CN116019551A - Method and device for evaluating precision index of hip replacement surgery navigation system - Google Patents
Method and device for evaluating precision index of hip replacement surgery navigation system Download PDFInfo
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- CN116019551A CN116019551A CN202111255755.2A CN202111255755A CN116019551A CN 116019551 A CN116019551 A CN 116019551A CN 202111255755 A CN202111255755 A CN 202111255755A CN 116019551 A CN116019551 A CN 116019551A
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Abstract
The application provides a method for evaluating an accuracy index of a navigation system of a hip replacement surgery by using a detection device, which is used for the hip replacement surgery and comprises the following steps: determining a first target position of the surgical instrument according to the three-dimensional image of the detection device under a three-dimensional virtual space coordinate system of the navigation system; guiding the surgical instrument to move through the navigation system according to the first target position; acquiring a first position of the surgical instrument in a physical space in response to the position of the surgical instrument in the three-dimensional virtual space coordinate system coinciding with the first target position; and determining the difference between the first position and a second target position defined on the detection device in the physical space as the precision index. The above process is more consistent with the operation process of the clinical practice of the operation, so that the obtained precision index can correctly reflect the precision of the navigation system in use.
Description
Technical Field
The present application relates to the field of medical devices, and in particular, to a method, an apparatus, an electronic device, and a computer readable storage medium for evaluating an accuracy index of a navigation system for hip replacement surgery using a detection apparatus.
Background
Surgical navigation systems are increasingly used in hip surgery, such as hip replacement surgery. The surgical navigation system can accurately correlate the image data of the patient with the physiological anatomy of the patient, assist the operator in performing surgical planning, and guide the operator to operate surgical instruments. The operation navigation system enables the hip operation to be more accurate, rapid and safe.
In hip replacement surgery, on the femoral side, it is necessary to resect the femoral head and open the femoral marrow cavity, and then install a trial and prosthesis; on the acetabular side, it is necessary to first grind the acetabular cup at a specific location using a surgical instrument (e.g., an acetabular file), then verify the result of the grinding using an acetabular trial, and finally implant the acetabular cup into the acetabular cup at an angle. In the surgical navigation process, the precision with which the surgical instrument reaches the designated position and the precision of the acetabular cup implantation direction have important effects on the outcome of the surgery.
For a navigation system using a surgical robot, since the use environments of the surgical robot and the industrial robot are greatly different, the navigation accuracy of the navigation system for the surgical robot is not suitable for performing accuracy evaluation by adopting the accuracy index of the industrial robot. On the other hand, for the precision measurement of the surgical robot, a unified evaluation index and a comprehensive and effective evaluation method are not available at present. The precision evaluation process of part of surgical robot products is not consistent with the actual use process, so that the evaluation method has no guiding significance in surgical practice.
Disclosure of Invention
In order to solve the problems of non-uniform precision index, incomplete evaluation process and poor practicability of the surgical navigation system, the application provides a method for evaluating the precision index of the hip replacement surgical navigation system by using a detection device, wherein the method comprises the following steps:
determining a first target position of the surgical instrument according to the three-dimensional image of the detection device under a three-dimensional virtual space coordinate system of the navigation system;
guiding the surgical instrument to move through the navigation system according to the first target position;
acquiring a first position of the surgical instrument in a physical space in response to the position of the surgical instrument in the three-dimensional virtual space coordinate system coinciding with the first target position;
and determining the difference between the first position and a second target position defined on the detection device in the physical space as the precision index.
According to some embodiments of the present application, the first location comprises a first spherical center coordinate of a spherical working portion of the surgical instrument in the physical space; the second target position comprises a second spherical center coordinate of an inner spherical surface of the detection device in the physical space; the precision index comprises a distance between the first spherical center coordinate and the second spherical center coordinate.
According to some embodiments of the present application, the first location comprises a first vector of a center of sphere of a spherical working portion of the surgical instrument along an axis in the physical space; the second target position comprises a connecting line between the sphere center of the inner sphere of the detection device and a preset characteristic point in the physical space; the precision index comprises an included angle between the first vector and the connecting line.
According to some embodiments of the application, the preset feature points include: one or more preset feature points.
According to some embodiments of the present application, the method further comprises: obtaining a plurality of precision indexes through a plurality of times of measurement according to a plurality of preset characteristic points; performing comprehensive evaluation based on the statistical evaluation values of a plurality of the precision indexes; the statistical estimates include one or more of an average, a maximum, or a confidence interval.
