CN116887775A

CN116887775A - Medical navigation device, navigation processing device and method, and medical navigation system

Info

Publication number: CN116887775A
Application number: CN202280007393.1A
Authority: CN
Inventors: 郭楚; 徐晓龙; 何智圣; 张柳云; 陈德方; 刘梦星
Original assignee: Wuhan Mindray Technology Co Ltd
Current assignee: Wuhan Mindray Technology Co Ltd
Priority date: 2022-03-04
Filing date: 2022-11-09
Publication date: 2023-10-13
Also published as: CN219501199U; WO2023165158A1; CN116887776A; CN116740309A; CN116740309B; CN116687437A; WO2023165157A1

Abstract

The application discloses medical navigation equipment and a navigation method thereof, wherein the medical navigation equipment comprises a processor, a sensor and a navigation prompt component; the processor is used for responding to the trigger instruction, recording the reference position information of the sensor measured by the sensor when the sensor is at the reference position, acquiring the real-time position information of the sensor in a state that the sensor is fixed with the orthopedic operation tool, and acquiring the first relative position information and/or the second relative position information based on the real-time position information; the first relative position information is the relative position information between the real-time position and the reference position of the sensor, the second relative position information is the relative position information between the real-time position and the target position, the second relative position information is determined by the real-time position information and the target offset position information, and the target offset position information is used for indicating the relative position relation between the reference position and the target position; the navigation prompting component is used for prompting the first relative position information and/or the second relative position information.

Description

Medical navigation device, navigation processing device and method, and medical navigation system

Technical Field

The present application relates to the field of medical technology, and in particular, to a medical navigation apparatus, a navigation processing apparatus, a navigation method of the medical navigation apparatus, an electronic apparatus, a computer-readable storage medium, a computer program product, and a medical navigation system.

Background

In clinical medical orthopaedics, some operations require the insertion of an orthopaedics operation tool or instrument, for example, proximal femur fracture (such as intertrochanteric fracture) or bone diaphysis fracture of tibia or humerus, intramedullary nails are required to be inserted during the orthopaedics operation, and the bone fracture healing is facilitated by adopting an intramedullary nail fixing mode for treatment. The specific insertion position and direction of the orthopaedic surgical tool or instrument when inserted affects the later surgical effect and the recovery effect after the end of the surgery.

Based on this, a technique to assist in determining the insertion position of an orthopedic surgical tool or instrument has emerged, however, the inventors have found that the conventional technique to assist in determining the insertion position of a tool or instrument has a problem in that the amount of radiation causing the surgical procedure is large.

Disclosure of Invention

In view of the above, the present application provides one or more of a medical navigation device, a navigation processing device, a navigation method of a medical navigation device, an electronic device, a computer-readable storage medium, a computer program product, or a medical navigation system.

In a first aspect, the present application provides a medical navigation device for navigating an intramedullary nail insertion point, comprising a processor, a sensor, and a navigation prompt assembly;

the processor is used for responding to a trigger instruction, recording the reference position information of the sensor measured by the sensor when the sensor is at the reference position, acquiring the real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring the first relative position information and/or the second relative position information based on the real-time position information; the first relative position information is relative position information between a real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is the relative position information between the real-time position and an ideal intramedullary nail feeding point, the second relative position information is determined by the real-time position information and target offset position information, and the target offset position information is used for indicating the relative position relationship between the reference position and the ideal intramedullary nail feeding point;

the navigation prompting component is used for prompting the first relative position information and/or the second relative position information;

Wherein the first relative position information is combined with the target offset position information and/or the second relative position information is usable to assist in guiding the orthopaedic surgical tool to move to the ideal intramedullary nail insertion point.

In a second aspect, the present application provides a medical navigation device for guiding an orthopaedic surgical tool, comprising a processor, a sensor, and a navigation prompt assembly;

the processor is used for responding to a trigger instruction, recording the reference position information of the sensor measured by the sensor when the sensor is at the reference position, acquiring the real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring the first relative position information and/or the second relative position information based on the real-time position information; the first relative position information is relative position information between a real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

wherein the first relative position information is combined with the target offset position information and/or the second relative position information is usable to assist in guiding the orthopaedic surgical tool to move to the target location.

In a third aspect, the present application provides a medical navigation device for guiding an orthopaedic surgical tool, comprising a processor, a sensor, a communication component, and a navigation prompt component;

the processor is used for sending the real-time position information measured by the sensor to external processing equipment through the communication component in a state that the sensor is fixed with the orthopedic operation tool, and receiving the first relative position information and/or the second relative position information fed back by the external processing equipment through the communication component; the first relative position information is relative position information between a real-time position of the sensor and a reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information comprises first reference position information and/or second reference position information, the first reference position information is position information measured by the sensor, which is obtained by the medical navigation device in response to a trigger instruction, and sent to the external processing device, and the second reference position information is preset position information obtained by the external processing device in response to the trigger instruction; the second relative position information is relative position information between a real-time position of the sensor and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating a relative position relation between the reference position and the target position, and the target position is determined by an expected insertion position and/or an expected insertion direction of the orthopedic operation tool in a human body;

The processor also transmits the first relative position information and/or the second relative position information to the navigation prompt component;

In a fourth aspect, the present application provides a medical navigation device for guiding an orthopaedic surgical tool, comprising a processor, a sensor, and a communication assembly;

the processor is used for responding to a trigger instruction, recording reference position information when the sensor measured by the sensor is at a reference position, acquiring real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, acquiring first relative position information and/or second relative position information based on the real-time position information, transmitting the first relative position information and/or the second relative position information to external prompting equipment through the communication component, and prompting the first relative position information and/or the second relative position information by the external prompting equipment; the first relative position information is the relative position information between the real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

In a fifth aspect, the present application provides a navigation processing device for guiding an orthopaedic surgical tool, the navigation processing device being communicatively connected to a medical navigation device, the medical navigation device comprising a processor, a sensor and a communication component;

the navigation processing equipment is used for acquiring real-time position information which is transmitted by the processor through the communication component and is measured by the sensor in a state that the sensor is fixed with the orthopedic operation tool, acquiring first relative position information and/or second relative position information based on the real-time position information, and prompting the first relative position information and/or the second relative position information; the first relative position information is relative position information between a real-time position of the sensor and a reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information comprises first reference position information and/or second reference position information, the first reference position information is position information measured by the sensor, which is obtained by the medical navigation device in response to a trigger instruction, and is sent to the navigation processing device, and the second reference position information is preset position information obtained by the navigation processing device in response to the trigger instruction; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

In a sixth aspect, the present application provides a navigation method of a medical navigation device for intramedullary nail insertion point navigation, the medical navigation device being provided with a sensor, the method comprising:

when a trigger instruction is received, recording reference position information measured by the sensor when the sensor is at a reference position in response to the trigger instruction;

acquiring real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring first relative position information and/or second relative position information based on the real-time position information, wherein the first relative position information is the relative position information between the real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is the relative position information between the real-time position and an ideal intramedullary nail feeding point, the second relative position information is determined by the real-time position information and target offset position information, and the target offset position information is used for indicating the relative position relationship between the reference position and the ideal intramedullary nail feeding point;

And prompting the first relative position information and/or the second relative position information in real time, wherein the first relative position information is combined with the target offset position information, and/or the second relative position information can be used for assisting in guiding the orthopaedic surgical tool to move to the ideal intramedullary nail feeding point.

In a seventh aspect, the present application provides a navigation method for a medical navigation device for guiding an orthopaedic surgical tool, the medical navigation device being provided with a sensor, the method comprising:

acquiring real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring first relative position information and/or second relative position information based on the real-time position information; the first relative position information is relative position information between a real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

And prompting the first relative position information and/or the second relative position information in real time, wherein the first relative position information is combined with the target offset position information, and/or the second relative position information can be used for assisting in guiding the orthopedic operation tool to move to the target position.

In an eighth aspect, the present application provides a navigation method for a medical navigation device for guiding an orthopaedic surgical tool, the medical navigation device being provided with a sensor, the method comprising:

acquiring real-time position information measured by the sensor in a state that the sensor is fixed with an orthopedic operation tool;

transmitting the real-time position information to an external processing device;

receiving first relative position information and/or second relative position information fed back by the external processing equipment; the first relative position information is relative position information between a real-time position of the sensor and a reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information is position information which is obtained by the medical navigation device in response to a trigger instruction and is measured by the sensor and sent to the external processing device, and/or the reference position information is preset position information obtained by the external processing device in response to the trigger instruction; the second relative position information is relative position information between a real-time position of the sensor and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating a relative position relation between the reference position and the target position, and the target position is determined by an expected insertion position and/or an expected insertion direction of the orthopedic operation tool in a human body;

The first relative position information and/or the second relative position information are/is prompted in real time, and the first relative position information is combined with the target offset position information and/or the second relative position information can be used for assisting in guiding the orthopaedic surgical tool to move to the target position.

In a ninth aspect, the present application provides a navigation method for a medical navigation device for guiding an orthopaedic surgical tool, the medical navigation device being provided with a sensor, the method comprising:

And sending the first relative position information and/or the second relative position information to external prompting equipment, wherein the external prompting equipment prompts the first relative position information and/or the second relative position information, and the first relative position information is combined with the target offset position information and/or the second relative position information can be used for assisting in guiding the orthopedic operation tool to move to the target position.

In a tenth aspect, the present application provides a navigation method for a medical navigation device for guiding an orthopaedic surgical tool, the medical navigation being provided with a sensor, the medical navigation device being in communication with a navigation processing device, the method being performed by the navigation processing device, the method comprising:

acquiring real-time position information which is transmitted by the medical navigation equipment and measured by the sensor in a state that the sensor is fixed with an orthopedic operation tool;

acquiring first relative position information and/or second relative position information based on the real-time position information, wherein the first relative position information is the relative position information between the real-time position of the sensor and a reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information is the position information measured by the sensor, which is obtained by the medical navigation device in response to a trigger instruction, and is sent to the navigation processing device, and/or the reference position information is preset position information obtained by the navigation processing device in response to the trigger instruction; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

Prompting the first relative position information and/or the second relative position information in real time; the first relative position information in combination with the target offset position information and/or the second relative position information may be used to assist in guiding the orthopaedic surgical tool to move to the target location.

In an eleventh aspect, the present application provides an electronic device comprising a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, causes the processor to carry out the steps of the method in any of the embodiments described above.

In a twelfth aspect, the present application provides a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by the processor, causes the processor to implement the steps of the method in any of the embodiments described above.

In a thirteenth aspect, the present application provides a computer program product comprising a computer program, wherein the computer program when executed by a processor realizes the steps of the method in any of the embodiments described above.

In a fourteenth aspect, the present application provides a medical navigation system comprising: an orthopaedic surgical tool, and apparatus as in any of the embodiments described above.

Based on the embodiment of the application, the first relative position information and/or the second relative position information are/is prompted, so that the orthopaedic surgical tool can be guided to move to the target positions such as the ideal intramedullary nail feeding point, and the like, the radiation amount in the surgical process cannot be increased, and the orthopaedic surgical tool is convenient and fast, and is beneficial to improving the orthopaedic surgical efficiency in an auxiliary way.

