning device and the positioning system coordinate system can be determined after the posture information of the positioning mark on each positioning device in the positioning system coordinate system is obtained.

S102: determining a first coordinate conversion relation between the coordinate system of the positioning device and the scanning coordinate system corresponding to each positioning device based on a second coordinate conversion relation between the scanning coordinate system and the coordinate system of the positioning system and a third coordinate conversion relation between the coordinate system of the positioning device and the coordinate system of the positioning system corresponding to each positioning device;

for each positioning device, after determining a third coordinate transformation relationship between the positioning device coordinate system corresponding to the positioning device and the positioning system coordinate system, the first coordinate transformation relationship between the positioning device coordinate system corresponding to the positioning device and the scanning coordinate system can be determined by using the third coordinate transformation relationship and a second coordinate transformation relationship between the scanning coordinate system and the positioning system coordinate system obtained in advance through coordinate transformation.

For clarity, the determination of the first coordinate transformation relationship between the scanning coordinate system and the positioning system coordinate system will be described in the following.

Optionally, in another specific implementation manner, another manner for determining the first coordinate transformation relationship between the coordinate system of the positioning device corresponding to each positioning device and the scanning coordinate system provided in the embodiment of the present invention may include the following steps 1 to 3:

step 1: determining a third coordinate conversion relation between a positioning device coordinate system corresponding to each positioning device and a positioning system coordinate system based on the device coordinate of the positioning mark on each positioning device in the positioning device coordinate system corresponding to the positioning device and the system coordinate of the positioning mark in the positioning system coordinate system;

wherein the system coordinates of the positioning marker in the positioning system coordinate system are determined based on the initial image;

for each positioning device, a positioning device coordinate system corresponding to the positioning device may be preset, so that device coordinates of a positioning mark on the positioning device in the positioning device coordinate system corresponding to the positioning device may be obtained according to a position of the positioning mark on the positioning device. And the coordinate system of the positioning device corresponding to each positioning device is a three-dimensional coordinate system.

Further, for each positioning device, by performing target recognition on the initial image of the fracture site, the system coordinates of the positioning marks on the positioning device in the positioning system coordinate system can be obtained.

In this way, for each positioning device, the device coordinates of the positioning marks on the positioning device in the positioning device coordinate system corresponding to the positioning device and the system coordinates in the positioning system coordinate system are used to obtain the third coordinate conversion relationship between the positioning device coordinate system corresponding to the positioning device and the positioning system coordinate system through coordinate conversion calculation.

Step 2: determining a first coordinate conversion relation between the coordinate system of the positioning device and the scanning coordinate system corresponding to each positioning device based on a second coordinate conversion relation between the scanning coordinate system and the coordinate system of the positioning system and a third coordinate conversion relation between the coordinate system of the positioning device and the coordinate system of the positioning system corresponding to each positioning device;

The following exemplifies the manner of determining the second coordinate conversion relationship between the scanning coordinate system and the positioning system coordinate system.

Optionally, in a specific implementation manner, fig. 2 is a schematic flowchart of a determination manner of a second coordinate transformation relationship between the scanning coordinate system and the positioning system coordinate system according to an embodiment of the present invention.

The fracture part comprises a plurality of fracture blocks, each fracture block is provided with a positioning device with a positioning mark, at least two positioning devices are provided with marking balls, the number of the marking balls arranged on each positioning device provided with the marking balls is at least two, and each marking ball can be developed in a scanned image.

As shown in fig. 2, the determination method may include the following steps:

s201: determining a first coordinate of each marker ball in a scanning coordinate system based on the scanned image of the fracture site; determining a second coordinate of a positioning mark on each positioning device provided with a marking ball in a positioning system coordinate system based on the initial image of the fracture part;

by carrying out target recognition on the scanned image of the fracture part, the first coordinate of each marking ball on the positioning device installed on each fracture block in the scanning coordinate system corresponding to the scanned image can be determined, namely the first coordinate of each marking ball in the scanning coordinate system can be obtained.

Optionally, the image analysis may be performed on the scanned image by using three-dimensional small ball recognition algorithms such as a hough transform algorithm, a centroid algorithm, a connected region algorithm, and the like, so as to obtain a first coordinate of each marker ball in the scanning coordinate system.

Furthermore, for each positioning device provided with a marker ball, the second coordinate of the positioning mark on the positioning device in the positioning system coordinate system can be determined by performing target recognition on the initial image of the fracture part.

Optionally, when the image capturing device for capturing the initial image is an infrared tracker or a binocular camera, the initial image may be analyzed in a structured light manner, and a second coordinate of the positioning mark on the positioning device in the coordinate system of the positioning system is obtained through calculation.