According to some embodiments of the present application, the spherical working portion of the surgical instrument comprises:
a surgical instrument entity; or (b)
Abstract geometric elements.
According to some embodiments of the application, the navigation system comprises a manual navigation system or a robot-assisted navigation system.
According to some embodiments of the present application, the determining a first target position of a surgical instrument includes:
determining the first target position through interactive input; or (b)
The first target position is determined by automatically identifying a three-dimensional image of the detection device.
According to some embodiments of the present application, the method further comprises:
registering the acquired three-dimensional image of the detection device with a three-dimensional virtual space coordinate system of the navigation system.
According to some embodiments of the application, the three-dimensional image comprises:
a three-dimensional CT image; or (b)
A three-dimensional image reconstructed from the two-dimensional X-ray image.
According to another aspect of the present application, there is also provided an apparatus for evaluating an index of accuracy of a navigation system for hip replacement surgery using a detection apparatus, the apparatus comprising:
the planning module is used for determining a first target position of the surgical instrument according to the three-dimensional image of the detection device under the three-dimensional virtual space coordinate system of the navigation system;
the navigation module is used for guiding the surgical instrument to move through the navigation system according to the first target position;
the acquisition module is used for responding to the coincidence of the position of the surgical instrument in the three-dimensional virtual space coordinate system and the first target position and acquiring the first position of the surgical instrument in the physical space;
and the evaluation module is used for determining the difference between the first position and the second target position defined on the detection device in the physical space as the precision index.
According to some embodiments of the present application, the apparatus further comprises:
and the registration module is used for registering the acquired three-dimensional image of the detection device with a three-dimensional virtual space coordinate system of the navigation system.
According to another aspect of the present application, there is also provided an electronic device for a surgical navigation system accuracy index, including:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the methods described above.
According to another aspect of the present application, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above method.
The application also provides a detection device for the precision index of the surgical navigation system, comprising:
a detection device body having a spherical inner surface for determining a target position of a spherical working portion of a surgical instrument;
and the tracker is rigidly connected with the detection device body.
According to some embodiments of the present application, the detection device body further comprises:
and the spherical inner surface is recessed from the opening surface toward the inside of the detection device body.
According to some embodiments of the application, the spherical inner surface comprises: one or more preset feature points; the feature points can be identified by a camera of the navigation system.
According to some embodiments of the present application, the material of the detection device body comprises: nonmetallic materials capable of imaging under CT or X-rays.
According to the method for evaluating the precision index of the hip replacement surgery navigation system, the evaluation process is more in line with the operation process of the surgery clinical practice, so that the obtained precision index can accurately reflect the precision of the use of the navigation system; the navigation system can be represented by a position error, an angle error or a combination of the position error and the angle error, so that the navigation system can be more comprehensively evaluated; the handheld navigation system is compatible with the traditional handheld navigation system and robot auxiliary navigation system, and has strong universality.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art from these drawings without departing from the scope of protection of the present application.
FIG. 1 illustrates a schematic view of a surgical instrument according to an example embodiment of the present application;
FIG. 2 shows a schematic diagram of a detection device according to an example embodiment of the present application;
FIG. 3 illustrates a surgical instrument navigation process schematic according to an example embodiment of the present application;
FIG. 4 illustrates a flow chart of a method of evaluating a precision index of a hip replacement surgery navigation system according to a first example embodiment of the present application;
FIG. 5 illustrates a flow chart of a method of evaluating a precision index of a hip replacement surgery navigation system according to a second exemplary embodiment of the present application;
FIG. 6 shows a block diagram of an apparatus for evaluating a precision index of a navigation system for hip replacement surgery according to a first example embodiment of the present application;
FIG. 7 shows a block diagram of an apparatus for evaluating accuracy indicators of a navigation system for hip replacement surgery according to a second exemplary embodiment of the present application;
fig. 8 shows a block diagram of an electronic device for evaluating accuracy metrics of a hip replacement surgery navigation system according to an example embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The terms "first," "second," and the like in this application are used for distinguishing between different objects and not for describing a predetermined sequence. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
FIG. 1 illustrates a schematic view of a surgical instrument according to an example embodiment of the present application; FIG. 2 shows a schematic diagram of a detection device according to an example embodiment of the present application; fig. 3 shows a schematic view of a surgical instrument navigation process according to an example embodiment of the present application.
