WO2023165158A1

WO2023165158A1 - Medical navigation device, navigation processing device and method, and medical navigation system

Info

Publication number: WO2023165158A1
Application number: PCT/CN2022/130944
Authority: WO
Inventors: 郭楚; 徐晓龙; 何智圣; 张柳云; 陈德方; 刘梦星
Original assignee: 武汉迈瑞科技有限公司
Priority date: 2022-03-04
Filing date: 2022-11-09
Publication date: 2023-09-07
Also published as: CN116887775A; CN116887776A; CN116687437A; CN116740309A; WO2023165157A1; CN219501199U

Abstract

Disclosed are a medical navigation device and a navigation method therefor, wherein, the medical navigation device comprises a processor, a sensor, and a navigation prompt assembly; the processor is used for recording, in response to a trigger instruction, reference position information measured by the sensor when the sensor is located at a reference position, acquiring real-time position information of the sensor when in a state where the sensor is fixed with an orthopedic surgical tool, and acquiring, on the basis of the real-time position information, first relative position information and/or second relative position information, wherein the first relative position information is relative position information between the real-time position and the reference position of the sensor, 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 according to the real-time position information and target offset position information, and the target offset position information is used for indicating a relative position relationship between the reference position and the target position; the navigation prompt assembly 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, in particular to a medical navigation device, a navigation processing device, a navigation method for the medical navigation device, an electronic device, a computer-readable storage medium, a computer program product, and a medical navigation system.

Background technique

In clinical orthopedic surgery, some operations require the insertion of orthopedic surgical tools or instruments. Take the occurrence of proximal femoral fractures (such as intertrochanteric fractures) or fractures of long bones such as the tibia or humerus as examples. Orthopedic surgery requires insertion of Intramedullary nailing, and treatment with intramedullary nailing to facilitate fracture healing. When inserting orthopedic surgical tools or instruments, the specific insertion positions and insertion directions of these orthopedic surgical tools or instruments will affect the later operation effect and the recovery effect after the operation.

Based on this, there has been a technology to assist in determining the insertion position of orthopedic surgical tools or instruments. However, the inventors have found that the traditional technology for assisting in determining the insertion position of tools or instruments has the disadvantage of causing a large amount of radiation during the operation. question.

Contents of the invention

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

In the first aspect, the present application provides a medical navigation device for intramedullary nail insertion point navigation, including a processor, a sensor and a navigation prompt component;

The processor is configured to, in response to a trigger instruction, record the reference position information measured by the sensor when the sensor is at the reference position, and acquire the sensor's position when the sensor is fixed to the orthopedic surgical tool. Real-time position information, based on the real-time position information to obtain first relative position information and/or second relative position information; the first relative position information is the relative position information between the real-time position of the sensor and the reference position , 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 ideal nail entry point of the intramedullary nail, and the second relative position information is determined by the Real-time position information and target offset position information are determined, and the target offset position information is used to indicate the relative positional relationship between the reference position and the ideal nail entry point of the intramedullary nail;

The navigation prompt component is used to prompt the first relative position information and/or the second relative position information;

Wherein, the first relative position information combined with the target offset position information, and/or, the second relative position information can be used to assist in guiding the orthopedic surgical tool to move to the ideal nail entry point of the intramedullary nail .

In a second aspect, the present application provides a medical navigation device for guiding orthopedic surgical tools, including a processor, a sensor, and a navigation prompt component;

The processor is configured to, in response to a trigger instruction, record the reference position information measured by the sensor when the sensor is at the reference position, and acquire the sensor's position when the sensor is fixed to the orthopedic surgical tool. Real-time position information, based on the real-time position information to obtain first relative position information and/or second relative position information; the first relative position information is the relative position information between the real-time position of the sensor and the reference position , 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, and the second relative position information is determined by the real-time position information and the target determined by offset position information, the target offset position information is used to indicate the relative positional relationship between the reference position and the target position, the target position is determined by the expected insertion position of the orthopedic surgical tool in the human body and / or intended insertion direction determination;

Wherein, the first relative position information combined with the target offset position information, and/or, the second relative position information may be used to assist in guiding the orthopedic surgery tool to move to the target position.

In a third aspect, the present application provides a medical navigation device for guiding orthopedic surgery tools, including a processor, a sensor, a communication component, and a navigation prompt component;

The processor is configured to send the real-time position information measured by the sensor to an external processing device through the communication component when the sensor is fixed to the orthopedic surgical tool, and receive the position information through the communication component. The first relative position information and/or the second relative position information fed back by the external processing device; 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 pre-recorded reference position information, the reference position information includes first reference position information and/or second reference position information, the first reference position The position information is the position information measured by the sensor obtained by the medical navigation device in response to the trigger instruction and sent to the external processing device, and the second reference position information is obtained by the external processing device in response to the trigger instruction Pre-set position information; the second relative position information is the relative position information between the real-time position of the sensor and the target position, and 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 to indicate the relative positional relationship between the reference position and the target position, the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body Sure;

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 orthopedic surgical tools, including a processor, a sensor, and a communication component;

The processor is configured to, in response to a trigger instruction, record the reference position information measured by the sensor when the sensor is at the reference position, and acquire the sensor's position when the sensor is fixed to the orthopedic surgical tool. Real-time location information, obtaining first relative location information and/or second relative location information based on the real-time location information, and transmitting the first relative location information and/or the second relative location information through the communication component To an external prompting device, the external prompting device prompts the first relative position information and/or the second relative position information; wherein, the first relative position information is the real-time position of the sensor and the The relative position information between the reference positions, 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, and the second relative position The information is determined by the real-time position information and target offset position information, the target offset position information is used to indicate the relative positional relationship between the reference position and the target position, and the target position is determined by the orthopedic surgery Determination of the intended insertion position and/or intended direction of insertion of the tool in the human body;

In a fifth aspect, the present application provides a navigation processing device for guiding an orthopedic surgical tool, the navigation processing device is communicatively connected with a medical navigation device, and the medical navigation device includes a processor, a sensor and a communication component;

The navigation processing device is configured to acquire the real-time position information measured by the sensor in the state where the sensor is fixed to the orthopedic surgical tool and sent by the processor through the communication component, based on the real-time position information Acquiring the first relative position information and/or the second relative position information, and prompting the first relative position information and/or the second relative position information; the first relative position information is the real-time position and The relative position information between the reference positions 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, and the reference position information includes the first reference Position information and/or second reference position information, the first reference position information is the position information measured by the sensor obtained by the medical navigation device in response to a trigger instruction and sent to the navigation processing device, the second The second reference position information is the preset position information obtained by the navigation processing device 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, and the second relative position The information is determined by the real-time position information and target offset position information, the target offset position information is used to indicate the relative positional relationship between the reference position and the target position, and the target position is determined by the orthopedic surgery Determination of the intended insertion position and/or intended direction of insertion of the tool in the human body;

In a sixth aspect, the present application provides a navigation method of a medical navigation device used for intramedullary nail insertion point navigation, the medical navigation device is provided with sensors, and the method includes:

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

In the state where the sensor is fixed to the orthopedic surgical tool, obtain real-time position information of the sensor, and obtain first relative position information and/or second relative position information based on the real-time position information, the first relative position The information is 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 ideal distance between the real-time position and the intramedullary nail. relative position information between nail points, 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 to indicate that the reference position is different from the intramedullary nail Relative positional relationship between ideal nail entry points;

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, It can be used to assist in guiding the orthopedic surgical tool to move to the ideal nail entry point of the intramedullary nail.

In a seventh aspect, the present application provides a navigation method for a medical navigation device for guiding an orthopedic surgical tool, the medical navigation device is provided with a sensor, and the method includes:

In the state where the sensor is fixed to the orthopedic surgical tool, acquire real-time position information of the sensor, and acquire first relative position information and/or second relative position information based on the real-time position information; the first relative position The information is 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 between the real-time position and the target position relative position information, 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 to indicate the relative position relationship between the reference position and the target position , the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body;

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 to assist in guiding the movement of the orthopedic surgical tool to the target location.

In an eighth aspect, the present application provides a navigation method for a medical navigation device used to guide an orthopedic surgical tool, the medical navigation device is provided with a sensor, and the method includes:

In the state where the sensor is fixed to the orthopedic surgical tool, obtain the real-time position information measured by the sensor;

sending the real-time location information to an external processing device;

receiving the first relative position information and/or the second relative position information fed back by the external processing device; the first relative position information is the relative position between the real-time position of the sensor and the reference position where the sensor is in advance Position information, 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 obtained by the medical navigation device in response to a trigger instruction and sent to the The position information measured by the sensor of the external processing device, and/or, the reference position information is preset position information obtained by the external processing device in response to a trigger instruction; the second relative position information is the sensor 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 to indicate the reference position and the target position The relative positional relationship between the target positions, the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body;

Prompting the first relative position information and/or the second relative position information in real time, the first relative position information combined with the target offset position information, and/or the second relative position information can be used for Assisting in guiding movement of the orthopedic surgical tool to the target location.

In a ninth aspect, the present application provides a navigation method for a medical navigation device used to guide an orthopedic surgical tool, the medical navigation device is provided with a sensor, and the method includes:

sending the first relative position information and/or the second relative position information to an external prompting device, and the external prompting device prompts the first relative position information and/or the second relative position information , the first relative position information combined with the target offset position information, and/or, the second relative position information may be used to assist in guiding the orthopedic surgery tool to move to the target position.

In a tenth aspect, the present application provides a navigation method for a medical navigation device used to guide orthopedic surgical tools, the medical navigation device is provided with sensors, the medical navigation device communicates with a navigation processing device, and the method is implemented by the Executed by a navigation processing device, the method includes:

Obtaining real-time position information measured by the sensor sent by the medical navigation device when the sensor is fixed to the orthopedic surgical tool;

Acquire first relative position information and/or second relative position information based on the real-time position information, where the first relative position information is the relative position between the real-time position of the sensor and the reference position where the sensor is located in advance Information, 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 obtained by the medical navigation device in response to a trigger instruction and sent to the navigation The position information measured by the sensor of the processing device, and/or, the reference position information is preset position information obtained by the navigation processing device in response to a trigger instruction; the second relative position information is the real-time position Relative position information between the target position, 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 to indicate the reference position and the target position The relative positional relationship between, the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body;

Prompt the first relative position information and/or the second relative position information in real time; the first relative position information combined with the target offset position information, and/or, the second relative position information, can be used for Assisting in guiding movement of the orthopedic surgical tool to the target location.

In an eleventh aspect, the present application provides an electronic device, including a processor and a memory, the memory stores a computer program, wherein, when the computer program is executed by the processor, the processor implements the above The steps of the method in any of the described embodiments.

In a twelfth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by the processor, the processor implements any one of the above-mentioned The steps of the methods in the examples.

In a thirteenth aspect, the present application provides a computer program product, including a computer program, wherein, when the computer program is executed by a processor, the steps of the method in any one of the foregoing embodiments are implemented.

In a fourteenth aspect, the present application provides a medical navigation system, which includes: an orthopedic surgical tool, and the device in any one of the above-mentioned embodiments.

Based on the above-mentioned embodiment of the present application, by prompting the first relative position information and/or the second relative position information, the orthopedic surgical tool can be assisted to move to the target position such as the ideal nail entry point of the intramedullary nail without causing The radiation dose during the operation is increased, which is convenient and convenient, and is beneficial to assist in improving the efficiency of orthopedic surgery.