Optionally, when the image capturing device for capturing the initial image is a magnetic navigation positioner, the initial image may be analyzed by a magnetic induction device in the magnetic navigation positioner, and a second coordinate of the positioning mark on the positioning device in the coordinate system of the positioning system is obtained through calculation.

In this way, for each positioning device provided with a marker ball, a first coordinate of each marker ball on the positioning device in the scanning coordinate system and a second coordinate of the positioning mark on the positioning device in the positioning system coordinate system can be obtained.

S202: determining a third coordinate of each marker ball in the system coordinate system based on the position relation between the marker ball and the positioning mark on the positioning device provided with the marker ball and the second coordinate;

for each positioning device provided with a marker ball, the marker ball and the positioning mark are fixedly arranged on the positioning device, so that the marker ball and the positioning mark on the positioning device have a preset and fixed position relationship.

In this way, for each positioning device provided with a marker ball, the third coordinate of each marker ball on the positioning device in the system coordinate system can be determined through the coordinate conversion relation based on the position relation between the marker ball and the positioning mark on the positioning device and the second coordinate of the positioning mark on the positioning device in the system coordinate system.

Further, a third coordinate of each marker ball of the positioning device attached to each fracture block in the system coordinate system can be obtained.

S203: and determining a second coordinate transformation relationship of the scanning coordinate system and the positioning system coordinate system based on the first coordinate of each marker ball in the scanning coordinate system and the third coordinate of each marker ball in the system coordinate system.

After obtaining the first coordinates of each marker ball in the scanning coordinate system and the third coordinates of each marker ball in the positioning system coordinate system, the corresponding relationship between the first coordinates of each marker ball in the scanning coordinate system and the third coordinates of each marker ball in the positioning system coordinate system can be determined. Further, a second coordinate conversion relationship between the scanning coordinate system and the positioning system coordinate system may be determined by coordinate conversion based on the respective first coordinates, the respective third coordinates, and a correspondence relationship between the respective first coordinates and the respective third coordinates.

It should be noted that the execution main body of the specific implementation shown in fig. 1-2 and the execution main body for executing the fracture block positioning method provided by the embodiment of the present invention may be the same execution main body or different execution main bodies. This is all reasonable.

Wherein, when the execution subject of the specific implementation shown in fig. 1-2 is different from the execution subject for executing a fracture block positioning method provided by the embodiment of the invention, the execution main body of the specific implementation shown in fig. 1-2 can transmit the first coordinate transformation relationship between the coordinate system of the positioning device corresponding to the positioning device installed on each fracture block of the determined fracture part and the scanning coordinate system to the execution main body for executing the fracture block positioning method provided by the embodiment of the invention, so that the executing bodies for executing the fracture block positioning method provided by the embodiment of the invention are different executing bodies, the fracture block positioning method provided by the embodiment of the invention can be realized by utilizing the first coordinate conversion relation between the coordinate system of the positioning device corresponding to the positioning device arranged on each fracture block of the acquired fracture part and the scanning coordinate system.

Based on this, in each of the above specific implementation manners, after the first coordinate transformation relationship between the coordinate system of the positioning device corresponding to the positioning device mounted on each fracture block of the fracture part and the scanning coordinate system is obtained, the fracture positioning method provided by the embodiment of the present invention can be implemented based on each obtained first coordinate transformation relationship.

The following is a detailed description of a fracture block positioning method provided by an embodiment of the present invention.

Fig. 3 is a schematic flow chart of a fracture block positioning method according to an embodiment of the present invention. The electronic device can position the fracture block to be reset in real time, can position the fracture block to be reset according to preset periods and the time length corresponding to each preset period, and can position the fracture block to be reset according to the received user instruction.

As shown in fig. 3, a method for locating a fracture block according to an embodiment of the present invention may include the following steps:

s301: acquiring a first positioning result of a positioning device in a preset positioning system coordinate system;

the positioning device is arranged on a fracture block to be reset, the positioning device is provided with a positioning mark, and a first positioning result is obtained based on a shot image containing the positioning mark;

the electronic device may obtain a first positioning result of a positioning device mounted on the fracture block to be reduced in a preset positioning system coordinate system. The electronic device is an execution main body of the fracture block positioning method provided by the embodiment of the invention.

The preset coordinate system of the positioning system is as follows: the preset image acquisition equipment is used for acquiring an initial image of the fracture part, and a second coordinate transformation relation between the scanning coordinate system and the positioning system coordinate system can be determined based on the initial image and a scanning image of the fracture part, so that a positioning device coordinate system corresponding to a positioning device installed on each fracture block and a first coordinate transformation relation of the scanning coordinate system are determined. The scan image of the fracture part corresponds to the scan coordinate system.