The foregoing description is only an overview of the present application, and is intended to provide a better understanding of the technical means of the present application, as it is embodied in accordance with the present application, and is intended to provide a better understanding of the above and other objects, features and advantages of the present application, as it is embodied in the following specific examples.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings can be obtained according to the disclosed drawings without inventive effort for a person skilled in the art. Also, like reference numerals are used to designate like parts throughout the accompanying drawings. In the drawings:

FIG. 1 is a schematic diagram of a medical navigation device according to some embodiments of the present application;

FIG. 2 is a schematic diagram of a medical navigation device in combination with an external processing device according to some embodiments of the present application;

FIG. 3 is a schematic diagram of a medical navigation device in combination with an external alert device according to some embodiments of the present application;

FIG. 4 is a schematic diagram of a medical navigation device in combination with a navigation processing device according to some embodiments of the present application;

FIG. 5 is a schematic diagram of a medical navigation device according to some embodiments of the present application;

FIG. 6 is an example of a coordinate system of a sensor according to some embodiments of the application;

FIG. 7 is a schematic diagram of first and/or second relative position information displayed by a medical navigation device in some embodiments of the application;

FIG. 8 is a schematic diagram of determining a height difference in some embodiments of the application;

FIG. 9 is a schematic diagram of determining an external offset angle according to some embodiments of the present application;

FIG. 10 is a schematic diagram of determining pitch angle in some embodiments of the application;

FIG. 11 is a schematic illustration of the ideal feed position of the ideal feed point of the intramedullary nail at the proximal femur;

FIG. 12 is a schematic view of the ideal feed direction of the ideal feed point of the intramedullary nail at the proximal femur;

FIG. 13 is an exemplary illustration of an application scenario in which a medical navigation device is placed on a proximal body surface of a patient side femur to determine a reference location in some embodiments;

FIG. 14 is a schematic diagram of determining target offset position information based on medical images in some embodiments;

FIG. 15 is a schematic diagram of determining target offset position information based on medical images in other embodiments;

FIG. 16 is a schematic illustration of securing a medical navigation device to a lead in one embodiment;

fig. 17 is a schematic view of a medical navigational device secured to an electric drill according to one embodiment;

FIG. 18 is a schematic illustration of ideal feed positions for determining ideal feed points for an intramedullary nail in an application scenario of some embodiments;

FIG. 19 is a schematic illustration of an ideal feed direction for determining an ideal feed point for an intramedullary nail in an application scenario of some embodiments;

FIG. 20 is a flow chart of a medical navigation method of some embodiments;

FIG. 21 is a flow chart of a medical navigation method according to other embodiments;

FIG. 22 is a flow chart of a medical navigation method according to other embodiments;

FIG. 23 is a flow chart of a medical navigation method of other embodiments;

fig. 24 is a block diagram of an electronic device of some embodiments.

Detailed Description

Reference will now be made in detail to examples of such embodiments, examples of which are illustrated in the accompanying drawings. Numerous specific details are set forth in the following detailed description in order to provide a thorough understanding of the various described embodiments. However, it will be understood by those of ordinary skill in the art that the various described embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure embodiments.

The terminology used in the description of the various illustrated embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and in the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, and/or components.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion.

In the description of embodiments of the present application, the technical terms "first," "second," and the like are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.

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 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.

Referring to FIG. 1, a medical navigation device 10 in some embodiments includes a processor 13, a sensor 11, and a navigation prompt assembly 12. The medical navigation device 10 can be applied to the orthopedic operation process to guide the orthopedic operation tool.

Wherein in this embodiment:

A processor 13, configured to record reference position information measured by the sensor 11 when the sensor 11 is at a reference position in response to a trigger instruction, and obtain real-time position information of the sensor 11 in a state where the sensor 11 is fixed with the orthopaedic surgical tool, and obtain the first relative position information and/or the second relative position information based on the real-time position information; the first relative position information is the relative position information between the real-time position of the sensor 11 and the reference position, the real-time position being determined by the real-time position information; the second relative position information is relative position information between a real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between a reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in the human body;

the navigation prompting component 12 is configured to prompt the first relative position information and/or the second relative position information;

wherein the first relative position information in combination with the target offset position information and/or the second relative position information may be used to assist in guiding the orthopaedic surgical tool to move to the target location.

Referring to fig. 2, medical navigation device 10 in some embodiments includes a processor 13, a sensor 11, a communication component 14, and a navigation prompt component 12. The medical navigation device 10 can be applied to the orthopedic operation process to guide the orthopedic operation tool. When the medical navigation device 10 is applied to the orthopedic operation process, the medical navigation device can be matched with the external processing device 20 to guide the orthopedic operation tool.

Wherein in this embodiment:

the processor 13 is configured to send real-time position information measured by the sensor 11 to the external processing device 20 through the communication component 14 in a state where the sensor 11 is fixed to the orthopedic operation tool, and receive the first relative position information and/or the second relative position information fed back by the external processing device 20 through the communication component 14; the first relative position information is the relative position information between the real-time position of the sensor 11 and the reference position where the sensor 11 is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by the reference position information recorded in advance, the reference position information comprises first reference position information and/or second reference position information, the first reference position information is the position information which is obtained by the medical navigation device 10 in response to the trigger instruction and is measured by the sensor 11 and sent to the external processing device 20, and the second reference position information is the preset position information which is obtained by the external processing device 20 in response to the trigger instruction; the second relative position information is the relative position information between the real-time position of the sensor 11 and the target position, the second relative position information is determined by the real-time position information and the target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in the human body;

The processor 13 also transmits the first relative position information and/or the second relative position information to the navigation prompt component 12;

Referring to fig. 3, medical navigation device 10 in some embodiments includes a processor 13, a sensor 11, and a communication component 14. The medical navigation device 10 can be applied to the orthopedic operation process to guide the orthopedic operation tool. When the medical navigation device 10 is applied to the orthopedic operation process, the medical navigation device can be matched with the external prompting device 30 to guide the orthopedic operation tool.

In this embodiment:

the processor 13 is configured to record reference position information measured by the sensor 11 when the sensor 11 is at a reference position in response to a trigger instruction, acquire real-time position information of the sensor 11 in a state where the sensor 11 is fixed with the orthopaedic surgical tool, acquire first relative position information and/or second relative position information based on the real-time position information, transmit the first relative position information and/or the second relative position information to the external presentation device 30 through the communication component 14, and present the first relative position information and/or the second relative position information by the external presentation device 30; wherein the first relative position information is the relative position information between the real-time position of the sensor 11 and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is the relative position information between the real-time position and the target position, the second relative position information is determined by the real-time position information and the target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in the human body;

The external prompting device 30 may be any device capable of prompting information. For example, in some embodiments, the external prompting device 30 may be a smart wearable device. In some embodiments, the external alert device may be a user terminal (e.g., personal computer, tablet computer), in some embodiments, the external alert device may be a display screen device, in some embodiments, the external alert device may also be a voice output device.

Referring to fig. 4, medical navigation device 10 in some embodiments includes a processor 13, a sensor 11, and a communication component 14. The medical navigation device 10 can be applied to the orthopedic operation process to guide the orthopedic operation tool. When the medical navigation device 10 is applied to the orthopedic operation process, the guiding of the orthopedic operation tool can be realized by matching with the navigation processing device 40.

Wherein in this embodiment:

the navigation processing device 40 is configured to acquire real-time position information sent by the processor 13 through the communication component 14 and measured by the sensor 11 in a state where the sensor 11 is fixed to the orthopedic operation tool, acquire first relative position information and/or second relative position information based on the real-time position information, and prompt the first relative position information and/or the second relative position information; the first relative position information is the relative position information between the real-time position of the sensor 11 and the reference position where the sensor 11 is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by the reference position information recorded in advance, the reference position information comprises first reference position information and/or second reference position information, the first reference position information is the position information which is obtained by the medical navigation device 10 in response to the trigger instruction and is measured by the sensor 11 and sent to the navigation processing device 40, and the second reference position information is the preset position information which is obtained by the navigation processing device 40 in response to the trigger instruction; the second relative position information is the relative position information between the real-time position and the target position, the second relative position information is determined by the real-time position information and the target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in the human body;

In the medical navigation device 10 of the above embodiments, the sensor 11 may be an inertial sensor, which is a type of sensor that can detect and measure acceleration, tilt, impact, vibration, rotation, and multiple degrees of freedom motion, and can measure and output position information. The number of the sensors 11 is specifically 1, so that medical navigation can be realized based on the same sensor.

In some embodiments, the medical navigation device 10 in the embodiments described above may be applied to an orthopedic operation requiring insertion of an intramedullary nail, for example, an orthopedic operation of a proximal femur fracture, where the medical navigation device 10 may be a medical navigation device for navigating an intramedullary nail insertion point, the target position may be an ideal intramedullary nail insertion point, the expected insertion position may be an ideal nail insertion position of the ideal intramedullary nail insertion point, and the expected insertion direction may be an ideal nail insertion direction of the ideal intramedullary nail insertion point.

Wherein the medical navigation device 10 may be removably secured to an orthopedic surgical tool. For example, the medical navigation device 10 may be removably secured to an orthopedic surgical tool by magnetic attraction and/or snap-fit. The orthopedic surgical tool may be a guide pin, a holder, or an electric drill.

In some embodiments, in the medical navigation device 10 related to the above embodiments, a touch screen may be provided, so that the medical navigation device 10 may receive a trigger instruction through the touch screen, the trigger instruction being used to indicate the reference position information in which the above reference position is recorded.

The trigger instruction can be sent out by operating a corresponding button or control displayed on the touch screen, clicking or double-clicking in a designated area or any position of the touch screen, or sliding a designated track on the touch screen, or by other touch modes. The medical navigation device 10 determines that a trigger instruction is received if an operation action to operate a corresponding button or control is received through the touch screen, or a specified touch action, such as a single click, a double click, or a specified sliding track, is recognized.

In some embodiments, in the medical navigation device 10 related to the above embodiments, the medical navigation device 10 may further be provided with an entity key and/or a voice acquisition component to receive a trigger instruction through the entity key and/or the voice acquisition component, where the trigger instruction may be used to indicate the reference position information in which the above reference position is recorded.

If the medical navigation device 10 is provided with an entity key, the triggering instruction can be sent by directly pressing the entity key. Upon receiving a pressing operation through the entity key, the medical navigation device 10 determines that a trigger instruction is received.

If the medical navigation device 10 is provided with a voice acquisition component, medical personnel (e.g., a doctor) can issue the trigger instruction by "recording the reference position", "recording the position", or other voice information. The voice acquisition component acquires voice information and identifies the voice information. If it is recognized that the voice information includes "recording reference position", "recording position", or other predefined information indicating reference position information of the recording reference position, the medical navigation apparatus 10 determines that the trigger instruction is received.

In the medical navigation device 10 according to the above embodiments, a touch screen, an entity key, a voice acquisition component, or the like that can receive a trigger instruction may be provided on the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40, so as to receive the trigger instruction through the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40. The trigger instructions received by external processing device 20 and/or external prompting device 30 and/or navigation processing device 40 may be forwarded to medical navigation device 10.

The navigation presenting component 12 and/or the external presenting device 30 and/or the navigation processing device 40 may present the first relative position information and/or the second relative position information in real time, or may output the voice information of the first relative position information and/or the second relative position information, that is, present the voice information of the first relative position information and/or the second relative position information.

The manner of displaying the first relative position information and/or the second relative position information in real time is not limited, and for example, only the first relative position information and/or the second relative position information may be displayed, or the first relative position information and/or the second relative position information may be displayed simultaneously with the corresponding description information, which is used to explain the specific meaning of the displayed first relative position information and/or second relative position information. In some embodiments, information of the suggested movement direction given on the basis of the first relative position information and/or the second relative position information may also be displayed simultaneously, wherein different movement directions may be marked with different marks, e.g. different colors and/or different arrow directions, respectively.

The manner in which the first relative position information and/or the second relative position information are voice-prompted in real time is not limited, in some embodiments, only the first relative position information and/or the second relative position information may be voice-prompted, and simultaneously, the first relative position information and/or the second relative position information may be voice-prompted, and the description information is corresponding to the voice-prompted, and is used for describing the specific meaning of the first relative position information and/or the second relative position information of the voice-prompted, in some embodiments, the information of the suggested moving direction given based on the first relative position information and/or the second relative position information may also be simultaneously voice-prompted.

In some embodiments, the reference position information is position information obtained by measuring in real time by the sensor 11 obtained in response to the trigger instruction when the trigger instruction is received. Wherein, when the medical navigation device 10 receives the trigger instruction, the medical navigation device 10 can directly obtain the position information obtained by real-time measurement of the sensor 11. When the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 receive the trigger instruction, the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 may forward the trigger instruction to the medical navigation device 10, or send an instruction instructing the medical navigation device 10 to provide position information to the medical navigation device 10 based on the trigger instruction, so as to instruct the medical navigation device 10 to obtain position information obtained by measuring the sensor 11 in real time, and feed back the position information to the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40, so that the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 obtain the reference position information, and in this way, the obtained reference position information may be referred to as first reference position information in the embodiment of the present application.

In some embodiments, the reference position information is the position information obtained by the sensor 11 after initializing the sensor 11 in response to the trigger command when the trigger command is received, that is, the reference position information may be the initial position information of the sensor 11, which may be referred to as the second reference position information in the embodiment of the present application. The initial position information may be set based on actual technical needs, and in some embodiments, the initial position information may be zero position information. The zero position information may mean that the values of the information related to the position are all set to 0, for example, the height value is 0.

Wherein, when the triggering instruction is received by the medical navigation device 10, the medical navigation device 10 can directly initialize the sensor 11 to obtain the position information obtained by measurement after the sensor 11 is initialized.