The above description is only an overview of the technical solution of the present application. In order to better understand the technical means of the present application, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and understandable , some specific implementation methods of the present application are enumerated below.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only the embodiments of the present application. For Those of ordinary skill in the art can also obtain other drawings based on the disclosed drawings on the premise of not paying creative efforts. Also, the same reference numerals are used to denote the same components throughout the drawings. In the attached picture:

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

Fig. 2 is a schematic structural diagram of a medical navigation device combined with an external processing device in some embodiments of the present application;

Fig. 3 is a schematic structural diagram of a medical navigation device combined with an external prompt device according to some embodiments of the present application;

Fig. 4 is a schematic structural diagram of a medical navigation device combined with a navigation processing device in 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 in some embodiments of the present application;

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

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

Fig. 9 is a schematic diagram of the principle of determining the deflection angle in some embodiments of the present application;

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

Fig. 11 is the schematic diagram of the ideal nailing position of the ideal nailing point of the intramedullary nail at the proximal end of the femur;

Fig. 12 is a schematic diagram of the ideal nailing direction of the ideal nailing point of the intramedullary nail at the proximal end of the femur;

Fig. 13 is an example diagram of an application scenario in which a medical navigation device is placed on the body surface of the affected proximal femur to determine a reference position 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 diagram of fixing the medical navigation device and the guide wire in one embodiment;

Fig. 17 is a schematic diagram of fixing the medical navigation device and the electric drill in one embodiment;

Fig. 18 is a schematic diagram of an ideal nail entry position for determining an ideal nail entry point of an intramedullary nail in an application scenario of some embodiments;

Fig. 19 is a schematic diagram of an ideal nail entry direction for determining an ideal entry point of an intramedullary nail in an application scenario of some embodiments;

Fig. 20 is a schematic flowchart of a medical navigation method in some embodiments;

Fig. 21 is a schematic flowchart of a medical navigation method in other embodiments;

Fig. 22 is a schematic flowchart of a medical navigation method in other embodiments;

Fig. 23 is a schematic flowchart of a medical navigation method in some other embodiments;

Fig. 24 is a schematic structural block diagram of an electronic device in some embodiments.

Detailed ways

The following description is illustrated with reference to the detailed examples, examples of which are illustrated in the accompanying drawings. In the following detailed description, numerous specific details are shown 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 embodiments, well-known methods, procedures, components, circuits and networks have not been described in detail so as not to unnecessarily obscure the embodiments.

The terminology used in describing the various described 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" and "the/said" are intended to include the plural forms as well, unless the context clearly dictates 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 also be understood that the term "comprising" when used in this specification refers to the presence of stated features, steps, operations, elements and/or parts, but does not exclude the presence or addition of one or more other features, steps, operation, element and/or part.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the application; the terms used herein are only for the purpose of describing specific embodiments, and are not intended to To limit this application; the terms "comprising" and "having" and any variations thereof in the specification and claims of this application and the description of the above drawings are intended to cover a non-exclusive inclusion.

In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects, and should not be understood as indicating or implying relative importance or implicitly indicating the number, specificity, or specificity of the indicated technical features. Sequence or primary-secondary relationship. In the description of the embodiments of the present application, "plurality" means two or more, unless otherwise specifically defined.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The occurrences of this phrase 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. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein can 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 component 12 . The medical navigation device 10 can be applied in orthopedic surgery to guide orthopedic surgical tools.

Among them, in this embodiment:

The processor 13 is configured to record the reference position information measured by the sensor 11 when the sensor 11 is in the reference position in response to the trigger instruction, and acquire the real-time position information of the sensor 11 in a state where the sensor 11 is fixed to the orthopedic surgical tool, based on The real-time position information acquires 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, and the real-time position is determined by the real-time position information; the second relative position The 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 to indicate the relative position between the reference position and the target position relationship, the target location is determined by the intended insertion location and/or intended insertion direction of the orthopedic surgical tool in the human body;

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

Wherein, the first relative position information combined with the target offset position information, and/or, the second relative position information can be used to assist in guiding the orthopedic surgery tool to move to the target position.

Referring to FIG. 2 , the 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 in orthopedic surgery to guide orthopedic surgical tools. When the medical navigation device 10 is applied in orthopedic surgery, it can guide orthopedic surgical tools by cooperating with the external processing device 20 .

Among them, in this embodiment:

The processor 13 is configured to send the real-time position information measured by the sensor 11 to the external processing device 20 through the communication component 14 when the sensor 11 is fixed to the orthopedic surgical tool, and receive feedback from the external processing device 20 through the communication component 14 First relative position information and/or second relative position information; The first relative position information is the relative position information between the real-time position of sensor 11 and the reference position where sensor 11 is in advance, real-time position is determined by real-time position information, reference The position is determined by pre-recorded reference position information. The reference position information includes first reference position information and/or second reference position information. The first reference position information is obtained by the medical navigation device 10 in response to a trigger instruction and sent to the external processing device The position information measured by the sensor 11 of 20, the second reference position information is the preset position information obtained by the external processing device 20 in response to the trigger instruction; the second relative position information is the relative position between the real-time position of the sensor 11 and the target position information, the second relative position information is determined by real-time position information and target offset position information, the target offset position information is used to indicate the relative positional relationship between the reference position and the target position, and the target position is determined by the expected position of the orthopedic surgical tool in the human body Determination of insertion location and/or intended insertion direction;

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 , the 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 in orthopedic surgery to guide orthopedic surgical tools. When the medical navigation device 10 is applied in orthopedic surgery, it can guide orthopedic surgical tools by cooperating with the external prompting device 30 .

In this example:

The processor 13 is configured to record the reference position information measured by the sensor 11 when the sensor 11 is in the reference position in response to the trigger instruction, and acquire the real-time position information of the sensor 11 in a state where the sensor 11 is fixed to the orthopedic surgical tool, based on The real-time position information acquires the first relative position information and/or the second relative position information, and transmits the first relative position information and/or the second relative position information to the external prompting device 30 through the communication component 14, and the external prompting device 30 will The first relative position information and/or the second relative position information prompt; 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 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 to indicate the relative position between the reference position and the target position relationship, the target location is determined by the intended insertion location and/or intended insertion direction of the orthopedic surgical tool in the human body;

Wherein, the external prompting device 30 may be any device capable of information prompting. For example, in some embodiments, the external prompting device 30 may be a smart wearable device. In some embodiments, the external prompting device can be a user terminal (such as a personal computer, a tablet computer), in some embodiments, the external prompting device can be a display screen device, in some embodiments, the external prompting device can also be Can be a voice output device.

As shown in FIG. 4 , the 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 in orthopedic surgery to guide orthopedic surgical tools. When the medical navigation device 10 is applied in orthopedic surgery, it can guide orthopedic surgical tools by cooperating with the navigation processing device 40 .

Among them, in this embodiment:

The navigation processing device 40 is configured to acquire the real-time position information measured by the sensor 11 when the sensor 11 is fixed to the orthopedic surgical tool and sent by the processor 13 through the communication component 14, and acquire the first relative position information and the first relative position information based on the real-time position information. /or the second relative 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 in advance , the real-time position is determined by real-time position information, the reference position is determined by pre-recorded reference position information, the reference position information includes first reference position information and/or second reference position information, and the first reference position information is the medical navigation device 10 responding to The trigger command is obtained and sent to the position information measured by the sensor 11 of the navigation processing device 40. The second reference position information is the preset position information obtained by the navigation processing device 40 in response to the trigger command; the second relative position information is the real-time position and The relative position information between the target positions, 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 to indicate the relative position relationship between the reference position and the target position, and the target position is determined by the Department of Orthopedics Determination of the intended insertion position and/or intended direction of insertion of the surgical tool in the human body;

Wherein, in the medical navigation device 10 of each of the above-mentioned embodiments, the sensor 11 can be an inertial sensor, and an inertial sensor is a type of sensor that can detect and measure acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom motion. The inertial sensor can Measure and output position information. Wherein, the number of the sensor 11 is specifically one, so that medical navigation can be realized based on the same sensor.

In some embodiments, the medical navigation device 10 in each of the above-mentioned embodiments can be applied to orthopedic surgery requiring the insertion of an intramedullary nail, such as the orthopedic surgery process of a proximal femur fracture. At this time, the above-mentioned medical navigation device 10 may be a medical navigation device used for navigation of intramedullary nail entry points, the above-mentioned target position may be an ideal nail entry point of an intramedullary nail, and the above-mentioned expected insertion position may be an ideal nail entry position of an ideal intramedullary nail entry point, and the above-mentioned The expected insertion direction may be an ideal nail entry direction of an ideal nail entry point for the intramedullary nail.

Wherein, the medical navigation device 10 can be detachably fixed to the orthopedic surgical tool. For example, the medical navigation device 10 can be detachably fixed to the orthopedic surgical tool by means of magnetic attraction and/or clamping. The orthopedic surgical tool can be a guide wire, a gripper or an electric drill.

In some embodiments, a touch screen may be provided in the medical navigation device 10 involved in the above embodiments, so that the medical navigation device 10 may receive a trigger instruction through the touch screen, and the trigger instruction may be used to instruct to record the above reference Baseline location information for the location.

Among them, by operating the corresponding buttons or controls displayed on the touch screen, or clicking or double-clicking on a designated area or any position on the touch screen, or sliding a specified track on the touch screen, or through other touch methods, Issue a trigger command. If the medical navigation device 10 receives an operation action of operating a corresponding button or control through the touch screen, or recognizes a specified touch action, such as single click, double click, or a specified sliding track, etc., it determines that a trigger instruction is received.

In some embodiments, in the medical navigation device 10 involved in the above-mentioned embodiments, the medical navigation device 10 may also be provided with physical buttons and/or voice collection components, so as to receive trigger instructions through the physical buttons and/or voice collection components , the trigger instruction may be used to instruct to record the reference position information of the above reference position.

If the medical navigation device 10 is provided with a physical button, a trigger command can be issued by directly pressing the physical button. When the medical navigation device 10 receives a pressing operation through the physical key, it determines that a trigger instruction is received.

If the medical navigation device 10 is provided with a voice collection component, the medical staff (such as a doctor) can send out "record reference position", "record position" or other voice information to issue the trigger instruction. The voice collection component collects voice information and recognizes the voice information. If it is recognized that the voice information includes "recording reference position", "recording position" or other predefined reference position information used to indicate the recording reference position, the medical navigation device 10 determines that a trigger instruction is received.

Among them, in the medical navigation device 10 involved in the above-mentioned embodiments, it is also possible to set a touch screen, a physical button, and a voice collection component on the external processing device 20 and/or the external prompt device 30 and/or the navigation processing device 40 components that can receive a trigger instruction, so as to receive the trigger instruction through the external processing device 20 and/or the external prompt device 30 and/or the navigation processing device 40 . The trigger instructions received by the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 may be forwarded to the medical navigation device 10 .

The way that the navigation prompting component 12 and/or the external prompting device 30 and/or the navigation processing device 40 prompts the first relative position information and/or the second relative position information can be that the first relative position information and/or the second relative position information The real-time display of the information may also be to output the voice information of the first relative position information and/or the second relative position information, that is, give voice prompts to 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, 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 or the second relative position information, simultaneously display corresponding descriptive information, the descriptive information is used to explain the specific meaning of the displayed first relative position information and/or the second relative position information. In some embodiments, the information of the suggested moving direction based on the first relative position information and/or the second relative position information may also be displayed at the same time, where different moving directions may be marked with different marks, for example, different different colors and/or different arrow directions etc.

There is no limit to the way of real-time voice prompting of the first relative position information and/or the second relative position information. At the same time as the first relative position information and/or the second relative position information, a voice prompt corresponding to the descriptive information is used to explain the first relative position information and/or the second relative position information of the voice prompt Specifically, in some embodiments, the information of the suggested moving direction based on the first relative position information and/or the second relative position information may also be voiced at the same time.