In the hip replacement surgery, surgical instruments such as an acetabular file, an acetabular cup, and an acetabular trial tool are required to be used on the acetabular side. As shown in surgical instrument 100 in fig. 1, the surgical instrument in hip replacement surgery has a spherical working portion 110 and a connecting rod 120. The error in the position of the center P and/or the error in the direction of the axis n of the acetabular-side surgical instrument represents an index of accuracy of the surgical navigation system on the acetabular side.
In the method for evaluating the accuracy index of the navigation system for hip replacement surgery provided in the present application, the detection device 200 shown in fig. 2 is used for assisting. Referring to fig. 2, the testing device 200 includes a tracker 220 to which the testing device body 210 is rigidly connected. According to some embodiments of the present application, the detection device body 210 may be a tooling table, such as a trapezoid or other table with a stable structure. The material of the detection device body 210 may be a nonmetallic material capable of imaging under CT or X-ray. The detecting device body 210 includes an inner spherical surface 211 with a spherical center position O for simulating an acetabular structure. The testing device body 210 also includes an open surface 214. The spherical inner surface 211 is recessed from the open surface 214 toward the interior of the detection device body 210 so that the working portion of the surgical instrument can enter the spherical inner surface 211 during the accuracy evaluation.
A set of feature points 212 are disposed along the inner sphere 211 on the detecting device body 210. The number and location of the feature points 212 may be set according to the typical implantation direction in a hip operation. The feature points 212 on the one hand need to be identifiable in the acquired detector images, for example, in a CT image or X-ray imaging device, have a certain geometry and can be extracted during image processing. In some embodiments of the root application, the feature points 212 may be provided as ceramic balls or metal balls. On the other hand, the feature points 212 need to be able to be detected by a detection device, for example, their accurate positions and coordinates can be measured by a three-coordinate measuring machine or the like. The detection device body region including the inner spherical surface 211 and the open surface 2014 is defined as the registration region 213. In evaluating the accuracy of the hip replacement surgery navigation system, the acquired image of the registration area 213 needs to be configured with the coordinate device of the surgery navigation system by the tracker 220.
In the design process of the detection device body 210, a target position of the working portion of the surgical instrument during the operation process may be predefined, for example, a position of the center O of the sphere 211 of the inner sphere of the detection device body 210 is defined as a center target position of the sphere of the spherical working portion of the surgical instrument; the connection line between the characteristic point 212 on the inner spherical surface 211 of the detection device body 210 and the center O is defined as the target direction N of the spherical working portion of the surgical instrument.
As shown in fig. 3, the navigation process of the surgical navigation system is to take a first target (for example, a spherical center position O of the inner sphere of the detection device or a target direction N determined by a connection line between the feature point 212 and the spherical center position O) planned in the three-dimensional virtual space as a navigation target, guide the surgical instrument to move toward the detection device, and finally make the spherical center position P of the spherical working portion 110 of the surgical instrument trend toward the spherical center position O of the inner sphere of the detection device or make the axial direction N of the surgical instrument trend toward the target direction N.
Fig. 4 shows a flowchart of a method of evaluating a precision index of a navigation system for a hip replacement surgery according to a first example embodiment of the present application.
As shown in fig. 4, the method for evaluating the accuracy index of the navigation system for hip replacement surgery by using the detection device provided by the application comprises the following steps.
Step S410, determining a first target position of the surgical instrument under a three-dimensional virtual space coordinate system of the navigation system. A three-dimensional image of the detection means may be displayed in a three-dimensional virtual space of the navigation system. According to the target position defined by the detection device in the process of being involved, the target position of the navigation system, namely the first target position, can be correspondingly set in the three-dimensional virtual space of the navigation system.
According to example embodiments of the present application, the first target location may be determined by way of interactive input. For example, the center O of the sphere and the feature point of the inner sphere of the detection device manually selected by the operator of the surgical navigation system in the three-dimensional image interface are used as the first target position.
According to further exemplary embodiments of the present application, the center O of the inner sphere and the feature points automatically identified by the navigation system in the three-dimensional image of the detection device may be used as the first target position. Compared with the interactive setting mode, the automatic recognition function of the navigation system software does not need to rely on a user to manually pick up the target in the image, avoids the influence of human operation factors, and can further ensure the reliability of precision evaluation.