When the trigger instruction is received by the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40, in some embodiments, the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 may use, as the reference position information, position information set in advance in the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40, the preset position information being initial position information after the sensor 11 is initialized. Meanwhile, when the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 receive the trigger instruction, the trigger instruction may be simultaneously forwarded to the medical navigation device 10, or an initialization instruction may be sent to the medical navigation device 10 based on the trigger instruction to instruct the medical navigation device 10 to initialize the sensor 11.

In other embodiments, when the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 receive the trigger instruction, the trigger instruction may be forwarded to the medical navigation device 10, or an instruction may be sent to the medical navigation device 10 based on the trigger instruction, and the medical navigation device 10 may be instructed to initialize the sensor 11 through the instruction, and provide the position information obtained by the sensor 11 after initializing the sensor 11. After receiving the instruction, the medical navigation device 10 initializes the sensor 11, obtains position information obtained by measurement of the sensor 11, and feeds back the position information to the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40, thereby causing the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 to obtain the reference position information.

In some embodiments, the first relative position information comprises a first displacement offset and/or a first angular offset between the real-time position and the reference position.

The first displacement bias may include: in a direction perpendicular to the horizontal plane, the distance between the real-time position of the sensor 11 and the reference position. Wherein in some embodiments, the first displacement deviation may also be referred to as a height difference, as shown in fig. 8.

The first angular deviation may include: after the specified direction of the sensor 11 fixed with the orthopedic operation tool and the specified direction of the sensor 11 when in the reference position are projected to the same plane, the included angle between the two projections on the plane. Wherein, in some embodiments, the first angle deviation may also be referred to as an external deviation angle.

In some embodiments, the designated direction of the sensor 11 may be specifically the axial direction of the medical navigation device 10, and the same plane may be specifically a horizontal plane, as shown in fig. 9. When the direction of the sensor 11 fixed to the orthopedic operation tool and the direction of the sensor 11 when the sensor 11 is at the reference position are projected, the projection may be performed in combination with the coordinate system established by the sensor 11 itself. The coordinate system established by the sensor 11 itself in one example is shown in fig. 6, and the X-axis of the coordinate system established by the sensor 11 itself in fig. 6 is the axis direction of the medical navigation device 10, that is, the designated direction of the sensor 11.

In some embodiments, the second relative positional information includes a second positional deviation and/or a second angular deviation between the real-time position and a target position, wherein the target position is determined by an intended insertion position and/or an intended insertion direction of the orthopaedic surgical tool in the human body. In some embodiments, the target location may be a location of the desired insertion of the surgical tool such as an ideal intramedullary nail insertion point, and the target location is the ideal intramedullary nail insertion point, and the second relative positional information includes a second displacement offset and/or a second angular offset between the real-time location and the ideal intramedullary nail insertion point, where the desired insertion location is the ideal nail insertion location of the ideal intramedullary nail insertion point and the desired insertion direction is the ideal nail insertion direction of the ideal intramedullary nail insertion point.

The second angular deviation includes: the specified direction of the sensor 11 at the real-time position and the expected insertion direction of the target position, for example, the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail are projected to the same plane, and then the included angle between the two projections on the same plane is formed. In some embodiments, the specified direction of the sensor 11 may be specifically an axial direction of the medical navigation device 10, and the same plane may be specifically a horizontal plane.

Wherein the desired insertion direction, e.g. the desired screw-in direction of the desired screw-in point of the intramedullary screw, can be determined in various possible ways.

In some embodiments, the desired insertion direction, e.g., the desired screw insertion direction of the desired screw insertion point of the intramedullary nail, is a user-provided insertion direction. For example, when the sensor 11 is located at the reference position (i.e., the medical navigation device 10 is located at the reference position), a medical image is captured. By looking at the medical image, the medical staff can determine the expected insertion direction such as the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail, then, the expected insertion direction is input by means of manual input and the like, and the input expected insertion direction is determined as the expected insertion direction provided by the user, for example, the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail provided by the user is determined.

In some embodiments, the desired insertion direction, such as the desired screw insertion direction of the desired screw insertion point of the intramedullary nail, may also be obtained by analyzing a medical image taken when the sensor 11 is located at the reference position (i.e. the medical navigation device 10 is located at the reference position). For example, by image processing the medical image, the intended insertion direction, e.g. the ideal screw-in direction of the ideal screw-in point of the intramedullary nail, is identified. Taking the navigation of the intramedullary nail feeding point as an example, the method can also identify the axis direction of the femur shaft by performing image processing on the medical image, and determine the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail by combining the angle (for example, 5 degrees) between the axis direction of the femur shaft and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail.

The "medical image" includes, but is not limited to, a fluoroscopic image or a nuclear magnetic resonance image. The above-described "medical image" may be imaged under X-rays, high frequency RF propagation and external magnetic fields, ultrasound or gamma rays, or may be imaged in other ways, without limitation.

The target offset position information may, in some embodiments, be an angle between a specified direction of the sensor 11 when in the reference position and an intended insertion direction (e.g., ideal driving direction) of the target position (e.g., ideal driving point of the intramedullary nail).

In some embodiments, the angle between the specified direction of the sensor 11 when in the reference position and the intended insertion direction (e.g., ideal approach direction) of the target location (e.g., ideal approach point of the intramedullary nail) may be determined in various possible ways.

Taking the specified direction of the sensor 11 as the axial direction of the medical navigation device 10 as an example, the following is exemplified in connection with several ways of determining the angle between the specified direction of the sensor 11 when in the reference position and the intended insertion direction of the target position (e.g. the ideal screw feeding direction of the ideal screw feeding point of the intramedullary nail).

In some embodiments, if the medical staff determines the desired insertion direction (e.g., the desired insertion direction of the desired insertion point of the intramedullary nail) by viewing the medical image, the desired insertion direction (e.g., the desired insertion direction of the desired insertion point of the intramedullary nail) may be measured by a measuring tool, such as a throughput angle square, in combination with the medical navigation device 10 displayed on the medical image, and the desired insertion direction (e.g., the desired insertion direction of the desired insertion point of the intramedullary nail) may be measured by an angle with the designated direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10), which is the designated direction of the sensor 11 when in the reference position and the desired insertion direction of the target position (e.g., the desired insertion direction of the desired insertion point of the intramedullary nail). After determining the included angle, the medical staff can record the included angle by himself so as to facilitate the subsequent use. In some embodiments, the healthcare worker may also input the determined angle to the medical navigation device 10 and/or the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 by input or other means to facilitate subsequent use.

In some embodiments, if the desired insertion direction (e.g., the desired insertion direction of the desired intramedullary nail insertion point) is obtained by analyzing the medical image, the device performing the image analysis may simultaneously analyze the medical image to obtain the desired direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10) and calculate an angle between the identified desired insertion direction (e.g., the desired insertion direction of the desired intramedullary nail insertion point) and the desired direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10), thereby obtaining an angle between the desired direction of the sensor 11 at the reference position and the desired insertion direction of the target position (e.g., the desired insertion direction of the desired intramedullary nail insertion point). If the device for performing image analysis is different from the medical navigation device 10 and/or the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40, after the device for performing image analysis obtains the included angle, the included angle may be provided to the medical navigation device 10 and/or the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 in a wired or wireless manner, or may be provided to the medical staff for knowing, and then the medical staff inputs the included angle θ into the medical navigation device 10 and/or the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40, so as to facilitate subsequent use.

Wherein the second displacement offset may comprise: in a direction perpendicular to the horizontal plane, the sensor 11 is located at a distance between the real-time position and the intended insertion position, e.g. the ideal screw feeding position of the ideal screw feeding point of the intramedullary nail.

Wherein the intended insertion position may be determined based on a predetermined insertion area, which may refer to an area used to determine the intended insertion position. Taking the target location as the ideal approach point for the intramedullary nail at the proximal end of the femur as an example, the predetermined insertion region may be the greater trochanter apex ridge profile. Specific positional information of the intended insertion location may be determined during movement of the orthopaedic surgical tool secured to the sensor 11.

In some embodiments, the height value of the intended insertion location (e.g., the ideal screw insertion location of the ideal screw insertion point of the intramedullary screw) in a direction perpendicular to the horizontal plane is determined by a first reference height value that is the height value of the sensor 11 in the direction perpendicular to the horizontal plane when the insertion end of the orthopaedic surgical tool is located at the first side vertex of the predetermined insertion area and a second reference height value that is the height value of the sensor 11 in the direction perpendicular to the horizontal plane when the insertion end of the orthopaedic surgical tool is located at the second side vertex of the predetermined insertion area. Taking the target position as an ideal nail feeding point of the intramedullary nail at the proximal end of the femur as an example, the first side vertex can be the vertex of the greater trochanter vertex ridge profile closest to the ventral side, and the second side vertex can be the vertex of the greater trochanter vertex ridge profile closest to the dorsal side.

In some embodiments, the sensor 11 may also be used to measure a pitch angle, wherein the pitch angle is the angle between the bottom surface of the medical navigation device 10 and the horizontal plane, as shown in fig. 10.

In some embodiments, the navigation prompting component 12 of the medical navigation device 10 is also used to prompt the pitch angle measured by the sensor 11. In some embodiments, the medical navigation device 10 may also transmit the pitch angle measured by the sensor 11 to an external prompting device 30 and/or navigation processing device 40 for prompting.

In some embodiments, the medical navigation device 10 is also used to provide error notification information.

In some embodiments, the error prompt information is information generated when the cumulative time length is greater than a preset time length. The cumulative time period is a time period counted from the time of recording the reference position information or the time of last calibration of the sensor 11. In the use process of the sensor 11, when the use time is too long, errors may be caused, so that the time counting accumulation duration can be started from the time of recording the reference position information or the time of calibrating the sensor 11 last time, and when the accumulation duration is longer than the preset duration, the sensor 11 is considered to have errors, and error prompt information can be provided.

In some embodiments, the error hint information is information generated when the calculated error is greater than an error threshold. During the use of the sensor 11, the medical navigation device 10 can monitor and calculate the error of the sensor 11 at the same time, and when the calculated error is greater than the error threshold, error prompt information is generated. The error threshold may be set according to the accuracy of the sensor 11, and the embodiment of the present application is not particularly limited.

The error prompt information provided by the medical navigation device 10 may be prompted by the navigation prompt component 12 of the medical navigation device 10, and the medical navigation device 10 may also send the error prompt information to the external prompt device 30 and/or the navigation processing device 40, where the error prompt information is prompted by the external prompt device 30 and/or the navigation processing device 40.

When knowing the error prompt information, the medical staff determines that the error of the sensor 11 is larger, so that the sensor 11 can be initialized or recalibrated, and the reference position information can be redetermined, so that the accuracy of medical navigation is improved. In some embodiments, medical staff may also directly select the medical navigation device 10 including other sensors 11 to perform medical navigation, so as to improve the accuracy of medical navigation.

Taking an intramedullary nail operation as an example, based on the above-described example, a procedure for medical navigation based on the medical navigation device 10 and/or the navigation processing device 40 is illustrated below in connection with a specific operation procedure. It should be understood that these embodiments are not intended to limit the applicable types of orthopedic operations provided by the medical navigation device 10 and/or the navigation processing device 40 of the present application, and that the medical navigation device 10 and/or the navigation processing device 40 of the present application may be equally applicable to other orthopedic operations in which similar processes may be performed based on the manner in which the medical navigation device 10 and/or the navigation processing device 40 performs medical navigation.

Fractures of the proximal femur (such as intertrochanteric fractures) or fractures of the diaphysis of long bones such as tibial humerus are often treated by means of intramedullary nail internal fixation to facilitate fracture healing. The choice of the position and direction of the intramedullary nail is important in the implementation of the whole operation for intramedullary nail fixation. This is because, advance nail position and advance nail direction and can influence the establishment of later stage expanded marrow passageway and intramedullary nail owner nail and put into position and direction, select improperly and can lead to the owner nail to be difficult to get into the medullary cavity, even can knock into the medullary cavity by force, also can lead to the owner nail to stress unevenly and warp great in the medullary cavity, destroy the fracture reduction effect easily this moment, the far end locking condition of locking inaccuracy takes place more easily when the owner nail is long owner nail, still can lead to fracture department delay healing even healing or abnormal healing when serious.