In some embodiments, the above-mentioned reference position information is the position information obtained by real-time measurement of the sensor 11 obtained in response to the trigger command when the trigger command is received. Wherein, when the trigger instruction is received by the medical navigation device 10 , the medical navigation device 10 can directly obtain the position information obtained by the real-time measurement of the sensor 11 . When the trigger instruction is received by the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40, the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 can use the trigger instruction Forward to the medical navigation device 10, or send an instruction to the medical navigation device 10 based on the trigger instruction to instruct the medical navigation device 10 to provide position information, so as to instruct the medical navigation device 10 to obtain the position information obtained by the real-time measurement of the sensor 11, and feed it back to the external processing The device 20 and/or the external prompting device 30 and/or the navigation processing device 40, so that the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 obtains the reference position information, and the reference obtained in this way The location information may be referred to as first reference location information in this embodiment of the present application.

In some embodiments, the above-mentioned reference position information is the position information obtained by the sensor 11 after the sensor 11 is initialized 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, the present application In the embodiment, it may be referred to as the second reference position information. The initial position information may be set based on actual technical requirements. In some embodiments, the initial position information may be zero position information. Wherein, the zero position information may refer to that the values of position-related information are all set to 0, for example, the height value is 0.

Wherein, when the medical navigation device 10 receives the trigger instruction, the medical navigation device 10 may directly initialize the sensor 11 to obtain the position information measured and obtained after the sensor 11 is initialized.

When the trigger instruction is received by the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40, in some embodiments, the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 , the position information preset in the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 may be used as the reference position information, and the preset position information is the initial position information after the sensor 11 is initialized. At the same time, when the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 receive the trigger instruction, they can simultaneously forward the trigger instruction to the medical navigation device 10, or send the trigger instruction to the medical navigation device 10 based on the trigger instruction. The initialization instruction is used to instruct the medical navigation device 10 to initialize the sensor 11 .

In some other embodiments, when the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40 receives the trigger instruction, it may forward the trigger instruction to the medical navigation device 10, or send the medical navigation device 10 based on the trigger instruction. The navigation device 10 sends an instruction to instruct the medical navigation device 10 to initialize the sensor 11 and provide the position information measured by the sensor 11 after the initialization of the sensor 11 . After receiving the instruction, the medical navigation device 10 initializes the sensor 11, obtains the position information measured by the sensor 11, and feeds it back to the external processing device 20 and/or the external prompting device 30 and/or the navigation processing device 40, so that the external processing The device 20 and/or the external prompting device 30 and/or the navigation processing device 40 obtain the reference position information.

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

The first displacement deviation may include: the distance between the real-time position of the sensor 11 and the reference position in a direction perpendicular to the horizontal plane. 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 projecting the designated direction of the sensor 11 fixed to the orthopedic surgical tool and the designated direction of the sensor 11 at the reference position onto the same plane, the difference between the two projections on the plane angle. Wherein, in some embodiments, the first angular deviation may also be referred to as an outer deflection angle.

In some embodiments, the specified direction of the sensor 11 may specifically be the axis direction of the medical navigation device 10, and the same plane may specifically be a horizontal plane, as shown in FIG. 9 . Wherein, when projecting the designated direction of the sensor 11 fixed to the orthopedic surgical tool and the designated direction of the sensor 11 at the reference position, it can be projected in combination with the coordinate system established by the sensor 11 itself. In an example, the coordinate system established by the sensor 11 itself is shown in FIG. 6 . In FIG. 6 , the X-axis of the coordinate system established by the sensor 11 itself is the axis direction of the medical navigation device 10 , that is, the specified direction of the sensor 11 .

In some embodiments, the second relative position information includes a second displacement deviation and/or a second angular deviation between the real-time position and the target position, wherein the target position is determined by the expected insertion position and/or the expected insertion position of the orthopedic surgical tool in the human body. The insertion direction is determined. In some embodiments, the target position may be the ideal insertion point of the intramedullary nail, etc., where the surgical tool is expected to be inserted. Taking the target position as the ideal insertion point of the intramedullary nail as an example, the second relative position information includes the real-time position and the intramedullary The second displacement deviation and/or the second angle deviation between the ideal nail entry points. At this time, the expected insertion position is the ideal nail entry position of the ideal nail entry point of the intramedullary nail, and the expected insertion direction is the ideal nail entry position of the intramedullary nail. The ideal nail entry direction for the point.

The second angle deviation includes: after projecting the designated direction of the sensor 11 at the real-time position and the expected insertion direction of the target position, for example, the ideal nailing direction of the ideal nailing point of the intramedullary nail, all projected onto the same plane, the The angle between the two projections. In some embodiments, the designated direction of the sensor 11 may specifically be the axis direction of the medical navigation device 10, and the same plane may specifically be a horizontal plane.

Wherein, the expected insertion direction, for example, the ideal nail entry direction of the ideal nail entry point of the intramedullary nail, can be determined in various possible ways.

In some embodiments, the expected insertion direction, for example, the ideal nail entry direction of the ideal nail entry point of the intramedullary nail, is the insertion direction provided by the user. For example, when the sensor 11 is at the reference position (that is, the medical navigation device 10 is at the reference position), shooting is performed to obtain a medical image. By viewing the medical image, the medical personnel can determine the expected insertion direction such as the ideal nail entry point and the ideal nail entry direction of the intramedullary nail, and then input the expected insertion direction through manual input and other methods, and input the expected insertion direction Determine the expected insertion direction provided to the user, for example, determine the ideal nail entry direction of the ideal entry point of the intramedullary nail provided to the user.

In some embodiments, the expected insertion direction, such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail, can also be obtained by analyzing the medical image, where the sensor 11 is located at the reference position (that is, the medical navigation device 10 is located at the reference position). location) obtained during shooting. For example, by performing image processing on medical images, an expected insertion direction, such as an ideal nail entry direction of an ideal nail entry point of an intramedullary nail, is identified. Taking the application of intramedullary nailing point navigation as an example, it can also identify the axial direction of the femoral shaft through image processing of medical images, and combine the axial direction of the femoral shaft with the ideal nailing direction of the ideal nailing point of the intramedullary nail. The angle between them (for example 5°) determines the ideal nail entry direction for the ideal nail entry point of the intramedullary nail.

The aforementioned "medical images" include but are not limited to X-ray fluoroscopy images or nuclear magnetic resonance imaging. The aforementioned "medical images" can be imaged under X-rays, high-frequency RF transmission and external magnetic fields, ultrasound or gamma rays, or can be imaged in other ways, which are not specifically limited here.

The aforementioned target offset position information, in some embodiments, may be the difference between the specified direction of the sensor 11 at the reference position and the expected insertion direction (such as the ideal nail entry direction) of the target position (such as the ideal nail entry point of the intramedullary nail). angle between.

In some embodiments, when determining the angle between the specified direction of the sensor 11 at the reference position and the expected insertion direction (such as the ideal nail entry direction) of the target position (such as the ideal nail entry point) of the intramedullary nail, it can be Determined in every possible way.

Taking the specified direction of the sensor 11 as the axis direction of the medical navigation device 10 as an example, several of them are combined to determine the specified direction of the sensor 11 at the reference position and the expected insertion direction of the target position (such as the ideal nail entry point of the intramedullary nail) The angle between the ideal nail entry direction) is given as an example.

In some embodiments, if the medical personnel determine the expected insertion direction (for example, the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) by viewing the medical image, they can combine the medical navigation device 10 displayed on the medical image to use the protractor and other measuring tools capable of measuring angles to measure the angle between the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) and the specified direction of the sensor 11 (such as the axis direction of the medical navigation device 10) , the included angle is the included angle between the designated direction of the sensor 11 at the reference position and the expected insertion direction of the target position (for example, the ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail). After the included angle is determined, the medical staff can record the included angle by themselves to facilitate subsequent use. In some embodiments, the medical staff can also input the determined included angle 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 by inputting or otherwise, so as to facilitate Subsequent use.

In some embodiments, if the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) is obtained by analyzing the medical image, the image analysis device can analyze the medical image at the same time to obtain the designation of the sensor 11 direction (such as the axis direction of the medical navigation device 10), and calculate and identify the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) and the specified direction of the sensor 11 (such as the axis direction of the medical navigation device 10) In order to obtain the included angle between the designated direction of the sensor 11 at the reference position and the expected insertion direction of the target position (eg, the ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail). If the device performing image analysis is a device different from medical navigation device 10 and/or external processing device 20 and/or external prompting device 30 and/or navigation processing device 40, after the device performing image analysis obtains the included angle, it can also The included angle is 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 it may be provided to the medical staff after knowing it, and the medical staff The personnel 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 to facilitate subsequent use.

Wherein, the second displacement deviation may include: in the direction perpendicular to the horizontal plane, the distance between the real-time position of the sensor 11 and the expected insertion position (for example, the ideal nail insertion position of the ideal nail insertion point of the intramedullary nail).

Wherein, the expected insertion position may be determined based on a predetermined insertion area, and the predetermined insertion area may refer to an area used to determine the expected insertion position. Taking the ideal insertion point of the intramedullary nail whose target position is the proximal end of the femur as an example, the predetermined insertion area may be the ridge-like outline of the apex of the greater trochanter. The specific location information of the expected insertion location can be determined during the movement of the orthopedic surgical tool fixed to the sensor 11 .

In some embodiments, the height value of the expected insertion position (such as the ideal nail entry position of the ideal nail entry point of the intramedullary nail) in the direction perpendicular to the horizontal plane is determined by the first reference height value and the second reference height value, wherein, The first reference height value is the height value of the sensor 11 in the direction perpendicular to the horizontal plane when the insertion end of the orthopedic surgery tool is located at the apex of the first side of the predetermined insertion area, and the second reference height value is when the insertion end of the orthopedic surgery tool is located at the predetermined insertion area. The height value of the sensor 11 in the direction perpendicular to the horizontal plane when the apex of the second side of the area. Wherein, taking the ideal insertion point of the intramedullary nail whose target position is the proximal end of the femur as an example, the vertex on the first side may refer to the apex of the ridge profile of the apex of the greater trochanter that is closest to the ventral side, and the apex on the second side may refer to the apex of the greater trochanter The ridged profile is closest to the dorsal apex.

In some embodiments, the sensor 11 can also be used to measure the pitch angle, where 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 prompt 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 the external prompting device 30 and/or the navigation processing device 40 for prompting.

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

In some embodiments, the error prompt information is information generated when the accumulated duration is longer than the preset duration. Wherein, the accumulative duration is the duration counted from when the reference position information was recorded or when the sensor 11 was calibrated last time. During the use of the sensor 11, when the use time is too long, it may cause errors. Therefore, it is also possible to count the accumulated time from the time when the reference position information is recorded or when the sensor 11 was calibrated last time. When the accumulated time is greater than the preset time , it is considered that there is an error in the sensor 11, and error prompt information can be provided.

In some embodiments, the error prompt information is information generated when the calculated error is greater than the error threshold. During the use of the sensor 11 , the medical navigation device 10 can simultaneously monitor and calculate the error of the sensor 11 , and generate an error prompt message when the calculated error is greater than the error threshold. Wherein, the error threshold can be set according to the accuracy of the sensor 11, etc., which is not specifically limited in this embodiment of the present application.

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

When the medical personnel are informed of the error prompt information, they determine that the error of the sensor 11 is large, so they can initialize or recalibrate the sensor 11, and re-determine the reference position information to improve the accuracy of medical navigation. In some embodiments, the medical staff can also directly select the medical navigation device 10 including other sensors 11 for medical navigation, so as to improve the accuracy of medical navigation.

Based on the above-mentioned examples, taking intramedullary nail surgery as an example, the following will illustrate the process of medical navigation based on the medical navigation device 10 and/or the navigation processing device 40 in a specific surgical process. It should be understood that the descriptions of these embodiments are not intended to limit the applicable orthopedic surgery types of the medical navigation device 10 and/or navigation processing device 40 provided in this application. The medical navigation device 10 and/or navigation processing device 40 provided in this application The processing device 40 is equally applicable to other orthopedic surgeries, and similar processing can be performed based on the medical navigation device 10 and/or the navigation processing device 40 in other orthopedic surgeries.