In the above process, the spherical working portion of the surgical instrument may be a surgical instrument entity or may be an abstract geometric element (e.g., sphere, point, etc.).
Step S420, guiding the surgical instrument to move through the navigation system according to the first target position. After the planned first target position is determined, the surgical instrument is moved towards the planned first target position under the guidance of the navigation system.
According to some embodiments of the present application, when the navigation system is a manual navigation system, a second tracker may be mounted on the surgical instrument, and the navigation system may identify the position of the surgical instrument through the second tracker to display the surgical instrument in the three-dimensional virtual space. The first target movement planned on the spherical working portion detection device of the surgical instrument in the three-dimensional virtual space is made by manually adjusting the position of the surgical instrument.
According to other embodiments of the present application, when the navigation system is a robot-assisted navigation system, the surgical instrument is held by the mechanical arm, and the mechanical arm is a component of the navigation system and can drive the surgical instrument to move, so that the position of the surgical instrument in the three-dimensional virtual space is approximately coincident with the first target position on the detection device.
In step S430, a first position of the surgical instrument in the physical space is acquired in response to the position of the surgical instrument in the three-dimensional virtual space coordinate system coinciding with the first target position. The surgical instrument is guided by the navigation system to indicate that the navigation process is completed when moving to the first target position in the three-dimensional virtual space. At this time, the true position, i.e., the first position, of the surgical instrument in the actual physical space (i.e., the operation space) may be measured. According to some embodiments of the present application, the true position of the surgical instrument may be obtained by a geometric measurement device, such as a three-coordinate gauge, a laser gauge, or the like.
Step S440, determining a difference between the first position and the second target position on the detection device in the physical space as the precision index. In the method provided by the application, the precision index of the navigation system can be represented by a position error, an angle error or a combination of the position error and the angle error.
When the position error is used for evaluation, the first position may be a first spherical center coordinate of the spherical working portion of the surgical instrument in physical space. The second target position may be a second spherical center coordinate of an inner spherical surface of the detection device in the physical space. Thus, the accuracy index may be expressed as a distance between the first center of sphere coordinate and the second center of sphere coordinate.
When the angle error is used for evaluation, the first position may be a first vector of a center of a sphere of the spherical working portion of the surgical instrument along the axis in the physical space; the second target position may be a line between a center of a sphere of the inner sphere of the detection device and a preset feature point in the physical space. The accuracy indicator may thus be expressed as an angle between the first vector and the connection line. According to some embodiments of the present application, when the angle error is used for evaluation, one preset feature point may be used or a plurality of preset feature points may be used for evaluation. When the evaluation is performed by adopting a plurality of preset characteristic points, a plurality of precision indexes can be obtained through a plurality of measurements, and comprehensive evaluation is performed based on statistical evaluation of a plurality of the precision indexes so as to perform more comprehensive precision evaluation indexes. For example, an average value or a maximum value of a plurality of the precision indexes may be used as a final precision index; the confidence interval of the accuracy may be calculated based on a plurality of the accuracy indexes, and the upper limit of the confidence interval may be set as the final accuracy index. For statistical operability, the mean +3 standard deviation may be used as the final precision index.
Fig. 5 shows a flowchart of a method of evaluating a precision index of a navigation system for a hip replacement surgery according to a second exemplary embodiment of the present application. According to a second embodiment of the present application, as shown in fig. 5, the method for evaluating the accuracy index of the navigation system for hip replacement surgery provided in the present application may further include the following steps.
Step S400, registering the three-dimensional image of the detection device with a three-dimensional virtual space coordinate system of the navigation system. During the operation, firstly, an image of the detection device, such as a three-dimensional CT image, can be acquired; or acquiring a two-dimensional X-ray image, and reconstructing a three-dimensional image of the detection device according to the two-dimensional X-ray image. In the process of registering the three-dimensional image of the detection device with the three-dimensional virtual space coordinate system of the navigation system, the relative position relationship between the image of the detection device and the tracker is established in the three-dimensional virtual space, so that the relative position relationship between the surgical instrument and the detection device in the three-dimensional virtual space can be further represented according to the position of the surgical instrument tracked by the tracker, and the navigation is further realized. The registration process may be implemented using a variety of algorithms, which are not limiting in this application.