Taking the nail feeding point of the proximal intramedullary nail of the femur as an example, in clinic, the ideal nail feeding position is positioned at the vertex of the greater trochanter and near the central axis of the femoral neck, as shown in fig. 11, and the ideal nail feeding direction is 5 degrees outwards of the axis of the femoral shaft, so as to adapt to the external deflection angle of the main nail, as shown in fig. 12.

In the operation process, the nail feeding position and the nail feeding direction of the nail feeding point are usually confirmed by driving a guide needle, the needle feeding position of the guide needle is the nail feeding position of the later-stage main nail, and the needle feeding direction of the guide needle is the nail feeding direction of the later-stage main nail. To better select the insertion point, the inventor found that the existing manner of driving the guide needle, in order to ensure that the driven guide needle is in a satisfactory insertion position and insertion direction, or that continuous radioscopy is required during the entire driving of the guide needle to observe the position and direction of the needle tip of the guide needle in real time, but this method would certainly increase the amount of radiation to which the patient and doctor are exposed. Or a doctor firstly drives a guide pin into the nail feeding point through touching the vertex of the greater rotor, then carries out perspective, confirms the nail feeding position and the nail feeding direction according to the perspective image, if the nail feeding position and the nail feeding direction are not ideal, the doctor drives a second guide pin into the nail feeding point through the perspective image through estimating the position and the angle which need to be adjusted under the condition of not pulling out the first guide pin, and then carries out perspective checking on the nail feeding position and the nail feeding direction of the second guide pin again, and the method is repeated until the driven guide pin reaches the satisfactory nail feeding position and the satisfactory nail feeding direction through perspective checking. However, the guide pin which is driven for the first time according to subjective experience is generally difficult to reach an ideal nail feeding point of an expected intramedullary nail, the operation time is greatly prolonged in the later adjustment process according to the perspective result, the adjustment amount of the position and the angle cannot be accurately controlled, and meanwhile, the perspective times and the radiation amount of a patient and a doctor are increased.

Accordingly, the embodiment of the application provides the medical navigation device 10 which is light, convenient and easy to realize without increasing the perspective times and the radiation quantity of a patient and a doctor. The medical navigation device 10 may be used to guide the movement of an orthopaedic surgical tool, for example, to guide the movement of an orthopaedic surgical tool to the desired point of insertion of an intramedullary nail.

Wherein, as shown in fig. 1-4, the medical navigation device 10 includes a processor 13 and a sensor 11, and in some embodiments, a navigation prompt component 12 and/or a communication component 14. An external schematic of the medical navigation device 10 in some embodiments is shown in fig. 5.

Wherein the sensor 11 is integrated inside the medical navigation device 10, the sensor 11 may be a six-degree-of-freedom inertial sensor, and the sensor 11 is used for measuring the position deviation (x, y, z) and the angular deviation (α, β, γ) of the medical navigation device 10 relative to the reference position. Definition of the own coordinate system of the sensor 11 as shown in fig. 6, after setting the reference position information of the sensor 11, the sensor 11 is moved, and the sensor 11 can measure the relative position information of the real-time position of the sensor 11 with respect to the reference position, that is, the displacement amounts (x, y, z) along 3 coordinate axes and the angular deviations (α, β, γ) of the current directions of the respective coordinate axes from the reference coordinate axis directions. Wherein the sensor 11 is integrated inside the medical navigation device 10, so that the reference position information of the sensor 11 can be used as the reference position information of the medical navigation device 10, the real-time position information of the sensor 11 can be used as the real-time position information of the medical navigation device 10, the reference position information determines the reference position of the sensor 11 and/or the medical navigation device 10, and the real-time position information determines the real-time position of the sensor 11 and/or the medical navigation device 10. Wherein in some embodiments the sensor 11 may also measure the pitch angle of the bottom surface of the medical navigation device 10 with respect to the absolute horizontal plane. In other embodiments, the medical navigation device 10 may also be integrated with a level meter by which the pitch angle of the bottom surface of the medical navigation device 10 relative to the absolute horizontal plane is measured.

In the medical navigation apparatus 10 shown in fig. 5 and 7, the medical navigation apparatus 10 is provided with a digital display screen (hereinafter referred to as screen) on which 3 numbers are displayed, the symbol "Δ" indicating a displacement deviation symbol for indicating that a value adjacent thereto is a displacement deviation (for example, a first displacement deviation or a second displacement deviation as described above), and the symbol "°" indicating that a value corresponding thereto is an angle for indicating that a value adjacent thereto is an angle deviation (for example, a first angle deviation or a second angle deviation as described above) or a pitch angle.

For example, in the illustration of fig. 7, "Δ3" indicates that the first displacement deviation of the real-time position of the sensor 11 and/or the medical navigation device 10 from the reference position is 3, or that the second displacement deviation of the real-time position of the sensor 11 and/or the medical navigation device 10 from the intended insertion position (e.g., the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail) is 3. "18 °" means that the first angular deviation of the real-time position of the sensor 11 and/or the medical navigation device 10 from the reference position is 18 °, or that the second angular deviation of the real-time position of the sensor 11 and/or the medical navigation device 10 from the intended insertion direction (e.g. the ideal feeding direction of the ideal feeding point of the intramedullary nail) is 18 °, and "4 °" means that the pitch angle is 4 °.

Wherein the above-mentioned determination of the first displacement deviation, the second displacement deviation, the first angle deviation, and the second angle deviation may be combined with the determination of the coordinate system of the sensor 11 when the sensor 11 and/or the medical navigation device 10 are located at the reference position as well as the real-time position. The coordinate system of the sensor 11 at the reference position is referred to as ψ (hereinafter referred to as reference coordinate system), and the coordinate system of the sensor 11 at the real-time position is referred to as ψ '(hereinafter referred to as current coordinate system), the first displacement deviation, the second displacement deviation, the first angle deviation, and the second angle deviation can be obtained by calculating the positional offset and the angular offset of the current coordinate system ψ' with respect to the reference coordinate system ψ.

For example, taking the first displacement deviation as an example, the projection of the displacement of the origin of the current coordinate system ψ' relative to the origin of the reference coordinate system ψ on the Z axis of the reference coordinate system ψ is taken as a height difference Δh, which is the above-mentioned first displacement deviation as shown in fig. 8; the angle between the X-axis of the current coordinate system ψ', i.e. the coordinate axis in which the axial direction of the medical navigation apparatus 10 is located, and the X-axis of the reference coordinate system ψ is defined as the outer offset angle, which is the first angle deviation described above, as shown in fig. 9. As another example, a pitch angle of a plane in which the bottom surface of the medical navigation apparatus 10 is located with respect to an absolute horizontal plane is taken as a pitch angle, wherein the deviation is positive when the tail (narrow end) is tilted and negative when the head (wide end) is tilted, as shown in fig. 10.

Since the intramedullary nails at different positions, such as femur, tibia, humerus intramedullary nail and other positions, have similar nail feeding points, the proximal femur intramedullary nail operation will be described in detail below as an example.

The patient's usual position in the proximal femur intramedullary nail operation is in the supine position, and the medical navigation apparatus 10 needs to be placed at a reference position, for example, on the proximal femur surface of the patient's affected side, after the skin incision and before the guide needle is driven in, as shown in fig. 13, at which time the medical navigation apparatus 10 is kept relatively horizontal.

After the medical navigation device 10 is placed at the reference position, reference position information of the reference position may be recorded.

In some embodiments, the reference position information may be recorded by responding to a trigger instruction by way of the user issuing the trigger instruction. For example, a medical person (e.g., a doctor) inputs a trigger instruction through the medical navigation device 10 and/or the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40.

In the medical navigation device 10 of the embodiment shown in fig. 1 and 3, a medical staff (such as a doctor) may issue a trigger instruction by operating the medical navigation device 10, and the medical navigation device 10 receives the trigger instruction and records the position information measured by the sensor 11 when receiving the trigger instruction as the reference position information. After receiving the trigger command, the medical navigation device 10 may initialize the sensor 11 first, and record the initialized position information measured by the sensor 11 (i.e., the initial position information of the sensor 11) as the reference position information.

In the medical navigation device 10 of the embodiment shown in fig. 2 and 4, a medical person (e.g., doctor) may issue a trigger instruction by operating the medical navigation device 10, or may issue a trigger instruction by operating the external processing device 20/the navigation processing device 40. If a trigger instruction is issued by operating the medical navigation apparatus 10, the medical navigation apparatus 10 records the reference position information in the same manner as described above. After the medical navigation device 10 records the reference position information, the reference position information may be transmitted to the external processing device 20/the navigation processing device 40. If a trigger instruction is issued by operating the external processing device 20/the navigation processing device 40, in some embodiments, the external processing device 20/the navigation processing device 40 transmits the trigger instruction to the medical navigation device 10 to instruct the medical navigation device 10 to obtain and return the position information measured at the time of the sensor 11, and record the position information as reference position information; in other embodiments, if the reference position information is preset position information (e.g., zero position information of the sensor 11 after initializing the sensor 11), the external processing device 20/the navigation processing device 40 may directly use the preset position information as the reference position information, and may send an instruction to the medical navigation device 10, where the instruction instructs the medical navigation device 10 to initialize the sensor 11.

The reference position information recorded therein may include a reference height of the sensor 11 with respect to a horizontal plane, and a specified direction of the sensor 11 (such as an axial direction of the medical navigation apparatus 10). Taking the reference position information as the zero position information as an example, the height output from the sensor 11 is 0. If the first relative position information is prompted in real time by the navigation prompt component 12 of the medical navigation device 10, the height difference Δh on the screen of the medical navigation device 10 is displayed as 0, the off-angle is displayed as 0 °, and the pitch angle is close to 0 °.

With the medical navigation device 10 placed in this reference position, a healthcare worker captures an orthographic view of the proximal femur using a C-arm device or other transmission device to obtain a medical image, wherein the site to be operated on, such as the proximal femur, and at least a portion of the structure (e.g., axial direction) of the medical navigation device 10 are visually revealed in the medical image.

After the medical image is obtained, the intended insertion direction (such as the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail) can be determined based on the medical image, meanwhile, the designated direction (such as the axial direction of the medical navigation device 10) of the sensor 11 is determined, and the included angle theta between the intended insertion direction (such as the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail) and the designated direction (such as the axial direction of the medical navigation device 10) of the sensor 11 is determined, wherein the included angle theta is the target offset position information between the target position (such as the ideal nail feeding point of the intramedullary nail) and the reference position of the sensor 11.

In some embodiments, the intended insertion direction (e.g., the ideal approach direction of the ideal approach point of the intramedullary nail), the specified direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10), and the determination of the included angle θ may be determined by medical personnel on medical images by way of marker measurements.

For example, referring to fig. 14, in some embodiments, the desired insertion direction (e.g., the desired nail insertion direction of the desired nail insertion point of the intramedullary nail) may be manually marked on the medical image by a medical practitioner (e.g., a doctor), while the designated direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10) may also be marked, and an angle X between the desired insertion direction of the mark (e.g., the desired nail insertion direction of the desired nail insertion point of the intramedullary nail) and the designated direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10) may be measured using an angle gauge or other measuring tool capable of measuring an angle, and the angle X may be determined as the angle θ between the axial direction of the sensor 11 when in the reference position and the desired insertion direction (e.g., the desired nail insertion direction of the desired nail insertion point of the intramedullary nail).

For another example, referring to fig. 12, the femoral shaft axis may be manually marked on the medical image by a medical staff (e.g., a doctor), and the designated direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10) may be marked, and the angle X between the marked femoral shaft axis and the designated direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10) may be obtained by measuring with an angle gauge or other measuring tool capable of measuring the angle. Because the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail at the proximal end of the femur is 5 degrees outwards of the axis of the femoral shaft so as to adapt to the external deflection angle of the main nail, the included angle obtained by adding 5 degrees to the angle X is the included angle theta between the axis direction of the sensor 11 at the reference position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail.

In some embodiments, the desired insertion direction (e.g., the desired approach direction of the desired approach point of the intramedullary nail), the specified direction of the sensor 11 (e.g., the axial direction of the medical navigation device 10), and the determination of the included angle θ may also be determined by means of image processing.

For example, the obtained medical image is introduced into an image workstation, the image processing method is utilized at the image workstation, the expected insertion direction (such as the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail) in the medical image and the designated direction (such as the axial direction of the medical navigation device 10) of the sensor 11 are automatically identified, the angle X between the identified expected insertion direction (such as the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail) and the designated direction (such as the axial direction of the medical navigation device 10) of the sensor 11 is determined by analysis, and the angle X is determined as the included angle theta between the axial direction of the sensor 11 at the reference position and the expected insertion direction (such as the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail).