Fractures of the proximal femur (such as intertrochanteric fractures) or fractures of the long bone such as the tibia and humerus are often treated with intramedullary nailing to facilitate fracture healing. During the implementation of the whole operation of intramedullary nail fixation, the selection of the position of the intramedullary nail and the direction of the nail is very important. This is because the position and direction of the nail entry will affect the establishment of the reamed channel and the position and direction of the main intramedullary nail. Improper selection will make it difficult for the main nail to enter the medullary cavity, even if it can be forcibly driven into the medullary cavity. , it will also lead to uneven force and large deformation of the main nail in the medullary cavity. At this time, it is easy to damage the fracture reduction effect. It can lead to delayed union or even nonunion or malunion at the fracture site.

Taking the insertion point of the proximal femoral intramedullary nail as an example, in clinical practice, the ideal nail insertion position is at the apex of the greater trochanter and close to the mid-axis of the femoral neck, as shown in Figure 11, and the ideal insertion direction is the axis of the femoral shaft The outer deflection is 5° to adapt to the outer deflection angle of the main nail, as shown in Figure 12.

During the operation, the position and direction of the nail entry point are usually determined by inserting the guide pin. The entry direction of the main nail in the later stage. In order to better select the nail entry point, the inventors found that in the existing methods of inserting the guide pin, in order to ensure that the inserted guide pin is in a satisfactory nail entry position and direction, it is necessary to insert the guide pin throughout the entire X-ray fluoroscopy is continuously carried out during the process to observe the position and direction of the needle tip in real time, but this method will undoubtedly increase the amount of radiation received by patients and doctors. Either the doctor estimates the nail entry point by touching the apex of the greater trochanter, and then inserts a guide pin, then performs fluoroscopy, and confirms the position and direction of the nail entry according to the fluoroscopy image. The fluoroscopic image estimates the position and angle that need to be adjusted, inserts the second guide pin without pulling out the first guide pin, checks the position and direction of the second guide pin through fluoroscopy again, and repeats this process , until after fluoroscopy, it is determined that the inserted guide pin has reached the satisfactory position and direction of the nail. However, based on subjective experience, the guide wire inserted for the first time is usually difficult to reach the expected ideal insertion point of the intramedullary nail. The later adjustment process based on the fluoroscopy results also greatly prolongs the operation time, and the adjustment of the position and angle cannot be accurate. Controlling, but also increased the number of fluoroscopy and radiation dose of patients and doctors.

Accordingly, the embodiment of the present application provides a light, convenient and easy-to-implement medical navigation device 10 that does not increase the number of fluoroscopy times and radiation doses of patients and doctors. The medical navigation device 10 can be used to guide the movement of the orthopedic surgical tool, for example, it can be used to guide the orthopedic surgical tool to move to an ideal insertion point of the intramedullary nail.

Wherein, as shown in FIGS. 1 to 4 , the medical navigation device 10 includes a processor 13 and a sensor 11 , and in some embodiments, may also include a navigation prompt component 12 and/or a communication component 14 . A schematic diagram of the appearance of the medical navigation device 10 in some embodiments is shown in FIG. 5 .

Wherein, the sensor 11 integrated in the medical navigation device 10 can be a six-degree-of-freedom inertial sensor, and the sensor 11 is used to measure the position deviation (x, y, z) and angular deviation of the medical navigation device 10 relative to the reference position (alpha, beta, gamma). The definition of the self-coordinate system of the sensor 11 is shown in Figure 6. After setting the reference position information of the sensor 11, and then moving the sensor 11, the sensor 11 can measure the relative position information of the real-time position of the sensor 11 relative to the reference position, that is, along The displacement of the three coordinate axes (x, y, z) and the angular deviation (α, β, γ) between the current direction of each coordinate axis and the direction of the reference coordinate axis. Wherein, the sensor 11 is integrated inside the medical navigation device 10, so 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, and the reference position information The reference position of the sensor 11 and/or the medical navigation device 10 is determined, 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 can also measure the pitch angle of the bottom surface of the medical navigation device 10 relative to the absolute horizontal plane. In some other embodiments, the medical navigation device 10 may also be integrated with a level, and the level is used to measure the pitch angle of the bottom surface of the medical navigation device 10 relative to the absolute horizontal plane.

In the medical navigation device 10 shown in Figure 5 and Figure 7, the medical navigation device 10 is provided with a digital display screen (hereinafter referred to as the screen), on which 3 numbers are displayed, and the symbol "△" represents the displacement deviation symbol, which is used to indicate The value adjacent to it is the displacement deviation (such as the first displacement deviation or the second displacement deviation mentioned above), and the symbol "°" indicates that the corresponding value is an angle, which is used to indicate that the value adjacent to it is an angle deviation (eg first angular deviation or second angular deviation as described above) or pitch angle.

For example, as shown in FIG. 7, "Δ3" means that the first displacement deviation of the real-time position of the sensor 11 and/or the medical navigation device 10 relative to the reference position is 3, or the real-time position of the sensor 11 and/or the medical navigation device 10 The second displacement deviation relative to the expected insertion position (for example, the ideal nail entry position of the ideal nail entry point of the intramedullary nail) is 3. "18°" indicates that the first angular deviation of the real-time position of the sensor 11 and/or the medical navigation device 10 relative to the reference position is 18°, or that the real-time position of the sensor 11 and/or the medical navigation device 10 is relative to the expected insertion direction (e.g. The second angle deviation of the ideal nail entry point (ideal nail entry direction) of the intramedullary nail is 18°, and "4°" means that the pitch angle is 4°.

Wherein, the determination of the first displacement deviation, the second displacement deviation, the first angular deviation, and the second angular deviation can be combined with the coordinates of the sensor 11 when the sensor 11 and/or the medical navigation device 10 are located at the reference position and the real-time position. Department OK. Note that the coordinate system of the sensor 11 at the reference position is Ψ (hereinafter referred to as the reference coordinate system), and the coordinate system of the sensor 11 at the real-time position is Ψ' (hereinafter referred to as the current coordinate system), then the current coordinate system Ψ' can be calculated relative to The positional offset and angular offset of the reference coordinate system Ψ to obtain the above-mentioned first displacement offset, second displacement offset, first angular offset, and second angular offset.

For example, taking the determination of 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 used as the height difference Δh, as shown in Figure 8 As shown, the height difference Δh is the above-mentioned first displacement deviation; the projection of the X-axis of the current coordinate system Ψ', that is, the coordinate axis where the axis direction of the medical navigation device 10 is located, on the XOY plane of the reference coordinate system Ψ , and the included angle with the X-axis of the reference coordinate system is used as an extremity angle, as shown in FIG. 9 , and the extremity angle is the above-mentioned first angular deviation. For another example, the pitch angle of the plane where the bottom surface of the medical navigation device 10 is located relative to the absolute horizontal plane is taken as the pitch angle, wherein, when the tail (narrow end) is tilted, the deviation is a positive value, and when the head (wide end) is tilted When the deviation is negative, as shown in Figure 10.

Since the intramedullary nails in different parts, such as the femoral, tibial, and humeral intramedullary nails, have similar nail entry points, the following uses the proximal femoral intramedullary nail surgery as an example to describe in detail.

The usual position of the patient in proximal femoral nailing surgery is the supine position. Before inserting the guide pin after the skin incision, the medical navigation device 10 needs to be placed at the reference position, for example, placed on the surface of the patient's proximal femur. As shown in FIG. 13 , the medical navigation device 10 remains relatively horizontal at this time.

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

In some embodiments, the reference location information may be recorded by responding to the trigger command by issuing the trigger command from the user. For example, medical personnel (such as doctors) input trigger instructions 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 .

Among them, in the medical navigation device 10 of the embodiment shown in Fig. 1 and Fig. 3, the medical personnel (such as a doctor) can issue a trigger instruction by operating the medical navigation device 10, and the medical navigation device 10 receives the trigger instruction and will receive the trigger instruction. The position information measured by the sensor 11 at the time of command is recorded as reference position information. Wherein, after receiving the trigger instruction, the medical navigation device 10 may first initialize the sensor 11, and record the position information measured by the initialized sensor 11 (ie, 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 Fig. 4, the medical personnel (such as a doctor) can issue a trigger command by operating the medical navigation device 10, or can issue a trigger command by operating the external processing device 20/navigation processing device 40 . If a trigger instruction is issued by operating the medical navigation device 10 , the method of recording the reference position information by the medical navigation device 10 is the same as the above method. After the medical navigation device 10 records the reference position information, it can send the reference position information to the external processing device 20 /navigation processing device 40 . If the trigger instruction is issued by operating the external processing device 20/navigation processing device 40, in some embodiments, the external processing device 20/navigation processing device 40 sends the trigger instruction to the medical navigation device 10 to instruct the medical navigation device 10 to obtain and return the sensor 11 position information measured at this time, and record the position information as reference position information; in other embodiments, if the reference position information is preset position information (such as the zero position information of sensor 11 after initializing sensor ), the external processing device 20/navigation processing device 40 can directly use the preset position information as the reference position information, and at the same time send an instruction to the medical navigation device 10, which is used to instruct the medical navigation device 10 to initialize the sensor 11.

Wherein, the recorded reference position information may include the reference height of the sensor 11 relative to the horizontal plane, and the designated direction of the sensor 11 (such as the axis direction of the medical navigation device 10). Taking the reference position information as the zero position information as an example, at this time, the height output by the sensor 11 is 0 value. If the navigation prompt component 12 of the medical navigation device 10 prompts the first relative position information in real time, the height difference Δh on the screen of the medical navigation device 10 is displayed as 0, the yaw angle is displayed as 0°, and the pitch angle is close to 0°.

When the medical navigation device 10 is placed at the reference position, the medical personnel use the C-arm device or other transmission equipment to take an anteroposterior view of the proximal femur to obtain medical images, wherein the site to be operated, such as the proximal femur, and the At least part of the structure (for example, axis direction) of the navigation device 10 can be visualized in the medical image.

After the medical image is obtained, the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) can be determined based on the medical image, and the designated direction of the sensor 11 (such as the axis direction of the medical navigation device 10) can be determined at the same time. And determine the angle θ between the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) and the designated direction of the sensor 11 (such as the axis direction of the medical navigation device 10), the angle θ is Target offset position information between the target position (such as the ideal nail entry point of the intramedullary nail) and the reference position of the sensor 11 .

In some embodiments, the determination of the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail), the specified direction of the sensor 11 (such as the axis direction of the medical navigation device 10) and the included angle θ can be determined by the medical staff. Personnel are identified by means of marker measurements on medical images.

For example, as shown in FIG. 14 , in some embodiments, the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) can be manually marked on the medical image by medical personnel (such as a doctor), and it can also be Mark the specified direction of the sensor 11 (such as the axis direction of the medical navigation device 10), and use a protractor or other measuring tools capable of measuring angles to measure and obtain the expected insertion direction of the mark (such as the ideal insertion point of the intramedullary nail). Nail direction) and the specified direction of the sensor 11 (such as the axis direction of the medical navigation device 10), and the angle X is determined as the axis direction when the sensor 11 is at the reference position and the expected insertion direction (such as the intramedullary nail The angle θ between the ideal nail entry point and the ideal nail entry direction).

For another example, as shown in FIG. 12 , the axis of the femoral shaft can be manually marked on the medical image by medical staff (such as a doctor), and the designated direction of the sensor 11 (such as the axis direction of the medical navigation device 10) can also be marked at the same time, And use a protractor or other measuring tools capable of measuring angles to measure and obtain the angle X between the marked axis of the femoral shaft and the designated direction of the sensor 11 (eg, the axis direction of the medical navigation device 10 ). Since the ideal nail entry point of the proximal femoral intramedullary nail is the ideal direction of the femoral shaft axis deviation of 5° to adapt to the external deviation angle of the main nail, therefore, the included angle obtained by adding 5° to this angle X, That is, the angle θ between the axis direction when the sensor 11 is at the reference position and the ideal nail-introducing direction of the ideal intramedullary nail-introducing point.