Fig. 6 shows a block diagram of the apparatus for evaluating the accuracy index of the navigation system for hip replacement surgery according to the first exemplary embodiment of the present application.
In accordance with another aspect of the present application, as shown in fig. 6, there is also provided an apparatus 500 for evaluating an accuracy index of a navigation system for hip replacement surgery using a detection apparatus, including: planning module 510, navigation module 520, acquisition module 530, and evaluation module 540.
A planning module 510 may be configured to determine a first target position of the surgical instrument from the three-dimensional image of the detection device under a three-dimensional virtual space coordinate system of the navigation system. According to example embodiments of the present application, the first target location may be determined by way of interactive input. According to further exemplary embodiments of the present application, the center O of the sphere and the feature points of the inner sphere automatically recognized in the three-dimensional image of the detection device by the navigation system may be regarded as the first target position.
A navigation module 520 may be used to guide the surgical instrument motion through the navigation system according to the first target position. After the planned target position is determined, the surgical instrument is moved towards the planned target position under the guidance of the navigation system. The navigation system may be a manual navigation system or a robot-assisted navigation system.
The acquisition module 530 may be configured to acquire a first position of the surgical instrument in a physical space in response to a position of the surgical instrument in the three-dimensional virtual space coordinate system coinciding with the first target position. After the navigation process is completed, the first position of the surgical instrument in the actual physical space may be measured by a three-coordinate measuring machine or the like.
An evaluation module 540 may be configured to determine a difference between the first location and a second target location defined on the detection device in the physical space as the accuracy indicator. In the method provided by the application, the precision index of the navigation system can be represented by a position error, an angle error or a combination of the position error and the angle error.
Fig. 7 shows a block diagram of an apparatus for evaluating accuracy index of a navigation system for hip replacement surgery according to a second exemplary embodiment of the present application.
As shown in fig. 7, the device 500 for evaluating the accuracy index of the navigation system of the hip replacement surgery by using the detection device provided by the application further comprises a registration module 550, configured to register the acquired three-dimensional image of the detection device with the three-dimensional virtual space coordinate system of the navigation system. By registration, the relative position relationship between the image of the detection device and the tracker can be established in the three-dimensional virtual space, so that the relative position relationship between the surgical instrument and the detection device in the three-dimensional virtual space can be further represented according to the position of the surgical instrument tracked by the tracker, and navigation is further realized.
Fig. 8 shows a block diagram of the electronic device components for evaluating the accuracy index of a navigation system for hip replacement surgery according to an example embodiment of the present application.
The present application also provides an electronic device 800 for evaluating a precision index of a hip replacement surgery navigation system. The electronic device 800 shown in fig. 8 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 8, the electronic device 800 is embodied in the form of a general purpose computing device. Components of electronic device 800 may include, but are not limited to: at least one processing unit 810, at least one memory unit 820, a bus 830 that connects the different system components (including memory unit 820 and processing unit 810), etc.
The storage unit 820 stores program codes that can be executed by the processing unit 810, so that the processing unit 810 performs the method for evaluating the accuracy index of the hip replacement surgery navigation system according to the embodiments of the present application described in the present specification.
The storage unit 820 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 8201 and/or cache memory 8202, and may further include Read Only Memory (ROM) 8203.
The electronic device 800 may also communicate with one or more external devices 8001 (e.g., touch screen, keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 800, and/or any device (e.g., router, modem, etc.) that enables the electronic device 800 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 850. Also, electronic device 800 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 860. Network adapter 860 may communicate with other modules of electronic device 800 via bus 830. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 900, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the above-described method of evaluating a precision index of a hip replacement surgery navigation system.
According to the method for evaluating the precision index of the hip replacement surgery navigation system, the structure of the surgery instrument is simulated on the detection device, the navigation target is defined, the navigation process is realized, and the precision of the navigation system is evaluated according to the navigation result and the navigation target. The above process is more consistent with the operation process of the clinical practice of the operation, so that the obtained precision index can correctly reflect the precision of the navigation system in use.
In addition, the method for evaluating the precision index of the hip replacement surgery navigation system can be expressed by adopting a position error, can be expressed by adopting an angle error, or can be comprehensively evaluated by adopting the position error and the angle error, and can evaluate the navigation system more comprehensively. Furthermore, the method provided by the application has the advantages of higher universality due to the fact that the handheld navigation system and the robot auxiliary navigation system are traditional.