For another example, the obtained medical image is led into an image workstation, the image processing method is utilized in the image workstation, the designated direction (such as the axial direction of the medical navigation device 10) of the femoral shaft axis and the sensor 11 in the medical image is automatically identified, the angle X between the identified femoral shaft axis and the designated direction (such as the axial direction of the medical navigation device 10) of the sensor 11 is analyzed and determined, and the angle X and the angle (such as 5 degrees) between the femoral shaft axis and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail are combined, and the angle theta between the axial direction of the sensor 11 at the reference position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail is determined, for example, the angle X is added by 5 degrees, namely the angle theta between the axial direction of the sensor 11 at the reference position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail.

The image processing method for identifying the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail and/or the axis of the femoral shaft in the medical image can be realized by adopting a pattern recognition algorithm or a deep learning intelligent algorithm, and the embodiment of the application is not particularly limited.

After obtaining the target offset position information, for example, the included angle θ between the axis direction when the sensor 11 is at the reference position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail, taking the medical staff (such as a doctor) to obtain the included angle θ by means of marking measurement as an example, if the first relative position information is prompted during the medical navigation, the medical staff (such as the doctor) can record the included angle θ by himself or herself, or can input the included angle θ into the medical navigation device 10 and/or the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40. If the second relative position information is presented during medical navigation, the healthcare worker needs to input the included angle θ into the medical navigation device 10 and/or the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40.

In some embodiments, taking the example of determining the included angle θ by image processing, the device performing image processing may be the medical navigation device 10 and/or the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 itself, or may be a device different from the medical navigation device 10 and/or the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40.

If the first relative position information is prompted in the medical navigation process, the device for performing image processing can prompt the included angle theta so that a medical staff (such as a doctor) can know the included angle theta. If the device for performing image processing is a device different from the medical navigation device 10 and/or the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40, the device for performing image processing may transmit the included angle θ to the medical navigation device 10 and/or the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 by a wired or wireless method, or may input the included angle θ into the medical navigation device 10 and/or the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 by the medical staff after the medical staff knows the included angle θ.

If the second relative position information is presented during the medical navigation, the image processing device needs to provide the included angle θ to the medical navigation device 10 and/or the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 if the image processing device is a device different from the medical navigation device 10 and/or the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40, for example, the image processing device transmits the included angle θ to the medical navigation device 10 and/or the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40 through a wired or wireless manner, or the image processing device provides the included angle θ to the medical staff and inputs the included angle θ to the medical navigation device 10 and/or the external processing device 20 and/or the external presentation device 30 and/or the navigation processing device 40.

The medical navigation device 10 is then removed from the proximal body surface of the patient's femur on the affected side and the medical navigation device 10 is secured to an orthopedic surgical tool, such as a guide pin or holder or drill, as exemplified by a guide pin in the embodiments described below.

Taking a manner of inserting a guide pin by bare hands as an example, a schematic diagram of fixing the medical navigation device 10 to the guide pin is shown in fig. 16, where a groove may be provided at the bottom of the medical navigation device 10 to directly fix the medical navigation device 10 to the guide pin, and the medical navigation device 10 may be fixed to the guide pin by other manners. If a holder or a drill is selected for use in inserting the guide pin, the medical navigation device 10 may be directly mounted on the holder or the drill by magnetic attraction to fix the medical navigation device 10 to the holder or the drill, and a schematic diagram of fixing the medical navigation device 10 to the holder or the drill is shown in fig. 17.

The patient lies on his back with the apex ridge contour of the greater trochanter of the patient in a generally vertical orientation, which can be manually touched by the physician from the incision, as shown in phantom in the enlarged portion of fig. 18. The doctor holds the guide pin fixed with the medical navigation device 10 and enables the axial direction of the guide pin to be approximately positioned on the horizontal plane, and the pitch angle value on the screen of the medical navigation device 10 or the pitch angle value provided by the medical navigation device 10 to the external prompting device 30 and/or the navigation processing device 40 can assist the doctor to check whether the guide pin is approximately kept horizontal.

The physician then moves the orthopaedic surgical tool with the medical navigation device 10 secured thereto, in combination with the cues of the medical navigation device 10 and/or the external cue device 30 and/or the navigation processing device 40, to move the orthopaedic surgical tool to the desired intramedullary nail insertion point.

During the movement of the orthopaedic surgical tool, the sensor 11 of the medical navigation device 10 measures in real time to obtain real-time location information.

Taking the example of navigating the orthopaedic surgical tool to the ideal intramedullary nail insertion point by prompting the first relative position information, the following is illustrative in connection with the navigation process of each medical navigation device 10 as described above.

Taking the medical navigation device 10 shown in fig. 1 as an example:

during the movement of the orthopaedic surgical tool, the medical navigation device 10 determines a height difference Δh of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11.

The medical navigation device 10 determines the height difference Δh1 of the real-time position of the sensor 11 with respect to the reference position as the height difference Δh1 based on the real-time position information measured by the sensor 11 by placing the tip of the guide needle on the vertex closest to the abdomen side of the ridge profile of the vertex of the large rotor (if the medical navigation device 10 performs the zeroing process on the sensor 11, the height difference Δh1 may actually be the first reference height value H1).

The tip of the guide needle is placed on the vertex of the ridge profile of the vertex of the large rotor closest to the back side, and at this time, the medical navigation apparatus 10 determines the height difference Δh2 of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11 (if the medical navigation apparatus 10 performs the zeroing process on the sensor 11, the height difference Δh2 may actually be the second reference height value H2).

The physician holds the lead approximately horizontally with its tip moving on the greater trochanter apex ridge profile and the height differential Δh displayed in real time by the medical navigation device 10 will vary from the height differential Δh1 to the height differential Δh2. Wherein if the medical navigation device 10 performs a zeroing process on the sensor 11, the height value H, which is actually prompted in real time, will vary between the height values H1 to H2.

Taking the medical navigation device 10 shown in fig. 2 as an example:

during the movement of the orthopaedic surgical tool, the medical navigation device 10 transmits real-time location information measured in real-time by the sensor 11 to the external processing device 20. The external processing device 20 determines the height difference Δh of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11.

Wherein, when the tip of the guide pin is placed on the vertex of the ridge profile of the vertex of the large rotor closest to the abdomen side, the external processing device 20 determines the height difference Δh1 of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11 (if the sensor 11 is zeroed, the height difference Δh1 may be the first reference height value H1 in practice).

The tip of the guide needle is placed on the vertex of the ridge profile of the vertex of the large rotor closest to the back side, and at this time, the external processing device 20 determines the height difference Δh2 of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11 (if the sensor 11 is zeroed, the height difference Δh2 may be actually the second reference height value H2).

The height difference Δh determined by the external processing device 20 is transmitted to the medical navigation device 10 for prompting. The physician holds the lead approximately horizontally with its tip moving on the greater trochanter apex ridge profile and the height differential Δh prompted in real time by the medical navigation device 10 will vary between the height differential Δh1 and the height differential Δh2. Wherein if the medical navigation device 10 performs a zeroing process on the sensor 11, the height value H, which is actually prompted in real time, will vary between the height values H1 to H2.

Taking the medical navigation device 10 shown in fig. 3 as an example:

the physician holds the lead approximately horizontally with its tip moving over the greater trochanter apex ridge profile, the medical navigation device 10 determines the height difference Δh, and transmits the determined height difference Δh to the external prompting device 30 for prompting. The height difference Δh prompted in real time by the external prompting device 30 will vary between the height differences Δh1 to Δh2. If the sensor 11 is zeroed, the height H, which is actually indicated in real time, will vary between the height values H1 to H2. The manner of determining the height difference Δh is the same as that of the medical navigation apparatus 10 shown in fig. 1, and will not be described here.

Taking the medical navigation device 10 shown in fig. 4 as an example:

during the movement of the orthopaedic surgical tool, the medical navigation device 10 transmits real-time location information measured in real-time by the sensor 11 to the navigation processing device 40. The navigation processing device 40 determines the height difference Δh in real time based on the same manner as the external processing device 20, and prompts the determined height difference Δh. The navigation processing device 40 may prompt the height difference Δh by itself, or may prompt a prompt transmitted to a prompt device different from the navigation processing device 40, for example, in combination with the embodiment shown in fig. 3, and transmit the prompt to the external prompt device 30 in the embodiment shown in fig. 3. The doctor holds the guide pin approximately horizontally so that the tip moves on the ridge profile of the vertex of the large rotor, the height difference delta H prompted in real time changes between the height difference delta H1 and the height difference delta H2, and if the medical navigation device 10 carries out zero resetting treatment on the sensor 11, the height value H prompted in real time changes between the height values H1 and H2.

Wherein during navigation of the medical navigation device 10 and/or the navigation processing device 40 of the embodiments described above:

if the doctor selects the midpoint of the large rotor vertex ridge profile as the operation position point, when the indicated height difference Δh is (Δh1+Δh2)/2 or when the sensor 11 is zeroed, the indicated height value H is (h1+h2)/2, the position of the midpoint of the large rotor vertex ridge profile, that is, the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail. Similarly, if the doctor selects the front 1/3 of the ridge profile of the greater trochanter vertex as the surgical site, the ideal screw feeding position of the ideal screw feeding point of the intramedullary nail is obtained when the presented height difference Δh is (Δh2- Δh1)/3+Δh1 (the height difference may be rounded upward or downward if displayed as an integer value, the same applies to the following embodiments), or when the sensor 11 is zeroed, the presented height value H is (H2-H1)/3+h1.

In this way, the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail can be automatically judged and selected by a doctor according to the actual position requirement, so that the method can be suitable for selecting different specific requirements of different nail feeding positions of intramedullary nail products.

After the guide pin reaches the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail, the angle can be adjusted so that the needle feeding direction of the guide pin reaches the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail.

During adjustment, a doctor keeps the ideal nail feeding position of the needle guiding tip at the ideal nail feeding point of the intramedullary nail unchanged, and adjusts the outward deflection angle of the guide needle:

taking the medical navigation device 10 shown in fig. 1 as an example:

the medical navigation device 10 determines an external offset angle of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11, and prompts.

Taking the medical navigation device 10 shown in fig. 2 as an example:

the external processing device 20 determines an external offset angle of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11, and transmits the external offset angle to the medical navigation device 10 for presentation.

Taking the medical navigation device 10 shown in fig. 3 as an example:

the medical navigation device 10 determines an external offset angle of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11, and transmits the external offset angle to the external presentation device 30 for presentation.

Taking the medical navigation device 10 shown in fig. 4 as an example:

the navigation processing device 40 determines an external angle of the real-time position of the sensor 11 with respect to the reference position based on the real-time position information measured by the sensor 11 and prompts the external angle or transmits the external angle to a prompting device different from the navigation processing device 40 for prompting, for example, in combination with the embodiment shown in fig. 3, to the external prompting device 30 in the embodiment shown in fig. 3.

in the process that the doctor keeps the ideal nail feeding position of the needle guiding tip at the ideal nail feeding point of the intramedullary nail unchanged and adjusts the external deflection angle of the guide needle, when the external deflection angle prompted by the medical navigation equipment 10 and/or the external prompting equipment 30 and/or the navigation processing equipment 40 is the determined included angle theta between the axial direction of the medical navigation equipment 10 and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail, the needle feeding direction of the guide needle reaches the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail, as shown in fig. 24. The doctor can refer to the pitch angle of the prompt, and insert the guide pin after the front dip angle of the guide pin is properly adjusted.

Taking the example of navigating the orthopaedic surgical tool to the ideal intramedullary nail insertion point by prompting the second relative positional information, the following is illustrative in connection with the navigation process of each medical navigation device 10 as described above.

Taking the medical navigation device 10 shown in fig. 1 as an example:

during the movement of the orthopaedic surgical tool, the medical navigation device 10 prompts the height value in the real-time position information measured in real-time by the sensor 11. The tip of the guide needle is placed on the vertex of the ridge profile of the vertex of the greater trochanter closest to the ventral side, in some embodiments, the doctor issues a recording instruction by operating the medical navigation device 10 or inputting voice, etc., the medical navigation device 10 records the first reference height value h1 measured by the sensor 11 at this time, in other embodiments, the medical navigation device 10 prompts the height value, and the medical staff (e.g., doctor) can record the first reference height value h1 measured by the sensor 11 at this time by himself.