In some embodiments, the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail), the specified direction of the sensor 11 (such as the axis direction of the medical navigation device 10) and the determination of the included angle θ can also be determined by The way the image is processed is determined.

For example, the obtained medical image is imported into the image workstation, and the image processing method is used in the image workstation to automatically recognize the expected insertion direction in the medical image (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) and the designated direction of the sensor 11. (such as the axis direction of the medical navigation device 10), analyze and determine the identified expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) and the specified direction of the sensor 11 (such as the axis direction of the medical navigation device 10 ), and the angle X is determined as the angle θ between the axis direction when the sensor 11 is at the reference position and the expected insertion direction (such as the ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail).

For another example, the obtained medical image is imported into an image workstation, and the image processing method is used in the image workstation to automatically identify the axis of the femoral shaft in the medical image and the designated direction of the sensor 11 (such as the axis direction of the medical navigation device 10), and analyze and determine The angle X between the identified axis of the femoral shaft and the specified direction of the sensor 11 (such as the axis direction of the medical navigation device 10), combined with the angle X, and the ideal nailing of the shaft axis of the femur and the ideal nailing point of the intramedullary nail The angle between the directions (such as 5°) determines the angle θ between the axis direction when the sensor 11 is at the reference position and the ideal nail entry direction of the ideal nail entry point of the intramedullary nail, such as adding 5° to the angle X to obtain The included angle is the included angle θ between the axis direction when the sensor 11 is at the reference position and the ideal nail entry direction of the ideal intramedullary nail entry point.

Among them, the image processing method for identifying the ideal nailing direction and/or femoral shaft axis of the ideal intramedullary nailing point in the medical image can be implemented using a pattern recognition algorithm or a deep learning intelligent algorithm, and the embodiments of the present application do not make specific limited.

After obtaining the target offset position information, such as the angle θ between the axial direction when the sensor 11 is at the reference position and the ideal nail entry direction of the ideal nail entry point of the intramedullary nail, it can be measured by the medical staff (such as a doctor) through the mark For example, if the first relative position information is displayed during medical navigation, the medical personnel (such as doctors) can record the angle θ by themselves, or input the angle θ into the Medical navigation device 10 and/or external processing device 20 and/or external prompting device 30 and/or navigation processing device 40 . If the second relative position information is prompted during the medical navigation, the medical personnel need to 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 in.

In some embodiments, taking the determination of the included angle θ by means of image processing as an example, the image processing device 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 may also be a device other than 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 presented during the medical navigation, the image processing device may present the included angle θ so that medical personnel (such as doctors) can know the included angle θ. If the image processing device 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, the image processing device can also be the angle θ It is transmitted 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. The angle θ is input 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 prompted during the medical navigation, if the image processing device 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 , then 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 prompting device 30 and/or the navigation processing device 40, for example, the image processing device will The angle θ is transmitted 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 the image processing device may provide the included angle θ to After being known by the medical personnel, the medical personnel 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 .

Subsequently, the medical navigation device 10 is removed from the body surface of the patient's proximal femur on the affected side, and the medical navigation device 10 is combined with orthopedic surgical tools (such as a guide pin or a gripper or an electric drill, and the guide pin is used as an example in the following embodiments) Explanation) is fixed.

Taking the way of inserting the guide pin with bare hands as an example, the schematic diagram of fixing the medical navigation device 10 and the guide pin is shown in Figure 16, wherein, the bottom of the medical navigation device 10 can be provided with a groove to directly connect the medical navigation device 10 and the guide pin. The needle is fixed, and the medical navigation device 10 can also be fixed with the guide needle in other ways. If you choose to use a gripper or an electric drill when inserting the guide pin, the medical navigation device 10 can be directly mounted on the gripper or the electric drill through magnetic attraction, so as to fix the medical navigation device 10 with the gripper or the electric drill, and the medical navigation device 10 and the gripper Or a schematic diagram of fixing the electric drill is shown in FIG. 17 .

When the patient is supine, the ridge-like outline of the apex of the greater trochanter on the affected side is generally along the vertical direction and can be manually touched by the doctor from the incision, as shown by the dotted line in the enlarged part in Figure 18. The doctor holds the guide needle with the medical navigation device 10 fixed and makes its axial direction approximately in the horizontal plane, the pitch angle value on the screen of the medical navigation device 10 or the value provided by the medical navigation device 10 to the external prompting device 30 and/or the navigation processing device 40 The value of the pitch angle can assist the doctor to check whether the guide pin is approximately level.

Then the doctor moves the orthopedic surgical tool fixed with the medical navigation device 10, and combines the medical navigation device 10 and/or the prompt of the external prompting device 30 and/or the navigation processing device 40 to move the orthopedic surgical tool to the ideal nail entry point of the intramedullary nail .

During the process of moving the orthopedic surgical tool, the sensor 11 of the medical navigation device 10 measures and obtains real-time position information in real time.

Taking the orthopedic surgical tool navigating to the ideal nail entry point of the intramedullary nail by prompting the first relative position information as an example, the following will illustrate with reference to the navigation process of each medical navigation device 10 as described above.

Take the medical navigation device 10 shown in FIG. 1 as an example:

During the process of moving the orthopedic surgical tool, the medical navigation device 10 determines the height difference ΔH between the real-time position of the sensor 11 and the reference position based on the real-time position information measured by the sensor 11 .

Put the tip of the guide needle on the apex of the ridge-shaped contour of the apex of the greater trochanter that is closest to the ventral side. Based on the real-time position information measured by the sensor 11, the medical navigation device 10 determines that the height difference ΔH between the real-time position of the sensor 11 and the reference position is the height difference Δh1 (if the medical navigation device 10 performs zeroing processing on the sensor 11 , the height difference Δh1 can actually be the first reference height value h1 ).

Put the tip of the guide needle on the apex of the ridge-shaped contour of the apex of the greater trochanter that is closest to the dorsal side. At this time, the medical navigation device 10 determines the height difference ΔH between the real-time position of the sensor 11 and the reference position based on the real-time position information measured by the sensor 11. is the height difference Δh2 (if the medical navigation device 10 performs zeroing processing on the sensor 11 , the height difference Δh2 can actually be the second reference height value h2 ).

The doctor holds the guide needle approximately horizontally so that the tip moves on the ridge-shaped contour of the apex of the greater trochanter, and the height difference ΔH displayed by the medical navigation device 10 in real time will vary from the height difference Δh1 to the height difference Δh2. Wherein, if the medical navigation device 10 performs a zeroing process on the sensor 11, the height H that is actually displayed in real time will vary between the height values h1 to h2.

Take the medical navigation device 10 shown in FIG. 2 as an example:

During the process of moving the orthopedic surgical tool, the medical navigation device 10 will transmit the real-time position information measured by the sensor 11 to the external processing device 20 . The external processing device 20 determines the height difference ΔH between the real-time position of the sensor 11 and the reference position based on the real-time position information measured by the sensor 11 .

Wherein, when the tip of the guide needle is placed on the apex of the ridge-shaped contour of the apex of the greater trochanter that is closest to the ventral side, the external processing device 20 determines the height difference between the real-time position of the sensor 11 and the reference position based on the real-time position information measured by the sensor 11 ΔH is the height difference Δh1 (if the sensor 11 is reset to zero, the height difference Δh1 can actually be the first reference height value h1).

Put the tip of the guide needle on the apex of the ridge profile of the apex of the greater trochanter closest to the dorsal side. At this time, the external processing device 20 determines the height difference ΔH between the real-time position of the sensor 11 and the reference position based on the real-time position information measured by the sensor 11. is the height difference Δh2 (if the sensor 11 has been reset to zero, the height difference Δh2 can actually be 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 doctor holds the guide needle approximately horizontally so that the tip moves on the ridge-shaped contour of the apex of the greater trochanter, and the height difference ΔH prompted by the medical navigation device 10 in real time will vary between the height difference Δh1 and the height difference Δh2. Wherein, if the medical navigation device 10 performs a zeroing process on the sensor 11, the height H that is actually displayed in real time will vary between the height values h1 to h2.

Take the medical navigation device 10 shown in FIG. 3 as an example:

The doctor holds the guide needle approximately horizontally so that the tip moves on the ridge-shaped contour of the apex of the greater trochanter. 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 by the external prompting device 30 in real time will vary from the height difference Δh1 to the height difference Δh2. Wherein, if the sensor 11 is reset to zero, the height H that is actually presented in real time will vary between the height values h1 to h2. The method of determining the height difference ΔH is the same as that of the medical navigation device 10 shown in FIG. 1 , and will not be repeated here.

Take the medical navigation device 10 shown in FIG. 4 as an example:

During the process of moving the orthopedic surgery tool, the medical navigation device 10 will transmit the real-time position information measured 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. Among them, the navigation processing device 40 can prompt the altitude difference ΔH by itself, or it can be transmitted to a prompt device different from the navigation processing device 40 for prompting, for example, combined with the embodiment shown in FIG. The external prompting device 30 in the illustrated embodiment is used for prompting. The doctor holds the guide needle approximately horizontally so that the tip moves on the ridge-shaped contour of the apex of the greater trochanter. Zero processing, the height value H of the real-time prompt will change between the height values h1 to h2.

Wherein, during the navigation process of the medical navigation device 10 and/or the navigation processing device 40 of each embodiment as described above:

If the doctor selects the midpoint of the ridge-like contour of the apex of the greater trochanter as the surgical site, then when the suggested height difference ΔH is (Δh1+Δh2)/2, or when the sensor 11 has been reset to zero, the suggested height When the value H is (h1+h2)/2, it is the midpoint position of the ridge-like contour of the apex of the greater trochanter, that is, the ideal nailing position of the ideal nailing point of the intramedullary nail. Similarly, if the doctor selects the anterior 1/3 of the ridged contour of the apex of the greater trochanter as the surgical site, then the height difference ΔH prompted is (Δh2-Δh1)/3+Δh1 (if the height difference is displayed as an integer value, you can or rounded down, the same in the following embodiments), or when the sensor 11 has been reset to zero, when the height value H prompted is (h2-h1)/3+h1, it is the intramedullary nail Ideal entry position for ideal entry point.

In this way, the ideal nail entry position of the ideal nail entry point for the intramedullary nail can be judged and selected by the doctor in combination with the actual position needs, so it can be applied to different specific requirements for different intramedullary nail products.

After it is determined that the guide wire has reached the ideal nail entry position of the ideal nail entry point of the intramedullary nail, the angle can be adjusted so that the needle entry direction of the guide wire reaches the ideal nail entry direction of the ideal nail entry point of the intramedullary nail.

During adjustment, the doctor keeps the tip of the guide wire at the ideal nail entry point of the intramedullary nail unchanged, and adjusts the deflection angle of the guide wire:

Take the medical navigation device 10 shown in FIG. 1 as an example:

Based on the real-time position information measured by the sensor 11, the medical navigation device 10 determines the declination angle of the real-time position of the sensor 11 relative to the reference position, and gives a prompt.

Take the medical navigation device 10 shown in FIG. 2 as an example:

Based on the real-time position information measured by the sensor 11 , the external processing device 20 determines the declination angle of the real-time position of the sensor 11 relative to the reference position, and sends the declination angle to the medical navigation device 10 for prompting.

Take the medical navigation device 10 shown in FIG. 3 as an example:

Based on the real-time position information measured by the sensor 11 , the medical navigation device 10 determines the declination angle of the real-time position of the sensor 11 relative to the reference position, and sends the declination angle to the external prompting device 30 for prompting.

Take the medical navigation device 10 shown in FIG. 4 as an example:

The navigation processing device 40 determines the declination angle of the real-time position of the sensor 11 relative to the reference position based on the real-time position information measured by the sensor 11, and prompts the declination angle, or sends the declination angle to a different party than the navigation processing device. The prompting device 40 for prompting, for example, combined with the embodiment shown in FIG. 3 , and sending to the external prompting device 30 in the embodiment shown in FIG. 3 for prompting.