It should be noted that the first positioning result of the positioning device in the coordinate system of the positioning system can be represented by the positioning result of the positioning mark on the positioning device in the coordinate system of the positioning system. Therefore, the first positioning result of the positioning device mounted on the bone fracture block to be reset in the positioning system coordinate system obtained by the electronic device is the positioning result of the positioning mark on the positioning device mounted on the bone fracture block to be reset in the positioning system coordinate system, and the positioning result of the positioning mark in the positioning system coordinate system can be obtained by the image containing the positioning mark obtained by the image acquisition device.

Optionally, in a specific implementation manner, the image capturing device and the electronic device are different electronic devices, so that after the image capturing device obtains an image that includes a positioning mark on a positioning device mounted on a fracture block to be restored, the image capturing device can perform target identification on the image to obtain a positioning result of the positioning mark in a positioning system coordinate system corresponding to the image capturing device. In this way, the image acquisition device can send the positioning result to the electronic device, so that the electronic device can acquire the first positioning result of the positioning device installed on the fracture block to be reset in the coordinate system of the positioning system.

Optionally, in another specific implementation manner, the image capturing device may be an image capturing module integrated into an electronic device, so that the electronic device may directly obtain an image including a positioning mark on a positioning device installed on a fracture block to be reduced, and thus, the electronic device may directly perform target recognition on the image to obtain a first positioning result of the positioning device installed on the fracture block to be reduced in a coordinate system of a positioning system.

Based on this, in this specific implementation, as shown in fig. 4, the step S301 may include the following steps:

s3011: acquiring an image which is shot by image acquisition equipment and comprises a positioning mark;

s3012: and carrying out target identification on the acquired image to obtain a first positioning result of the positioning device in a preset positioning system coordinate system.

It should be noted that, in the embodiment of the present invention, the first positioning result of the positioning apparatus in the coordinate system of the positioning system includes: the position coordinates of the positioning device on three axes of the positioning system coordinate system, and the offset angles from the three axes. The position coordinates of the positioning device on the three axes of the positioning system coordinate system and the offset angles from the three axes may be simply referred to as six degrees of freedom of the positioning device in the positioning system coordinate system.

S302: determining a second positioning result of the fracture block to be reset in a positioning system coordinate system based on the first positioning result and a preset first coordinate conversion relation between a positioning device coordinate system corresponding to the positioning device and a scanning coordinate system;

the electronic equipment can obtain the first coordinate conversion relation between the coordinate system of the positioning device corresponding to the positioning device arranged on each fracture block of the fracture part and the scanning coordinate system in advance, so that the electronic equipment can determine the first coordinate conversion relation between the coordinate system of the positioning device corresponding to the positioning device arranged on the fracture block to be reset and the scanning coordinate system from the obtained first coordinate conversion relations.

Thus, after obtaining the first positioning result of the positioning device installed on the bone fracture block to be reset in the positioning system coordinate system, the electronic device can determine the second positioning result of the bone fracture block to be reset in the positioning system coordinate system through coordinate conversion by using the first positioning result and the first coordinate conversion relation between the positioning device coordinate system corresponding to the positioning device installed on the bone fracture block to be reset and the scanning coordinate system.

It should be noted that the position of the fracture block to be reduced in the scanned image may represent the positioning result of the fracture block to be reduced in the scanned coordinate system, so that the positioning result of the fracture block to be reduced in the positioning device coordinate system corresponding to the positioning device mounted on the fracture block may be determined according to the first coordinate transformation relationship between the positioning device coordinate system corresponding to the positioning device mounted on the fracture block to be reduced and the scanned coordinate system. Therefore, the first positioning result of the positioning device on the bone fracture block to be reset in the positioning system coordinate system can represent the coordinate conversion relationship between the positioning device coordinate system corresponding to the positioning device installed on the bone fracture block and the positioning system coordinate system, so that the first positioning result of the positioning device on the bone fracture block to be reset in the positioning system coordinate system and the first coordinate conversion relationship between the positioning device coordinate system corresponding to the positioning device installed on the bone fracture block to be reset and the scanning coordinate system can be utilized to convert the positioning result of the bone fracture block to be reset in the positioning device coordinate system corresponding to the positioning device installed on the bone fracture block to be reset into the second coordinate conversion relationship of the bone fracture block to be reset in the positioning system coordinate system.

Furthermore, in the embodiment of the present invention, since the fracture site includes a plurality of fracture pieces, the electronic device may perform the above steps S301 to S302 for each fracture piece of the fracture site at the same time, thereby achieving the positioning of the plurality of fracture pieces of the fracture site at the same time.

Furthermore, the fracture part can comprise a plurality of fracture blocks, in order to enable the image of each fracture block to be clearly and visually checked in the resetting process, so that the moving accuracy of each fracture block is improved in the resetting process, further, the resetting effect of each fracture block is improved, and the scanning sub-images of each fracture block can be displayed in the display equipment. The scanning sub-image of each fracture block is obtained by image segmentation of the scanning image of the fracture part, and the scanning sub-image of each fracture block comprises the image of the fracture block in the scanning image.