The tip of the guide needle is placed on the vertex of the ridge profile of the vertex of the greater trochanter closest to the back side, and in some embodiments, the doctor issues a recording instruction by operating the medical navigation device 10 or voice input, etc., and the medical navigation device 10 records the second reference height value h2 measured by the sensor 11 at this time. In other embodiments, the medical navigation device 10 prompts the height value, and medical personnel (e.g., a doctor) can self-record the second reference height value h2 measured by the sensor 11.

Subsequently, in the case where the medical navigation apparatus 10 records the first reference height value H1 and the second reference height value H2, the medical navigation apparatus 10 determines a height value H of an ideal nail feeding position of an ideal nail feeding point of the intramedullary nail in a direction perpendicular to the horizontal plane based on the first reference height value H1 and the second reference height value H2, and records the height value H. In the case where the medical staff (e.g., doctor) self-records the first reference height value H1 and the second reference height value H2, the medical staff (e.g., doctor) self-determines the height value H of the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail in the direction perpendicular to the horizontal plane based on the self-recorded first reference height value H1 and second reference height value H2, and then inputs the determined height value H to the medical navigation device 10 to be recorded by the medical navigation device 10.

If the doctor selects the middle point of the peak ridge outline of the greater trochanter as the operation position point, the height value H of the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail is (h1+h2)/2. Similarly, if the doctor selects the position 1/3 of the anterior position of the ridge profile of the apex of the greater trochanter as the operation position point, the height value H of the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail is (H2-H1)/3+h1.

The doctor holds the guide pin approximately horizontally so that its tip moves on the profile of the greater trochanter apex ridge, and during the movement, the medical navigation device 10 determines a second displacement deviation in combination with the real-time position information of the sensor 11 and the recorded height value H and prompts the second displacement deviation.

Taking the medical navigation device 10 shown in fig. 2 as an example:

during the movement of the orthopaedic surgical tool, the medical navigation device 10 transmits real-time location information measured in real-time by the sensor 11 to the external processing device 20.

The tip of the guide needle is placed on the vertex of the ridge profile of the vertex of the greater trochanter closest to the abdomen side, and the external processing device 20 records the first reference height value h1 measured by the sensor 11 at this time based on a recording instruction issued by a medical staff through operating the external processing device 20 or voice input or the like, and in other embodiments, the medical navigation device 10 and/or the external processing device 20 may prompt the height value, and the medical staff (such as a doctor) may record the first reference height value h1 measured by the sensor 11 at this time by himself.

The tip of the guide needle is placed on the vertex of the ridge profile of the vertex of the large rotor closest to the back side, at this time, the external processing device 20 records the second reference height value h2 measured by the sensor 11 at this time based on a recording instruction issued by a medical staff through operating the external processing device 20 or voice input, etc., and in other embodiments, the medical navigation device 10 and/or the external processing device 20 may prompt the height value, and the medical staff (such as a doctor) may record the second reference height value h2 measured by the sensor 11 at this time by himself.

Subsequently, in the case where the external processing apparatus 20 records the first reference height value H1 and the second reference height value H2, the external processing apparatus 20 determines a height value H of an ideal nail feeding position of an ideal nail feeding point of the intramedullary nail in a direction perpendicular to the horizontal plane based on the first reference height value H1 and the second reference height value H2, and records the height value H. In the case where the medical staff (e.g., doctor) self-records the first reference height value H1 and the second reference height value H2, the medical staff (e.g., doctor) self-determines the height value H of the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail in the direction perpendicular to the horizontal plane based on the self-recorded first reference height value H1 and second reference height value H2, and then inputs the determined height value H to the external processing device 20, which is recorded by the external processing device 20.

Taking the medical navigation device 10 shown in fig. 3 as an example:

the physician holds the lead approximately horizontally with its tip moving over the greater trochanter apex ridge profile, and the medical navigation device 10 determines a second displacement offset and transmits the determined second displacement offset to the external prompting device 30 for prompting. The manner in which the medical navigation device 10 determines the second displacement deviation is the same as the manner in which the medical navigation device 10 determines the second displacement deviation shown in fig. 1, and will not be described herein.

Taking the medical navigation device 10 shown in fig. 4 as an example:

during the movement of the orthopaedic surgical tool, the medical navigation device 10 transmits real-time location information measured in real-time by the sensor 11 to the navigation processing device 40. The navigation processing device 40 determines and prompts the second displacement deviation in real time based on the same way as the external processing device 20, wherein the medical navigation device 10 may prompt the second displacement deviation itself or send the second displacement deviation to a prompting device different from the navigation processing device 40 for prompting, for example in combination with the embodiment shown in fig. 3, to the external prompting device 30 in the embodiment shown in fig. 3.

Wherein, during the navigation of the medical navigation device 10 and/or the navigation processing device 40 of the embodiments described above, when the second displacement deviation of the real-time cue is 0, the ideal nail feeding position reaching the ideal nail feeding point of the intramedullary nail is determined.

In this way, after the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail is selected and determined, when the second displacement deviation prompted in real time is 0 in the process of moving the orthopedic operation tool, the ideal nail feeding position reaching the ideal nail feeding point of the intramedullary nail can be determined intuitively and conveniently.

taking the medical navigation device 10 shown in fig. 1 as an example:

the medical navigation device 10 determines in real time a second angular deviation of the real-time position of the sensor 11 with respect to the target position, i.e. an angle between a specified direction (e.g. the axial direction of the medical navigation device 10) when the sensor 11 is in the real-time position and an ideal screw feeding direction of an ideal screw feeding point of the intramedullary nail, based on the real-time position information measured by the sensor 11, and prompts the second angular deviation.

Taking the medical navigation device 10 shown in fig. 2 as an example:

the external processing device 20 determines, in real time, a second angular deviation of the real-time position of the sensor 11 with respect to the target position, that is, an angle between a specified direction (for example, an axial direction of the medical navigation device 10) in which the sensor 11 is located at the real-time position and an ideal nail feeding direction of an ideal nail feeding point of the intramedullary nail, based on the real-time position information measured by the sensor 11, and sends the second angular deviation to the medical navigation device 10 for prompting.

Taking the medical navigation device 10 shown in fig. 3 as an example:

the medical navigation device 10 determines, in real time, a second angular deviation of the real-time position of the sensor 11 with respect to the target position, that is, an angle between a specified direction (for example, an axial direction of the medical navigation device 10) in which the sensor 11 is located at the real-time position and an ideal nail feeding direction of an ideal nail feeding point of the intramedullary nail, based on the real-time position information measured by the sensor 11, and sends the second angular deviation to the external prompting device 30 for prompting.

Taking the medical navigation device 10 shown in fig. 4 as an example:

the navigation processing device 40 determines in real time a second angular deviation of the real-time position of the sensor 11 with respect to the target position, i.e. the angle between the specified direction of the real-time position of the sensor 11 (e.g. the axial direction of the medical navigation device 10) and the ideal screw feeding direction of the ideal screw feeding point of the intramedullary nail, based on the real-time position information measured by the sensor 11, and prompts the second angular deviation, or sends the second angular deviation to a prompting device different from the navigation processing device 40, e.g. in combination with the embodiment shown in fig. 3, to the external prompting device 30 in the embodiment shown in fig. 3.

in the process that the doctor keeps the ideal nail feeding position of the needle guiding tip at the ideal nail feeding point of the intramedullary nail unchanged and adjusts the external deflection angle of the guide needle, when the second angle deviation prompted by the medical navigation device 10 and/or the external prompting device 30 and/or the navigation processing device 40 is 0, the needle feeding direction of the guide needle reaches the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail, as shown in fig. 19. The doctor can refer to the pitch angle of the prompt, and insert the guide pin after the front dip angle of the guide pin is properly adjusted.

Based on the medical navigation device 10 and/or the navigation processing device 40 provided by the embodiments of the present application, based on the sensor, the first height deviation and/or the first angle deviation and/or the second height deviation and/or the second angle deviation of the real-time position to the reference position are followed and prompted, so that the selection of the ideal nail feeding position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail is realized, the accurate positioning of the ideal nail feeding position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail during operation is fundamentally realized, and real-time position information and angle information are provided for doctors, so that the guide needle can be driven successfully once without adjusting the guide needle for driving for many times. Moreover, the medical navigation device 10 provided by the embodiments of the present application is small and easy to use, can greatly shorten the operation time, reduce the X-ray radiation amount of doctors and patients, and improve the operation quality and operation efficiency.

It should be understood that in the description of the embodiments described above, the description is given taking the case where the medical navigation device 10 prompts the first relative position information and/or the second relative position information, or the external prompt device 30/the navigation processing device 40 prompts the first relative position information and/or the second relative position information, in the actual technology implementation process, based on actual technology selection and needs, it may also be that two or three of the medical navigation device 10, the external prompt device 30, and the navigation processing device 40 prompt the first relative position information and/or the second relative position information at the same time. Wherein, when two or three of the medical navigation device 10, the external prompting device 30 and the navigation processing device 40 prompt the first relative position information and/or the second relative position information at the same time, the content prompted by the medical navigation device 10, the external prompting device 30 and the navigation processing device 40 may be identical or not identical, and the embodiment of the present application is not limited specifically.

Based on the medical navigation device of the embodiments as described above, the embodiments of the present application also provide a navigation method of the medical navigation device for guiding an orthopaedic surgical tool, wherein the medical navigation device is provided with a sensor.

As shown in fig. 20, a navigation method of a medical navigation device for guiding an orthopedic surgical tool in some embodiments includes:

step S101: upon receiving the trigger instruction, reference position information when a sensor of the medical navigation device is at a reference position is recorded in response to the trigger instruction.

Step S102: and acquiring real-time position information of the sensor in a state that the sensor is fixed with the orthopedic operation tool, and acquiring the first relative position information and/or the second relative position information based on the real-time position information.

The first relative position information is the relative position information between the real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is the relative position information between the real-time position and the target position, the second relative position information is determined by the real-time position information and the target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in the human body. Wherein the target location may be determined in connection with the type of orthopaedic surgery, such as the ideal approach point for an intramedullary nail.

Step S103: the first relative position information and/or the second relative position information are prompted in real time.

As shown in fig. 21, a navigation method of a medical navigation device for guiding an orthopedic surgical tool in some embodiments includes:

step S201: and acquiring real-time position information measured by the sensor in a state that the sensor of the medical navigation equipment is fixed with the orthopedic operation tool.

Step S202: the real-time location information is transmitted to an external processing device.

Step S203: and receiving the first relative position information and/or the second relative position information fed back by the external processing equipment.

The first relative position information is the relative position information between the real-time position of the sensor and the reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by the pre-recorded reference position information, the reference position information is the position information which is obtained by the medical navigation device in response to the trigger instruction and is measured by the sensor and sent to the external processing device, and/or the reference position information is preset position information which is obtained by the external processing device in response to the trigger instruction. The second relative position information is the relative position information between the real-time position of the sensor and the target position, the second relative position information is determined by the real-time position information and the target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in the human body.

Step S204: the first relative position information and/or the second relative position information are prompted in real time.

As shown in fig. 22, a navigation method of a medical navigation device for guiding an orthopedic surgical tool in some embodiments includes:

step S301: upon receiving the trigger instruction, reference position information when a sensor of the medical navigation device is at a reference position is recorded in response to the trigger instruction.

Step S302: and acquiring real-time position information of the sensor in a state that the sensor is fixed with the orthopedic operation tool, and acquiring the first relative position information and/or the second relative position information based on the real-time position information.

The first relative position information is the relative position information between the real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is the relative position information between the real-time position and the target position, the second relative position information is determined by the real-time position information and the target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in the human body.

Step S303: and sending the first relative position information and/or the second relative position information to an external prompting device, and prompting the first relative position information and/or the second relative position information by the external prompting device.

As shown in fig. 23, the navigation method of the medical navigation device for guiding an orthopaedic surgical tool in some embodiments may be performed by a navigation processing device 40, wherein the navigation processing device 40 is communicatively connected to the medical navigation device 10, the method comprising:

step S401: and acquiring real-time position information measured by the sensor under the state that the sensor is fixed with the orthopedic operation tool and transmitted by the medical navigation equipment.

Step S402: the first relative position information and/or the second relative position information is acquired based on the real-time position information.