When the doctor keeps the tip of the guide wire at the ideal nail entry position of the intramedullary nail and adjusts the guide wire deflection angle, when the medical navigation device 10 and/or the external prompting device 30 and/or the navigation processing device The external deflection angle prompted by 40 is the angle θ between the axis direction of the medical navigation device 10 determined above and the ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail. At this time, the insertion direction of the guide needle reaches the intramedullary The ideal nail entry direction of the ideal nail entry point is shown in Figure 24. The doctor can refer to the suggested pitch angle, adjust the anteversion angle of the guide wire properly, and then insert the guide wire.

Taking the orthopedic surgical tool navigating to the ideal nail entry point of the intramedullary nail by prompting the second relative position information as an example, the navigation process of each medical navigation device 10 as described above will be described as an example below.

Take the medical navigation device 10 shown in FIG. 1 as an example:

During the process of moving the orthopedic surgery tool, the medical navigation device 10 will prompt the height value in the real-time position information measured by the sensor 11 in real time. Put the tip of the guide needle on the apex of the ridge-shaped contour of the apex of the greater trochanter that is closest to the ventral side. In some embodiments, the doctor issues a recording instruction by operating the medical navigation device 10 or voice input, and the medical navigation device 10 records the sensor 11 at this time. The measured first reference height value h1, in other embodiments, the medical navigation device 10 will prompt the height value, and medical personnel (such as doctors) can write down the first reference height value h1 measured by the sensor 11 at this time .

Put the tip of the guide needle on the apex of the ridge-shaped contour of the apex of the greater trochanter that is closest to the dorsal side. In some embodiments, the doctor issues a recording instruction by operating the medical navigation device 10 or voice input, and the medical navigation device 10 records the sensor 11 at this time. The measured second reference height value h2. In some other embodiments, the medical navigation device 10 will prompt the height value, and medical personnel (such as doctors) can record the second reference height value h2 measured by the sensor 11 at this time.

Subsequently, when the medical navigation device 10 records the first reference height value h1 and the second reference height value h2, the medical navigation device 10 determines the ideal progress of the intramedullary nail based on the first reference height value h1 and the second reference height value h2. The height value H of the ideal nail entry position of the nail point in the direction perpendicular to the horizontal plane, and record the height value H. When medical personnel (such as doctors) write down the first reference height value h1 and the second reference height value h2 by themselves, the medical personnel (such as doctors) record the first reference height value h1 and the second reference height value based on their own. h2, after determining the height H of the ideal nail entry position of the ideal nail entry point in the direction perpendicular to the horizontal plane, input the determined height H into the medical navigation device 10, and the medical navigation device 10 records it.

Among them, if the doctor selects the midpoint of the ridge-like contour of the apex of the greater trochanter as the surgical location point, the height H of the ideal nail entry position of the ideal entry point of the intramedullary nail is (h1+h2)/2. Similarly, if the doctor selects the anterior 1/3 of the ridge-like contour of the apex of the greater trochanter as the surgical site, the height H of the ideal nail entry position for the ideal entry point of the intramedullary nail is (h2-h1)/3+h1.

The doctor holds the guide needle approximately horizontally so that its tip moves on the ridge-shaped contour of the apex of the greater trochanter. During the movement, the medical navigation device 10 combines the real-time position information of the sensor 11 and the recorded height value H to determine the second displacement deviation , and prompt the second displacement deviation.

Take the medical navigation device 10 shown in FIG. 2 as an example:

During the process of moving the orthopedic surgical tool, the medical navigation device 10 will transmit the real-time position information measured by the sensor 11 to the external processing device 20 .

Put the tip of the guide needle on the apex of the ridge-shaped contour of the apex of the greater trochanter that is closest to the ventral side, and the external processing device 20 records the value measured by the sensor 11 at this time based on the recording instructions issued by the medical staff through the operation of the external processing device 20 or voice input. The first reference height h1, in some other embodiments, the medical navigation device 10 and/or the external processing device 20 can prompt the height value, and medical personnel (such as doctors) can record the first value measured by the sensor 11 at this time by themselves. A reference height value h1.

Put the tip of the guide needle on the apex of the ridge-shaped contour of the apex of the greater trochanter that is closest to the dorsal side. At this time, the external processing device 20 records the sensor 11 at this time based on the recording instructions issued by the medical staff through the operation of the external processing device 20 or voice input. The measured second reference height value h2, in some other embodiments, the medical navigation device 10 and/or the external processing device 20 can prompt the height value, and the medical staff (such as a doctor) can record the value measured by the sensor 11 at this time. The second reference height value h2.

Subsequently, when the external processing device 20 records the first reference height value h1 and the second reference height value h2, the external processing device 20 determines the ideal progress of the intramedullary nail based on the first reference height value h1 and the second reference height value h2. The height value H of the ideal nail entry position of the nail point in the direction perpendicular to the horizontal plane, and record the height value H. When medical personnel (such as doctors) write down the first reference height value h1 and the second reference height value h2 by themselves, the medical personnel (such as doctors) record the first reference height value h1 and the second reference height value based on their own. h2. After determining the height H of the ideal nail entry position of the ideal nail entry point in the direction perpendicular to the horizontal plane, the determined height H is input to the external processing device 20 and recorded by the external processing device 20 .

Take the medical navigation device 10 shown in FIG. 3 as an example:

The doctor holds the guide needle approximately horizontally so that the tip moves on the ridge-shaped contour of the apex of the greater trochanter, the medical navigation device 10 determines the second displacement deviation, and transmits the determined second displacement deviation to the external prompting device 30 for prompting. Wherein, 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 repeated here.

Take the medical navigation device 10 shown in FIG. 4 as an example:

During the process of moving the orthopedic surgery tool, the medical navigation device 10 will transmit the real-time position information measured 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 method as the external processing device 20, wherein the medical navigation device 10 can prompt the second displacement deviation by itself, or send the second displacement deviation to a different The prompting device of the navigation processing device 40 provides prompting, for example, it is combined with the embodiment shown in FIG. 3 and sent to the external prompting device 30 in the embodiment shown in FIG. 3 for prompting.

Wherein, during the navigation process of the medical navigation device 10 and/or the navigation processing device 40 of each embodiment as described above, when the second displacement deviation prompted in real time is 0, it is determined that the ideal nail entry point of the intramedullary nail has been reached. Ideal nail entry position.

In this way, after selecting the ideal nail entry position to determine the ideal nail entry point of the intramedullary nail, in the process of moving the orthopedic surgery tool, when the second displacement deviation prompted in real time is 0, it can be determined that the intramedullary nail has reached the intramedullary nail. The ideal nail entry position of the ideal entry point of the inner nail is intuitive and convenient.

Take the medical navigation device 10 shown in FIG. 1 as an example:

Based on the real-time position information measured by the sensor 11, the medical navigation device 10 determines in real time the second angular deviation of the real-time position of the sensor 11 relative to the target position, that is, the specified direction when the sensor 11 is in the real-time position (such as the axis direction of the medical navigation device 10) The angle between the ideal nail entry direction and the ideal nail entry point of the intramedullary nail, and prompt the second angle deviation.

Take the medical navigation device 10 shown in FIG. 2 as an example:

Based on the real-time position information measured by the sensor 11, the external processing device 20 determines in real time the second angular deviation of the real-time position of the sensor 11 relative to the target position, that is, the specified direction (such as the axis direction of the medical navigation device 10) and the specified direction of the sensor 11 at the real-time position. The included angle between the ideal nail entry point and the ideal nail entry direction of the intramedullary nail, and the second angle deviation is sent to the medical navigation device 10 for prompting.

Take the medical navigation device 10 shown in FIG. 3 as an example:

Based on the real-time position information measured by the sensor 11, the medical navigation device 10 determines in real time the second angular deviation of the real-time position of the sensor 11 relative to the target position, that is, the specified direction (such as the axis direction of the medical navigation device 10) and the specified direction of the sensor 11 at the real-time position. The included angle between the ideal nail entry point and the ideal nail entry direction of the intramedullary nail, and the second angle deviation is sent to the external prompting device 30 for prompting.

Take the medical navigation device 10 shown in FIG. 4 as an example:

The navigation processing device 40 determines in real time the second angular deviation of the real-time position of the sensor 11 relative to the target position based on the real-time position information measured by the sensor 11, that is, the specified direction (such as the axis direction of the medical navigation device 10) and the specified direction of the sensor 11 at the real-time position. The angle between the ideal nail entry point and the ideal nail entry direction of the intramedullary nail, and prompt the second angle deviation, or send the second angle deviation to a prompt device different from the navigation processing device 40 for prompt, for example, with The embodiment shown in FIG. 3 is combined and sent to the external prompting device 30 in the embodiment shown in FIG. 3 for prompting.

When the doctor keeps the tip of the guide wire at the ideal nail entry point of the intramedullary nail unchanged, and adjusts the deflection angle of the guide wire, when the medical navigation device 10 and/or the external prompting device 30 and/or the navigation processing device When the second angle deviation indicated by 40 is 0, the needle insertion direction of the guide wire reaches the ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail, as shown in FIG. 19 . The doctor can refer to the suggested pitch angle, adjust the anteversion angle of the guide wire properly, and then insert the guide wire.

Based on the medical navigation device 10 and/or the navigation processing device 40 provided by the various embodiments of the present application as described above, based on the sensor, by following up and prompting the first height deviation and/or the first angle deviation of the real-time position relative to the reference position, And/or, the second height deviation and/or the second angle deviation realize the selection of the ideal nail entry position and the ideal nail entry direction of the ideal intramedullary nail entry point, and fundamentally realize the ideal intramedullary nail entry during surgery. The precise positioning of the ideal nail entry position and the ideal nail entry direction provides doctors with real-time position information and angle information to ensure that the guide needle can be inserted successfully at one time, without the need to insert the guide needle multiple times for adjustment. Moreover, the medical navigation device 10 provided by each embodiment of the present application is compact and easy to use, which can greatly shorten the operation time, reduce the X-ray radiation dose of doctors and patients, and improve the operation quality and operation efficiency.

It should be understood that, in the descriptions of the above-mentioned embodiments, the medical navigation device 10 prompts the first relative position information and/or the second relative position information, or the external prompting device 30/navigation processing device 40 prompts the second relative position information. The first relative position information and/or the second relative position information will be described as an example. In the actual technical implementation process, based on actual technical selection and needs, it can also be provided by the medical navigation device 10, the external prompt device 30 and the navigation processing device 40. Two or three of them simultaneously prompt the first relative position information and/or the second relative position information. Wherein, when two or three of the medical navigation device 10, the external prompting device 30 and the navigation processing device 40 simultaneously prompt the first relative position information and/or the second relative position information, the medical navigation device 10, the external prompting The content prompted by the device 30 and the navigation processing device 40 may or may not be completely the same, which is not specifically limited in this embodiment of the present application.

Based on the medical navigation device of each embodiment above, the embodiment of the present application further provides a navigation method of the medical navigation device for guiding orthopedic surgery tools, wherein the medical navigation device is provided with sensors.

As shown in FIG. 20 , the navigation method of a medical navigation device for guiding orthopedic surgical tools in some embodiments includes:

Step S101: When a trigger instruction is received, record the reference position information measured by the sensor of the medical navigation device when the sensor is at the reference position in response to the trigger instruction.

Step S102: In a state where the sensor is fixed to the orthopedic surgical tool, acquire real-time position information of the sensor, and acquire 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 the target position, and the second The relative position information is determined by real-time position information and target offset position information. The target offset position information is used to indicate the relative positional relationship between the reference position and the target position. The target position is determined by the expected insertion position of the orthopedic surgical tool in the human body and/or Or the intended insertion direction is determined. Wherein, the target position can be determined in combination with the type of orthopedic surgery, for example, the ideal entry point of the intramedullary nail.