Optionally, in a specific implementation manner, the electronic device and the display device are different electronic devices, so that when the electronic device obtains second positioning results of each fracture block of the fracture part in the coordinate system of the positioning system, the electronic device may directly send each second positioning result to the display device, so that the display device determines the position of the scan sub-image of each fracture block in the display screen according to each received second positioning result, and then outputs the scan sub-image of each fracture block according to each determined position.

Optionally, in another specific implementation manner, the electronic device and the display device are different electronic devices, so that when the electronic device obtains second positioning results of each fracture block of the fracture part in the scanning coordinate system, the electronic device may also determine, based on each second positioning result, a position of a scanning sub-image of each fracture block in the display screen, and then send the position of the scanning sub-image of each fracture block in the display screen to the display device, so that the display device displays the scanning sub-image of each fracture block according to the position of the scanning sub-image of each fracture block in the display screen.

Optionally, in another specific implementation manner, the display device may be an image display module integrated into an electronic device, and thus, the electronic device may include a display screen, so that when the electronic device obtains second positioning results of fracture blocks of the fracture site in the coordinate system of the positioning system, the electronic device may determine, based on the second positioning results, positions of scan sub-images of the fracture blocks in the display screen, and display, in the display screen, the scan sub-images of the fracture blocks according to the positions of the scan sub-images of the fracture blocks in the display screen.

Based on this, in this specific implementation manner, as shown in fig. 5, the method for positioning a fracture block according to the embodiment of the present invention may further include the following steps:

s303: outputting scanning sub-images of each fracture block of the fracture part according to a second positioning result of each fracture block of the fracture part in a coordinate system of a positioning system;

wherein the scan sub-image of each fracture block is obtained by image segmentation of the scan image.

Compared with the fracture positioning method provided by the embodiment of the invention, the embodiment of the invention also provides a fracture positioning device.

Fig. 6 is a schematic structural diagram of a fracture positioning apparatus according to an embodiment of the present invention, and as shown in fig. 6, the apparatus may include the following modules:

a result obtaining module 610, configured to obtain a first positioning result of the positioning apparatus in a preset positioning system coordinate system; the positioning device is arranged on a fracture block to be reset, the positioning device is provided with a positioning mark, and the first positioning result is obtained based on a shot image containing the positioning mark;

a fracture block positioning module 620, configured to determine, based on the first positioning result and a preset first coordinate transformation relationship between a positioning device coordinate system corresponding to the positioning device and a scanning coordinate system, a second positioning result of the fracture block to be reset in the positioning system coordinate system;

Optionally, in a specific implementation manner, the result obtaining module 610 is specifically configured to:

Corresponding to the bone fracture positioning method provided by the above embodiment of the present invention, an embodiment of the present invention further provides an electronic device, as shown in fig. 7, including a processor 701, a communication interface 702, a memory 703 and a communication bus 704, where the processor 701, the communication interface 702 and the memory 703 complete mutual communication through the communication bus 704,

a memory 703 for storing a computer program;

the processor 701 is configured to implement the steps of any of the fracture block positioning methods provided in the embodiments of the present invention when executing the program stored in the memory 703.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the fracture block positioning methods provided in the above-mentioned embodiments of the present invention.

In a further embodiment of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of any of the fracture fragment locating methods provided in the above-described embodiments of the present invention.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, apparatus embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are described with relative simplicity as they are substantially similar to method embodiments, where relevant only as described in portions of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A fracture block positioning method is applied to an electronic device, and the method comprises the following steps:

2. The method of claim 1, wherein the step of obtaining the first positioning result of the positioning device in the preset positioning system coordinate system comprises:

3. The method of claim 1 or 2, wherein the fracture site comprises a plurality of fracture fragments, the method further comprising:

outputting a scanning sub-image of each fracture block of the fracture part according to a second positioning result of each fracture block of the fracture part in the coordinate system of the positioning system; wherein the scan sub-image of each fracture block is obtained by image segmentation of the scan image.

4. The method of claim 1, wherein the fracture site comprises a plurality of fracture fragments, each fracture fragment having a positioning device mounted thereon having positioning indicia;

5. The method according to claim 4, wherein at least two positioning devices are provided with marker balls, the number of marker balls provided on each positioning device provided with marker balls is at least two, and each marker ball can be developed in the scanned image;

6. A fracture block positioning device, applied to an electronic device, the device comprising:

7. The apparatus of claim 6, wherein the result obtaining module is specifically configured to:

8. The device of claim 6 or 7, wherein the fracture site comprises a plurality of fracture fragments, the device further comprising:

9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any one of claims 1 to 5 when executing a program stored in the memory.

10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-5.