The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples have been provided herein to illustrate the principles and embodiments of the present application, and wherein the above examples are provided to assist in the understanding of the methods and concepts of the present application. Meanwhile, based on the ideas of the present application, those skilled in the art can make changes or modifications on the specific embodiments and application scope of the present application, which belong to the scope of the protection of the present application. In view of the foregoing, this description should not be construed as limiting the application.
Claims (18)
1. A method for evaluating an accuracy index of a hip replacement surgery navigation system by using a detection device, the method comprising:
determining a first target position of the surgical instrument according to the three-dimensional image of the detection device under a three-dimensional virtual space coordinate system of the navigation system;
guiding the surgical instrument to move through the navigation system according to the first target position;
acquiring a first position of the surgical instrument in a physical space in response to the position of the surgical instrument in the three-dimensional virtual space coordinate system coinciding with the first target position;
and determining the difference between the first position and a second target position defined on the detection device in the physical space as the precision index.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the first location includes a first spherical center coordinate of a spherical working portion of the surgical instrument in the physical space;
the second target position comprises a second spherical center coordinate of an inner spherical surface of the detection device in the physical space;
the precision index comprises a distance between the first spherical center coordinate and the second spherical center coordinate.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the first location includes a first vector of a center of a sphere of a spherical working portion of the surgical instrument along an axis in the physical space;
the second target position comprises a connecting line between the sphere center of the inner sphere of the detection device and a preset characteristic point in the physical space;
the precision index comprises an included angle between the first vector and the connecting line.
4. A method according to claim 3, wherein the predetermined feature points comprise: one or more preset feature points.
5. The method according to claim 4, wherein the method further comprises:
obtaining a plurality of precision indexes through a plurality of times of measurement according to a plurality of preset characteristic points;
performing comprehensive evaluation based on the statistical evaluation values of a plurality of the precision indexes;
the statistical estimates include one or more of an average, a maximum, or a confidence interval.
6. A method according to claim 2 or claim 3, wherein the spherical working portion of the surgical instrument comprises:
a surgical instrument entity; or (b)
Abstract geometric elements.
7. The method of claim 1, wherein the navigation system comprises:
a manual navigation system or a robot-assisted navigation system.
8. The method of claim 1, wherein the determining a first target location of a surgical instrument comprises:
determining the first target position through interactive input; or (b)
The first target position is determined by automatically identifying a three-dimensional image of the detection device.
9. The method according to claim 1, wherein the method further comprises:
registering the acquired three-dimensional image of the detection device with a three-dimensional virtual space coordinate system of the navigation system.
10. The method of claim 9, wherein the three-dimensional image comprises:
a three-dimensional CT image; or (b)
A three-dimensional image reconstructed from the two-dimensional X-ray image.
11. A device for evaluating an index of accuracy of a navigation system for hip replacement surgery using a detection device, the device comprising:
the planning module is used for determining a first target position of the surgical instrument according to the three-dimensional image of the detection device under the three-dimensional virtual space coordinate system of the navigation system;
the navigation module is used for guiding the surgical instrument to move through the navigation system according to the first target position;
the acquisition module is used for responding to the coincidence of the position of the surgical instrument in the three-dimensional virtual space coordinate system and the first target position and acquiring the first position of the surgical instrument in the physical space;
and the evaluation module is used for determining the difference between the first position and the second target position defined on the detection device in the physical space as the precision index.
12. The apparatus of claim 11, wherein the apparatus further comprises:
and the registration module is used for registering the acquired three-dimensional image of the detection device with a three-dimensional virtual space coordinate system of the navigation system.
13. An electronic device, comprising:
one or more processors;
a storage means for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-10.
14. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1-10.
15. A detection device for precision evaluation of a surgical navigation system, comprising:
a detection device body having a spherical inner surface for determining a target position of a spherical working portion of a surgical instrument;
and the tracker is rigidly connected with the detection device body.
16. The test device of claim 15, wherein the test device body further comprises:
and the spherical inner surface is recessed from the opening surface toward the inside of the detection device body.
17. The test device of claim 15, wherein the spherical inner surface comprises: one or more preset feature points; the feature points can be identified by a camera of the navigation system.
18. The test device of claim 15, wherein the material of the test device body comprises: nonmetallic materials capable of imaging under CT or X-rays.
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