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

As shown in FIG. 21 , the navigation method of a medical navigation device for guiding orthopedic surgery tools in some embodiments includes:

Step S201: In a state where the sensor of the medical navigation device is fixed to the orthopedic surgical tool, obtain real-time position information measured by the sensor.

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

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

Wherein, 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, and the reference position information is The position information measured by the sensor obtained by the medical navigation device in response to the trigger instruction and sent to the external processing device, and/or, the reference position information is the preset position information 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, and the target offset position information is used to indicate the reference position and the target position The target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body.

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

As shown in FIG. 22 , the navigation method of a medical navigation device for guiding orthopedic surgical tools in some embodiments includes:

Step S301: When a trigger instruction is received, record the reference position information measured by the sensor of the medical navigation device when the sensor is at the reference position in response to the trigger instruction.

Step S302: In a state where the sensor is fixed to the orthopedic surgical tool, acquire real-time position information of the sensor, and acquire 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 the target position, and the second The relative position information is determined by real-time position information and target offset position information. The target offset position information is used to indicate the relative positional relationship between the reference position and the target position. The target position is determined by the expected insertion position of the orthopedic surgical tool in the human body and/or Or the intended insertion direction is determined.

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

As shown in FIG. 23 , the navigation method of the medical navigation device for guiding the orthopedic surgery tool in some embodiments can be executed by the navigation processing device 40, wherein the navigation processing device 40 is communicatively connected with the medical navigation device 10, and the method includes :

Step S401: Obtain the real-time position information measured by the sensor sent by the medical navigation device when the sensor is fixed to the orthopedic surgical tool.

Step S402: Obtain first relative location information and/or second relative location information based on real-time location information.

Wherein, 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, and the reference position information is The position information measured by the sensor obtained by the medical navigation device in response to the trigger instruction and sent to the navigation processing device, and/or, the reference position information is the preset position information obtained by the navigation processing device 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, and the target offset position information is used to indicate the relative position relationship between the reference position and the target position, The target location is determined by the intended insertion location and/or intended insertion direction of the orthopedic surgical tool in the human body.

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

In some embodiments, the navigation method of the medical navigation device in each of the above-mentioned embodiments can be applied to orthopedic operations that require insertion of intramedullary nails, such as during orthopedic operations for proximal femoral fractures. At this time, the above-mentioned medical The navigation device may be a medical navigation device for navigating an intramedullary nail entry point, the above-mentioned target position may be an ideal intramedullary nail entry point, and the above-mentioned expected insertion position may be an ideal nail entry position of an ideal intramedullary nail entry point, The aforementioned expected insertion direction may be an ideal nail insertion direction of an ideal nail insertion point of the intramedullary nail.

In some embodiments, the above-mentioned reference position information is the position information measured by the sensor obtained in response to the trigger instruction.

In some embodiments, the above reference position information is the position information measured by the sensor after the sensor is initialized in response to the trigger instruction. In some embodiments, the initial position information may be zero position information. Wherein, the zero position information may refer to that the values of position-related information are all set to 0, for example, the height value is 0, and the like.

The first displacement deviation 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 deviation may also be referred to as a height difference, as shown in FIG. 8 .

In some embodiments, the first angular deviation may include: after projecting both the designated direction of the sensor fixed to the orthopedic surgical tool and the designated direction of the sensor at the reference position onto the same plane, the difference between the two projections on the plane angle, as shown in Figure 9. In some embodiments, the first angular deviation may also be referred to as a deflection angle. In some embodiments, the specified direction of the sensor may be the axis 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 position information includes a second displacement deviation and/or a second angle deviation between the real-time position and the target position (for example, an ideal nail entry point of the intramedullary nail), wherein the target position (for example, the intramedullary nail The ideal nail entry point) is determined by the expected insertion position of the orthopedic surgical tool in the human body (such as the ideal nail entry position of the ideal nail entry point of the intramedullary nail) and/or the expected insertion direction (such as the ideal nail entry position of the ideal nail entry point of the intramedullary nail direction) is confirmed.

The second angle deviation includes: after projecting the specified direction of the sensor at the real-time position and the ideal nailing direction of the ideal nailing point of the intramedullary nail onto the same plane, the included angle between the two projections on the plane. In some embodiments, the same plane may specifically be a horizontal plane.

Wherein, the expected insertion direction (such as the ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail) can be determined in various possible ways.

In some embodiments, the expected insertion direction (eg, the ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail) is the insertion direction input by the user. For example, when the medical navigation device 10 is at the reference position, a medical image is obtained by shooting, and the medical staff manually marks the expected insertion direction (such as the ideal nail insertion direction of the ideal nail insertion point of the intramedullary nail) on the medical image, and The direction manually marked by the medical staff is used as the expected insertion direction (such as the ideal nail insertion direction of the ideal nail entry point of the intramedullary nail).

In some embodiments, the expected insertion direction (such as the ideal nail entry direction of the ideal nail entry point of the intramedullary nail) is obtained by analyzing the medical image, and the medical image is obtained when the medical navigation device is at the reference position.

The second displacement deviation includes: in the direction perpendicular to the horizontal plane, the distance between the real-time position of the sensor and the target position (for example, the ideal nail insertion position of the ideal nail insertion point of the intramedullary nail).

Wherein, the expected insertion position can be determined based on the predetermined insertion area, and the predetermined insertion area can refer to the area used to determine the target position. Taking the ideal insertion point of the intramedullary nail at the proximal end of the femur as an example, the predetermined insertion area can be Ridgeline at the apex of the greater trochanter. The specific location information of the expected insertion location can be determined during the movement of the orthopedic surgical tool fixed to the sensor (or medical navigation device).

In some embodiments, the height value of the expected insertion position (such as the ideal nail entry position of the ideal nail entry point of the intramedullary nail) in the direction perpendicular to the horizontal plane is determined by the first reference height value and the second reference height value, wherein, The first reference height value is the height value of the sensor in the direction perpendicular to the horizontal plane when the insertion end of the orthopedic surgery tool is located at the apex of the first side of the predetermined insertion area, and the second reference height value is the insertion end of the orthopedic surgery tool located in the predetermined insertion area The height value of the sensor in the direction perpendicular to the horizontal plane at the vertex of the second side of . Wherein, taking the ideal entry point of the intramedullary nail in the proximal femur as an example, the first side vertex may specifically refer to the apex of the ridge-like contour of the apex of the greater trochanter that is closest to the ventral side, and the apex of the second side may specifically refer to the ridge of the apex of the greater trochanter. The apex of the shape contour closest to the dorsal side.

In some embodiments, in the methods of the above-mentioned embodiments, it may also include:

Obtain the pitch angle between the bottom surface of the medical navigation device and the horizontal plane measured by the sensor of the medical navigation device;

Prompt pitch angle.

Transmit the pitch angle to the external prompting device for prompting.

Provide error prompt information, the error prompt information is the information generated when the cumulative duration is longer than the preset duration, and/or, the error prompt information is the information generated when the calculated error is greater than the error threshold, and the cumulative duration is from when the reference position information is recorded or The amount of time since the last time the sensor was calibrated.

For the specific implementation of the navigation method of the medical navigation device, reference may be made to the descriptions 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 above-mentioned flow charts are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in these flowcharts may include multiple steps or multiple stages, these steps or stages are not necessarily executed at the same time, but may be executed at different times, the execution order of these steps or stages It does not necessarily have to be performed sequentially, but can be performed alternately or alternately with other steps or at least a part of steps or stages in other steps.

In one embodiment, an electronic device is provided, and its internal structure diagram 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 through a system bus. Among them, the processor is used to provide calculation and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, an operator network, NFC (Near Field Communication) or other technologies. When the computer program is executed by the processor, a navigation method for medical navigation equipment as described above is realized. The display screen of the electronic device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device may be a touch layer covered on the display screen, or a button, a trackball or a touch pad provided on the housing of the electronic device , and can also be an external keyboard, touchpad, or mouse.

In one embodiment, an electronic device is also provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the navigation method of the medical navigation device in any of the above embodiments when executing the computer program.

In one embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps of the navigation method for the medical navigation device in any of the above-mentioned embodiments are implemented.

In one embodiment there is provided a computer program product or computer program comprising 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 executes the steps of the navigation method for medical navigation devices in any of the above embodiments.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above-mentioned embodiments can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any references to memory, storage, database or other media used in the various embodiments provided in the present application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

In some embodiments, a medical navigation system is provided, and the medical navigation system includes: an orthopedic surgery tool, and the medical navigation device and/or the navigation processing device in any one of the above-mentioned embodiments.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only represent several implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

A medical navigation device for intramedullary nailing point navigation, characterized in that it includes a processor, a sensor and a navigation prompt component;

The processor is configured to, in response to a trigger instruction, record the reference position information measured by the sensor when the sensor is at the reference position, and acquire the sensor's position when the sensor is fixed to the orthopedic surgical tool. Real-time position information, based on the real-time position information to obtain first relative position information and/or second relative position information; the first relative position information is the relative position information between the real-time position of the sensor and the reference position , 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 ideal nail entry point of the intramedullary nail, and the second relative position information is determined by the Real-time position information and target offset position information are determined, and the target offset position information is used to indicate the relative positional relationship between the reference position and the ideal nail entry point of the intramedullary nail;

The navigation prompt component is used to prompt the first relative position information and/or the second relative position information;

Wherein, the first relative position information combined with the target offset position information, and/or, the second relative position information can be used to assist in guiding the orthopedic surgical tool to move to the ideal nail entry point of the intramedullary nail .
A medical navigation device for guiding orthopedic surgery tools, characterized in that it includes a processor, a sensor and a navigation prompt component;

The processor is configured to, in response to a trigger instruction, record the reference position information measured by the sensor when the sensor is at the reference position, and acquire the sensor's position when the sensor is fixed to the orthopedic surgical tool. Real-time position information, based on the real-time position information to obtain first relative position information and/or second relative position information; the first relative position information is the relative position information between the real-time position of the sensor and the reference position , 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, and the second relative position information is determined by the real-time position information and the target determined by offset position information, the target offset position information is used to indicate the relative positional relationship between the reference position and the target position, the target position is determined by the expected insertion position of the orthopedic surgical tool in the human body and / or intended insertion direction determination;

The navigation prompt component is used to prompt the first relative position information and/or the second relative position information;

Wherein, the first relative position information combined with the target offset position information, and/or, the second relative position information may be used to assist in guiding the orthopedic surgery tool to move to the target position.
A medical navigation device for guiding orthopedic surgery tools, characterized in that it includes a processor, a sensor, a communication component and a navigation prompt component;

The processor is configured to send the real-time position information measured by the sensor to an external processing device through the communication component when the sensor is fixed to the orthopedic surgical tool, and receive the position information through the communication component. The first relative position information and/or the second relative position information fed back by the external processing device; 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 pre-recorded reference position information, the reference position information includes first reference position information and/or second reference position information, the first reference position The position information is the position information measured by the sensor obtained by the medical navigation device in response to the trigger instruction and sent to the external processing device, and the second reference position information is obtained by the external processing device in response to the trigger instruction Pre-set position information; the second relative position information is the relative position information between the real-time position of the sensor and the target position, and 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 to indicate the relative positional relationship between the reference position and the target position, the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body Sure;

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

The navigation prompt component is used to prompt the first relative position information and/or the second relative position information;

Wherein, the first relative position information combined with the target offset position information, and/or, the second relative position information may be used to assist in guiding the orthopedic surgery tool to move to the target position.
A medical navigation device for guiding orthopedic surgical tools, comprising a processor, sensors and communication components;