The first relative position information is the relative position information between the real-time position of the sensor and the reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by the pre-recorded reference position information, the reference position information is the position information which is obtained by the medical navigation equipment in response to the trigger instruction and is measured by the sensor and sent to the navigation processing equipment, and/or the reference position information is preset position information which is obtained by the navigation processing equipment in response to the trigger instruction; the second relative position information is the relative position information between the real-time position and the target position, the second relative position information is determined by the real-time position information and the target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in the human body.

Step S403: the first relative position information and/or the second relative position information are prompted in real time.

In some embodiments, the navigation method of the medical navigation device in the embodiments described above may be applied to an orthopedic operation requiring insertion of an intramedullary nail, for example, an orthopedic operation of a proximal femur fracture, where the medical navigation device may be a medical navigation device for navigating an intramedullary nail insertion point, the target position may be an ideal intramedullary nail insertion point, the expected insertion position may be an ideal nail insertion position of the ideal intramedullary nail insertion point, and the expected insertion direction may be an ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail.

In some embodiments, the reference position information is position information of sensor measurement obtained in response to a trigger instruction.

In some embodiments, the reference position information is position information measured by the sensor after initializing the sensor in response to a trigger command. In some embodiments, the initial position information may be zero position information. The zero position information may mean that the values of the information related to the position are all set to 0, for example, the height value is 0, etc.

The first displacement bias may include: the distance between the real-time position of the sensor and the reference position in a direction perpendicular to the horizontal plane. In some embodiments, the first displacement offset may also be referred to as a height difference, as shown in fig. 8.

In some embodiments, the first angular offset may include: after the specified direction of the sensor fixed with the orthopedic operation tool and the specified direction of the sensor when the sensor is at the reference position are projected to the same plane, the included angle between the two projections on the plane is shown in fig. 9. In some embodiments, the first angular offset may also be referred to as an outside offset angle. In some embodiments, the designated direction of the sensor may be an axial direction of the medical navigation device, and the same plane may specifically be a horizontal plane, which is the same in the following embodiments.

In some embodiments, the second relative positional information includes a second positional deviation and/or a second angular deviation between the real-time position and a target position (e.g., an intramedullary nail ideal feed point) determined by an intended insertion position (e.g., an ideal feed position of the intramedullary nail ideal feed point) and/or an intended insertion direction (e.g., an ideal feed direction of the intramedullary nail ideal feed point) of the orthopaedic surgical tool in the human body.

The second angular deviation includes: and projecting the appointed direction of the sensor at the real-time position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail to the same plane, and then forming an included angle between the two projections on the plane. In some embodiments, the same plane may be a horizontal plane.

Wherein the desired direction of insertion (e.g., the desired direction of insertion of the desired point of insertion of the intramedullary nail) may be determined in various possible ways.

In some embodiments, the desired insertion direction (e.g., the desired screw-in direction of the desired screw-in point of the intramedullary nail) is the user-entered insertion direction. For example, when the medical navigation apparatus 10 is located at the reference position, photographing is performed to obtain a medical image, an intended insertion direction (such as an ideal nail feeding direction of an ideal nail feeding point of an intramedullary nail) is manually marked on the medical image by a medical staff, and the direction manually marked by the medical staff is taken as the intended insertion direction (such as the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail).

In some embodiments, the desired insertion direction (e.g., the desired screw insertion direction of the desired screw insertion point of the intramedullary screw) is obtained by analyzing a medical image captured while the medical navigation device is in the reference position.

The second displacement offset includes: in a direction perpendicular to the horizontal plane, the sensor is located at a distance between the real-time position and the target position (e.g. the ideal screw feeding position of the ideal screw feeding point of the intramedullary nail).

The intended insertion position may be determined based on a predetermined insertion region, which may be a region for determining a target position, such as an ideal intramedullary nail insertion point of the proximal femur, and may be a greater trochanter apex ridge contour. Specific positional information of the intended insertion location may be determined during movement of the orthopaedic surgical tool that is fixed to the sensor (or medical navigation device).

In some embodiments, the height value of the intended insertion location (e.g., the ideal screw insertion location of the ideal screw insertion point) in a direction perpendicular to the horizontal plane is determined by a first reference height value that is the height value of the sensor in a direction perpendicular to the horizontal plane when the insertion end of the orthopaedic surgical tool is at the first side vertex of the predetermined insertion area and a second reference height value that is the height value of the sensor in a direction perpendicular to the horizontal plane when the insertion end of the orthopaedic surgical tool is at the second side vertex of the predetermined insertion area. Taking an ideal nail feeding point of the intramedullary nail at the proximal end of the femur as an example, the first side vertex specifically may refer to the vertex of the greater trochanter vertex ridge profile closest to the ventral side, and the second side vertex specifically may refer to the vertex of the greater trochanter vertex ridge profile closest to the dorsal side.

In some embodiments, in the method of the foregoing embodiments, the method may further include:

acquiring a pitch angle between the bottom surface of the medical navigation equipment and the horizontal plane, which is measured by a sensor of the medical navigation equipment;

and prompting the pitch angle.

and transmitting the pitch angle to external prompt equipment for prompt.

providing error prompt information, wherein the error prompt information is information generated when the accumulated time length is longer than a preset time length, and/or the error prompt information is information generated when the error obtained by calculation is longer than an error threshold value, and the accumulated time length is time length from when the reference position information is recorded or when the sensor is calibrated last time.

For a specific implementation manner of the navigation method of the medical navigation device, reference may be made to the description of the medical navigation device and/or the navigation processing device in the foregoing embodiments.

It should be understood that, although the steps in the flowcharts referred to above are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts may include a plurality of steps or stages that are not necessarily performed at the same time, but may be performed at different times, and the order of execution of the steps or stages is not necessarily sequential, but may be performed in rotation or alternately with at least a portion of the steps or stages in other steps or other steps.

In one embodiment, an electronic device is provided, the internal structure of which may be as shown in FIG. 24. The electronic device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor is configured to provide computing and control capabilities. The memory of the electronic device includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the electronic device is used for conducting wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a navigation method of a medical navigation device as described above. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the electronic equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

In an embodiment, there is also provided an electronic device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the navigation method of the medical navigation device of any of the embodiments described above when the computer program is executed.

In an embodiment, a computer readable storage medium is provided, storing a computer program which, when executed by a processor, implements the steps of the navigation method of the medical navigation device of any of the embodiments described above.

In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of the navigation method of the medical navigation device of any of the above embodiments.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.

In some embodiments, a medical navigation system is provided, the medical navigation system comprising: an orthopaedic surgical tool, and a medical navigation device and/or navigation processing device in any of the embodiments described above.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

A medical navigation device for navigating an intramedullary nail feeding point, which is characterized by comprising a processor, a sensor and a navigation prompt component;

The processor is used for responding to a trigger instruction, recording the reference position information of the sensor measured by the sensor when the sensor is at the reference position, acquiring the real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring the first relative position information and/or the second relative position information based on the real-time position information; the first relative position information is relative position information between a real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is the relative position information between the real-time position and an ideal intramedullary nail feeding point, the second relative position information is determined by the real-time position information and target offset position information, and the target offset position information is used for indicating the relative position relationship between the reference position and the ideal intramedullary nail feeding point;

the navigation prompting component is used for prompting the first relative position information and/or the second relative position information;

wherein the first relative position information is combined with the target offset position information and/or the second relative position information is usable to assist in guiding the orthopaedic surgical tool to move to the ideal intramedullary nail insertion point.
A medical navigation device for guiding an orthopaedic surgical tool, comprising a processor, a sensor, and a navigation prompt assembly;

the processor is used for responding to a trigger instruction, recording the reference position information of the sensor measured by the sensor when the sensor is at the reference position, acquiring the real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring the first relative position information and/or the second relative position information based on the real-time position information; the first relative position information is relative position information between a real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

The navigation prompting component is used for prompting the first relative position information and/or the second relative position information;

wherein the first relative position information is combined with the target offset position information and/or the second relative position information is usable to assist in guiding the orthopaedic surgical tool to move to the target location.
A medical navigation device for guiding an orthopaedic surgical tool, comprising a processor, a sensor, a communication component, and a navigation prompt component;

the processor is used for sending the real-time position information measured by the sensor to external processing equipment through the communication component in a state that the sensor is fixed with the orthopedic operation tool, and receiving the first relative position information and/or the second relative position information fed back by the external processing equipment through the communication component; the first relative position information is relative position information between a real-time position of the sensor and a reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information comprises first reference position information and/or second reference position information, the first reference position information is position information measured by the sensor, which is obtained by the medical navigation device in response to a trigger instruction, and sent to the external processing device, and the second reference position information is preset position information obtained by the external processing device in response to the trigger instruction; the second relative position information is relative position information between a real-time position of the sensor and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating a relative position relation between the reference position and the target position, and the target position is determined by an expected insertion position and/or an expected insertion direction of the orthopedic operation tool in a human body;

The processor also transmits the first relative position information and/or the second relative position information to the navigation prompt component;

the navigation prompting component is used for prompting the first relative position information and/or the second relative position information;

wherein the first relative position information is combined with the target offset position information and/or the second relative position information is usable to assist in guiding the orthopaedic surgical tool to move to the target location.
A medical navigation device for guiding an orthopaedic surgical tool, comprising a processor, a sensor, and a communication assembly;

the processor is used for responding to a trigger instruction, recording reference position information when the sensor measured by the sensor is at a reference position, acquiring real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, acquiring first relative position information and/or second relative position information based on the real-time position information, transmitting the first relative position information and/or the second relative position information to external prompting equipment through the communication component, and prompting the first relative position information and/or the second relative position information by the external prompting equipment; the first relative position information is the relative position information between the real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

Wherein the first relative position information is combined with the target offset position information and/or the second relative position information is usable to assist in guiding the orthopaedic surgical tool to move to the target location.
A navigation processing device for guiding an orthopaedic surgical tool, the navigation processing device being communicatively coupled to a medical navigation device, the medical navigation device comprising a processor, a sensor, and a communication component;

the navigation processing equipment is used for acquiring real-time position information which is transmitted by the processor through the communication component and is measured by the sensor in a state that the sensor is fixed with the orthopedic operation tool, acquiring first relative position information and/or second relative position information based on the real-time position information, and prompting the first relative position information and/or the second relative position information; the first relative position information is relative position information between a real-time position of the sensor and a reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information comprises first reference position information and/or second reference position information, the first reference position information is position information measured by the sensor, which is obtained by the medical navigation device in response to a trigger instruction, and is sent to the navigation processing device, and the second reference position information is preset position information obtained by the navigation processing device in response to the trigger instruction; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

Wherein the first relative position information is combined with the target offset position information and/or the second relative position information is usable to assist in guiding the orthopaedic surgical tool to move to the target location.
The apparatus according to any one of claims 1 to 5, wherein:

the reference position information is position information measured by the sensor and obtained by the medical navigation equipment in response to the trigger instruction.
The apparatus according to any one of claims 1 to 5, wherein:

the reference position information is position information measured by the sensor after the sensor is initialized in response to the trigger instruction.
The apparatus according to any one of claims 1 to 5, wherein:

the first relative position information comprises a first displacement deviation and/or a first angular deviation between the real-time position and the reference position.
The apparatus of claim 8, wherein the first angular offset comprises: and projecting the appointed direction of the sensor fixed with the orthopedic operation tool and the appointed direction of the sensor when the sensor is positioned at the reference position to the same plane, and forming an included angle between two projections on the plane.
The apparatus of claim 8, wherein the first displacement bias comprises: the distance between the real-time position of the sensor and the reference position in a direction perpendicular to the horizontal plane.
The apparatus according to claim 1, wherein:

the second relative position information includes a second displacement offset and/or a second angular offset between the real-time position and the ideal feed point of the intramedullary nail.
The apparatus according to claim 11, wherein:

the second angular deviation includes: and projecting the appointed direction of the sensor at the real-time position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail to the same plane, and forming an included angle between two projections on the plane.
The apparatus according to claim 12, wherein:

the ideal nail feeding direction is an insertion direction provided for a user;

or alternatively

The ideal nail feeding direction is obtained by analyzing a medical image, and the medical image is obtained by shooting when the sensor is positioned at the reference position.
The apparatus according to claim 11, wherein:

the second displacement offset includes: in the direction perpendicular to the horizontal plane, the sensor is located at a distance between the real-time position and the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail.
The apparatus according to claim 14, wherein:

the ideal screw feeding position is determined by a first reference height value and a second reference height value, wherein the first reference height value is a height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopedic operation tool is positioned at the first side vertex of the preset insertion area, and the second reference height value is a height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopedic operation tool is positioned at the second side vertex of the preset insertion area.
The apparatus according to any one of claims 2 to 5, wherein:

the second relative positional information includes a second positional deviation and/or a second angular deviation between the real-time position and the target position to which the orthopaedic surgical tool is expected to be moved.
The apparatus according to claim 16, wherein:

the second angular deviation includes: and projecting the appointed direction and the expected inserting direction of the sensor at the real-time position to the same plane, and then forming an included angle between two projections on the plane.
The apparatus according to claim 17, wherein:

the expected insertion direction is an insertion direction provided for a user;

or alternatively

The expected insertion direction is obtained by analyzing a medical image, and the medical image is obtained by shooting when the sensor is at the reference position.
The apparatus according to claim 9, 12 or 17, wherein the specified direction of the sensor is an axial direction of the medical navigation apparatus.
The apparatus of claim 9, 12 or 17, wherein the same plane is a horizontal plane.
The apparatus according to claim 16, wherein:

the second displacement offset includes: in a direction perpendicular to the horizontal plane, the sensor is located at a distance between the real-time position and the intended insertion position.
The apparatus of claim 21, wherein the device comprises a plurality of sensors,

the height value of the expected insertion position in the direction perpendicular to the horizontal plane is determined by a first reference height value, which is the height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopaedic surgical tool is located at the first side vertex of the predetermined insertion area, and a second reference height value, which is the height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopaedic surgical tool is located at the second side vertex of the predetermined insertion area.
A device according to any one of claims 1 to 3, characterized in that:

the navigation prompt component is also used for prompting the pitch angle measured by the sensor;

the pitch angle is as follows: and an included angle between the bottom surface of the medical navigation equipment and the horizontal plane.
The apparatus according to claim 4 or 5, characterized in that:

the processor is also used for transmitting the pitch angle measured by the sensor to external prompt equipment for prompt;

the pitch angle is as follows: and an included angle between the bottom surface of the medical navigation equipment and the horizontal plane.
The apparatus according to any one of claims 1 to 5, wherein the processor is further configured to provide error prompt information, where the error prompt information is information generated when a cumulative time period is longer than a preset time period, and/or the error prompt information is information generated when an error obtained by calculation is greater than an error threshold value, where the cumulative time period is a time period from when the reference position information is recorded or when the sensor is calibrated last time.
The apparatus according to any one of claims 1 to 5, wherein: the means for prompting the first relative position information and/or the second relative position information comprises:

Displaying the first relative position information and/or the second relative position information;

and/or

And outputting the voice information of the first relative position information and/or the second relative position information.
A device according to any one of claims 1 to 3, wherein the navigation prompt component is a touch screen; and receiving the trigger instruction through the touch screen, wherein the trigger instruction is used for indicating and recording the reference position information.
The device of any one of claims 1 to 5, further comprising an entity key and/or a voice acquisition component, wherein the trigger instruction is received by the entity key and/or the voice acquisition component, and the trigger instruction is used for indicating to record the reference position information.
The apparatus of any one of claims 1 to 5, wherein the medical navigation apparatus is removably secured to the orthopaedic surgical tool.
The apparatus according to claim 29, wherein: the medical navigation equipment is detachably fixed on the orthopedic operation tool in a magnetic attraction and/or clamping mode.
The apparatus of any one of claims 1 to 5, wherein the orthopaedic surgical tool is a guide pin, a holder or an electric drill.
The apparatus of any one of claims 1 to 5, wherein the sensor is an inertial sensor.
The apparatus of any one of claims 1 to 5, wherein the number of sensors is 1.
A navigation method of a medical navigation device for intramedullary nail insertion point navigation, characterized in that the medical navigation device is provided with a sensor, the method comprising:

when a trigger instruction is received, recording reference position information measured by the sensor when the sensor is at a reference position in response to the trigger instruction;

acquiring real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring first relative position information and/or second relative position information based on the real-time position information, wherein the first relative position information is the relative position information between the real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is the relative position information between the real-time position and an ideal intramedullary nail feeding point, the second relative position information is determined by the real-time position information and target offset position information, and the target offset position information is used for indicating the relative position relationship between the reference position and the ideal intramedullary nail feeding point;

And prompting the first relative position information and/or the second relative position information in real time, wherein the first relative position information is combined with the target offset position information, and/or the second relative position information can be used for assisting in guiding the orthopaedic surgical tool to move to the ideal intramedullary nail feeding point.
A navigation method for a medical navigation device for guiding an orthopaedic surgical tool, the medical navigation device being provided with a sensor, the method comprising:

when a trigger instruction is received, recording reference position information measured by the sensor when the sensor is at a reference position in response to the trigger instruction;

acquiring real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring first relative position information and/or second relative position information based on the real-time position information; the first relative position information is relative position information between a real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

And prompting the first relative position information and/or the second relative position information in real time, wherein the first relative position information is combined with the target offset position information, and/or the second relative position information can be used for assisting in guiding the orthopedic operation tool to move to the target position.
A navigation method for a medical navigation device for guiding an orthopaedic surgical tool, the medical navigation device being provided with a sensor, the method comprising:

acquiring real-time position information measured by the sensor in a state that the sensor is fixed with an orthopedic operation tool;

transmitting the real-time position information to an external processing device;

receiving first relative position information and/or second relative position information fed back by the external processing equipment; the first relative position information is relative position information between a real-time position of the sensor and a reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information is position information which is obtained by the medical navigation device in response to a trigger instruction and is measured by the sensor and sent to the external processing device, and/or the reference position information is preset position information obtained by the external processing device in response to the trigger instruction; the second relative position information is relative position information between a real-time position of the sensor and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating a relative position relation between the reference position and the target position, and the target position is determined by an expected insertion position and/or an expected insertion direction of the orthopedic operation tool in a human body;

The first relative position information and/or the second relative position information are/is prompted in real time, and the first relative position information is combined with the target offset position information and/or the second relative position information can be used for assisting in guiding the orthopaedic surgical tool to move to the target position.
A navigation method for a medical navigation device for guiding an orthopaedic surgical tool, the medical navigation device being provided with a sensor, the method comprising:

when a trigger instruction is received, recording reference position information measured by the sensor when the sensor is at a reference position in response to the trigger instruction;

acquiring real-time position information of the sensor in a state that the sensor is fixed with an orthopedic operation tool, and acquiring first relative position information and/or second relative position information based on the real-time position information; the first relative position information is relative position information between a real-time position of the sensor and the reference position, and the real-time position is determined by the real-time position information; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

And sending the first relative position information and/or the second relative position information to external prompting equipment, wherein the external prompting equipment prompts the first relative position information and/or the second relative position information, and the first relative position information is combined with the target offset position information and/or the second relative position information can be used for assisting in guiding the orthopedic operation tool to move to the target position.
A navigation method for a medical navigation device for guiding an orthopaedic surgical tool, the medical navigation device being provided with a sensor, the medical navigation device being in communication with a navigation processing device, the method being performed by the navigation processing device, the method comprising:

acquiring real-time position information which is transmitted by the medical navigation equipment and measured by the sensor in a state that the sensor is fixed with an orthopedic operation tool;

acquiring first relative position information and/or second relative position information based on the real-time position information, wherein the first relative position information is the relative position information between the real-time position of the sensor and a reference position where the sensor is located in advance, the real-time position is determined by the real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information is the position information measured by the sensor, which is obtained by the medical navigation device in response to a trigger instruction, and is sent to the navigation processing device, and/or the reference position information is preset position information obtained by the navigation processing device in response to the trigger instruction; the second relative position information is relative position information between the real-time position and a target position, the second relative position information is determined by the real-time position information and target offset position information, the target offset position information is used for indicating the relative position relation between the reference position and the target position, and the target position is determined by the expected insertion position and/or the expected insertion direction of the orthopedic operation tool in a human body;

Prompting the first relative position information and/or the second relative position information in real time; the first relative position information in combination with the target offset position information and/or the second relative position information may be used to assist in guiding the orthopaedic surgical tool to move to the target location.
The method according to any one of claims 34 to 38, wherein:

the reference position information is position information measured by the sensor, which is obtained in response to the trigger instruction.
The method according to any one of claims 34 to 38, wherein:

the reference position information is position information measured by the sensor after the sensor is initialized in response to the trigger instruction.
The method according to any one of claims 34 to 38, wherein:

the first relative position information comprises a first displacement deviation and/or a first angular deviation between the real-time position and the reference position.
The method of claim 41, wherein the first angular offset comprises: and projecting the appointed direction of the sensor fixed with the orthopedic operation tool and the appointed direction of the sensor when the sensor is positioned at the reference position to the same plane, and forming an included angle between two projections on the plane.
The method of claim 41, wherein the first displacement offset comprises: the distance between the real-time position of the sensor and the reference position in a direction perpendicular to the horizontal plane.
The method as claimed in claim 34, wherein:

the second relative position information includes a second displacement offset and/or a second angular offset between the real-time position and the ideal feed point of the intramedullary nail.
The method according to claim 44, wherein:

the second angular deviation includes: and projecting the appointed direction of the sensor at the real-time position and the ideal nail feeding direction of the ideal nail feeding point of the intramedullary nail to the same plane, and forming an included angle between two projections on the plane.
The method according to claim 45, wherein:

the ideal nail feeding direction is an insertion direction provided for a user;

or alternatively

The ideal nail feeding direction is obtained by analyzing a medical image, and the medical image is obtained by shooting when the sensor is positioned at the reference position.
The method according to claim 44, wherein:

the second displacement offset includes: in the direction perpendicular to the horizontal plane, the sensor is located at a distance between the real-time position and the ideal nail feeding position of the ideal nail feeding point of the intramedullary nail.
The method of claim 47, wherein:

the ideal screw feeding position is determined by a first reference height value and a second reference height value, wherein the first reference height value is a height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopedic operation tool is positioned at the first side vertex of the preset insertion area, and the second reference height value is a height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopedic operation tool is positioned at the second side vertex of the preset insertion area.
The method according to any one of claims 35 to 38, wherein:

the second relative positional information includes a second positional deviation and/or a second angular deviation between the real-time position and the target position to which the orthopaedic surgical tool is expected to be moved.
The method according to claim 49, wherein:

the second angular deviation includes: and projecting the appointed direction and the expected inserting direction of the sensor at the real-time position to the same plane, and then forming an included angle between two projections on the plane.
The method according to claim 50, wherein:

the expected insertion direction is an insertion direction provided for a user;

or alternatively

The expected insertion direction is obtained by analyzing a medical image, and the medical image is obtained by shooting when the medical navigation equipment is at the reference position.
The method of claim 42, 45 or 50, wherein the specified orientation of the sensor is an axial orientation of the medical navigation device.
The method of claim 42, 45 or 50, wherein the same plane is a horizontal plane.
The method according to claim 49, wherein:

the second displacement offset includes: in a direction perpendicular to the horizontal plane, the sensor is located at a distance between the real-time position and the intended insertion position.
The method of claim 54, wherein:

the height value of the expected insertion position in the direction perpendicular to the horizontal plane is determined by a first reference height value, which is the height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopaedic surgical tool is located at the first side vertex of the predetermined insertion area, and a second reference height value, which is the height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopaedic surgical tool is located at the second side vertex of the predetermined insertion area.
The method according to any one of claims 34 to 38, further comprising:

acquiring a pitch angle between the bottom surface of the medical navigation equipment and a horizontal plane, which is measured by a sensor of the medical navigation equipment;

prompting the pitch angle, and/or transmitting and sending the pitch angle to external prompting equipment for prompting.
The method according to any one of claims 34 to 38, further comprising:

providing error prompt information, wherein the error prompt information is information generated when the accumulated time length is longer than a preset time length, and/or the error prompt information is information generated when the calculated error is greater than an error threshold value, and the accumulated time length is time length from when the reference position information is recorded or when the sensor is calibrated last time.
An electronic device comprising a processor and a memory, the memory storing a computer program, characterized in that the computer program, when executed by the processor, causes the processor to carry out the steps of the method of any one of claims 34 to 57.
A computer readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the method of any of claims 34 to 57.
A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of any of claims 34 to 57.
A medical navigation system, the medical navigation system comprising: an orthopaedic surgical tool, and the apparatus of any one of claims 1 to 33 removably secured to the orthopaedic surgical tool.