The processor is configured to, in response to a trigger instruction, record the reference position information measured by the sensor when the sensor is at the reference position, and acquire the sensor's position when the sensor is fixed to the orthopedic surgical tool. Real-time location information, obtaining first relative location information and/or second relative location information based on the real-time location information, and transmitting the first relative location information and/or the second relative location information through the communication component To an external prompting device, the external prompting device prompts the first relative position information and/or the second relative position information; wherein, the first relative position information is the real-time position of the sensor and the The relative position information between the reference positions, 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, and the second relative position The information is determined by the real-time position information and target offset position information, the target offset position information is used to indicate the relative positional relationship between the reference position and the target position, and the target position is determined by the orthopedic surgery Determination of the intended insertion position and/or intended direction of insertion of the tool in the human body;

Wherein, the first relative position information combined with the target offset position information, and/or, the second relative position information may be used to assist in guiding the orthopedic surgery tool to move to the target position.
A navigation processing device for guiding orthopedic surgical tools, characterized in that the navigation processing device is communicatively connected with a medical navigation device, and the medical navigation device includes a processor, a sensor and a communication component;

The navigation processing device is configured to acquire the real-time position information measured by the sensor in the state where the sensor is fixed to the orthopedic surgical tool and sent by the processor through the communication component, based on the real-time position information Acquiring the first relative position information and/or the second relative position information, and prompting the first relative position information and/or the second relative position information; the first relative position information is the real-time position and The relative position information between the reference positions 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, and the reference position information includes the first reference Position information and/or second reference position information, the first reference position information is the position information measured by the sensor obtained by the medical navigation device in response to a trigger instruction and sent to the navigation processing device, the second The second reference position information is the preset position information obtained by the navigation processing device 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, and the second relative position The information is determined by the real-time position information and target offset position information, the target offset position information is used to indicate the relative positional relationship between the reference position and the target position, and the target position is determined by the orthopedic surgery Determination of the intended insertion position and/or intended direction of insertion of the tool in the human body;

Wherein, the first relative position information combined with the target offset position information, and/or, the second relative position information may be used to assist in guiding the orthopedic surgery tool to move to the target position.
A device according to any one of claims 1 to 5, characterized in that:

The reference position information is the position information measured by the sensor obtained by the medical navigation device in response to the trigger instruction.
A device according to any one of claims 1 to 5, characterized in that:

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

The first relative position information includes 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 said first angular deviation comprises: a designated orientation of said sensor to be secured to said orthopedic surgical tool and a designated orientation of said sensor when in said reference position The angle between two projections on the same plane after the directions are both projected onto the same plane.
The device according to claim 8, wherein the first displacement deviation comprises: a distance between the real-time position of the sensor and the reference position in a direction perpendicular to the horizontal plane.
The device according to claim 1, characterized in that:

The second relative position information includes a second displacement deviation and/or a second angle deviation between the real-time position and the ideal nail entry point of the intramedullary nail.
The device according to claim 11, characterized in that:

The second angle deviation includes: after projecting the specified direction of the sensor at the real-time position and the ideal nail entry direction of the ideal nail entry point of the intramedullary nail onto the same plane, the two angles on the plane The angle between the two projections.
The device according to claim 12, characterized in that:

The ideal nail-feeding direction is the insertion direction provided by the user;

or

The ideal nail advancing direction is obtained by analyzing a medical image, and the medical image is obtained when the sensor is at the reference position.
The device according to claim 11, characterized in that:

The second displacement deviation includes: in a direction perpendicular to the horizontal plane, the distance between the real-time position of the sensor and the ideal nail insertion position of the ideal nail insertion point of the intramedullary nail.
The device according to claim 14, characterized in that:

The height value of the ideal nail entry position in the direction perpendicular to the horizontal plane is determined by a first reference height value and a second reference height value, and the first reference height value is when the insertion end of the orthopedic surgical tool is located at the predetermined insertion position The height value of the sensor in the direction perpendicular to the horizontal plane at the first side apex of the area, and the second reference height value when the insertion end of the orthopedic surgery tool is located at the second side apex of the predetermined insertion area The height value of the sensor in the direction perpendicular to the horizontal plane.
The device according to any one of claims 2 to 5, characterized in that:

The second relative position information includes a second displacement deviation and/or a second angular deviation between the real-time position and the target position to which the orthopedic surgical tool is expected to move.
The device according to claim 16, characterized in that:

The second angular deviation includes: after projecting both the designated direction of the sensor at the real-time position and the expected insertion direction onto the same plane, an included angle between two projections on the plane.
The device according to claim 17, characterized in that:

The expected insertion direction is the insertion direction provided by the user;

or

The expected insertion direction is obtained by analyzing a medical image, and the medical image is obtained when the sensor is at the reference position.
The device according to claim 9, 12 or 17, characterized in that the specified direction of the sensor is the axis direction of the medical navigation device.
Apparatus according to claim 9, 12 or 17, characterized in that said same plane is a horizontal plane.
The device according to claim 16, characterized in that:

The second displacement deviation includes: a distance between the real-time position of the sensor and the expected insertion position in a direction perpendicular to the horizontal plane.
The apparatus of claim 21 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 and a second reference height value, and the first reference height value is that the insertion end of the orthopedic surgical tool is located in a predetermined insertion area The height value of the sensor in the direction perpendicular to the horizontal plane at the vertex of the first side of the first side, and the second reference height value of the sensor when the insertion end of the orthopedic tool is located at the vertex of the second side of the predetermined insertion area The height value in the direction perpendicular to the horizontal plane.
The device according to any one of claims 1 to 3, characterized in that:

The navigation prompt component is also used to prompt the pitch angle measured by the sensor;

The pitch angle is: the angle between the bottom surface of the medical navigation device and the horizontal plane.
Device according to claim 4 or 5, characterized in that:

The processor is also used to transmit the pitch angle measured by the sensor to an external prompting device for prompting;

The pitch angle is: the angle between the bottom surface of the medical navigation device and the horizontal plane.
The device according to any one of claims 1 to 5, wherein the processor is further configured to provide error prompt information, the error prompt information is information generated when the accumulated duration is greater than a preset duration, and/ Alternatively, the error prompt information is information generated when the calculated error is greater than an error threshold, and the cumulative time is the time counted from when the reference position information was recorded or when the sensor was calibrated last time.
The device according to any one of claims 1 to 5, wherein the manner of prompting the first relative position information and/or the second relative position information includes:

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

and / or

Outputting voice information of the first relative position information and/or the second relative position information.
The device according to any one of claims 1 to 3, wherein the navigation prompt component is a touch screen; the trigger instruction is received through the touch screen, and the trigger instruction is used to instruct to record the Reference location information.
The device according to any one of claims 1 to 5, further comprising a physical key and/or a voice collection component, the trigger instruction is received through the physical key and/or voice collection component, and the trigger command It is used to instruct to record the reference position information.
The device according to any one of claims 1 to 5, wherein the medical navigation device is detachably fixed to the orthopedic surgical tool.
The device according to claim 29, wherein the medical navigation device is detachably fixed to the orthopedic surgical tool by means of magnetic attraction and/or clamping.
The device according to any one of claims 1 to 5, wherein the orthopedic surgical tool is a guide wire, a gripper or an electric drill.
The device according to any one of claims 1 to 5, characterized in that the sensor is an inertial sensor.
The device according to any one of claims 1 to 5, characterized in that the number of the sensor is one.
A navigation method for a medical navigation device used for intramedullary nailing point navigation, characterized in that the medical navigation device is provided with a sensor, and the method includes:

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

In the state where the sensor is fixed to the orthopedic surgical tool, obtain real-time position information of the sensor, and obtain first relative position information and/or second relative position information based on the real-time position information, the first relative position The information is 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 ideal distance between the real-time position and the intramedullary nail. relative position information between nail points, 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 to indicate that the reference position is different from the intramedullary nail Relative positional relationship between ideal nail entry points;

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, It can be used to assist in guiding the orthopedic surgical tool to move to the ideal nail entry point of the intramedullary nail.
A navigation method for a medical navigation device for guiding an orthopedic surgery tool, characterized in that the medical navigation device is provided with a sensor, and the method comprises:

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

In the state where the sensor is fixed to the orthopedic surgical tool, acquire real-time position information of the sensor, and acquire first relative position information and/or second relative position information based on the real-time position information; the first relative position The information is 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 between the real-time position and the target position relative position information, 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 to indicate the relative position relationship between the reference position and the target position , the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body;

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 to assist in guiding the movement of the orthopedic surgical tool to the target location.
A navigation method for a medical navigation device for guiding an orthopedic surgical tool, characterized in that the medical navigation device is provided with a sensor, and the method comprises:

Obtaining real-time position information measured by the sensor in a state where the sensor is fixed to the orthopedic surgical tool;

sending the real-time location information to an external processing device;

receiving the first relative position information and/or the second relative position information fed back by the external processing device; the first relative position information is the relative position between the real-time position of the sensor and the reference position where the sensor is in advance Position information, 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 obtained by the medical navigation device in response to a trigger instruction and sent to the The position information measured by the sensor of the external processing device, and/or, the reference position information is preset position information obtained by the external processing device in response to a trigger instruction; the second relative position information is the sensor 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 to indicate the reference position and the target position The relative positional relationship between the target positions, the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body;

Prompting the first relative position information and/or the second relative position information in real time, the first relative position information combined with the target offset position information, and/or the second relative position information can be used for Assisting in guiding movement of the orthopedic surgical tool to the target location.
A navigation method for a medical navigation device for guiding an orthopedic surgical tool, characterized in that the medical navigation device is provided with a sensor, and the method comprises:

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

In the state where the sensor is fixed to the orthopedic surgical tool, acquire real-time position information of the sensor, and acquire first relative position information and/or second relative position information based on the real-time position information; the first relative position The information is 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 between the real-time position and the target position relative position information, 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 to indicate the relative position relationship between the reference position and the target position , the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body;

sending the first relative position information and/or the second relative position information to an external prompting device, and the external prompting device prompts the first relative position information and/or the second relative position information , the first relative position information combined with the target offset position information, and/or, the second relative position information may be used to assist in guiding the orthopedic surgery tool to move to the target position.
A navigation method for a medical navigation device used to guide an orthopedic surgical tool, characterized in that the medical navigation device is provided with a sensor, the medical navigation device communicates with a navigation processing device, and the method is performed by the navigation processing device Execute, said method comprising:

Obtaining real-time position information measured by the sensor sent by the medical navigation device when the sensor is fixed to the orthopedic surgical tool;

Acquire first relative position information and/or second relative position information based on the real-time position information, where the first relative position information is the relative position between the real-time position of the sensor and the reference position where the sensor is located in advance Information, 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 obtained by the medical navigation device in response to a trigger instruction and sent to the navigation The position information measured by the sensor of the processing device, and/or, the reference position information is preset position information obtained by the navigation processing device in response to a trigger instruction; the second relative position information is the real-time position Relative position information between the target position, 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 to indicate the reference position and the target position The relative positional relationship between, the target position is determined by the expected insertion position and/or expected insertion direction of the orthopedic surgical tool in the human body;

Prompt the first relative position information and/or the second relative position information in real time; the first relative position information combined with the target offset position information, and/or, the second relative position information, can be used for Assisting in guiding movement of the orthopedic surgical tool to the target location.
A method according to any one of claims 34 to 38, characterized in that:

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

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

The first relative position information includes 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 said first angular deviation comprises a designated orientation of said sensor to be secured to said orthopedic surgical tool and a designated orientation of said sensor when in said reference position The angle between two projections on the same plane after the directions are both projected onto the same plane.
The method according to claim 41, wherein the first displacement deviation 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 of claim 34, wherein:

The second relative position information includes a second displacement deviation and/or a second angle deviation between the real-time position and the ideal nail entry point of the intramedullary nail.
The method of claim 44, wherein:

The second angle deviation includes: after projecting the specified direction of the sensor at the real-time position and the ideal nail entry direction of the ideal nail entry point of the intramedullary nail onto the same plane, the two angles on the plane The angle between the two projections.
The method of claim 45, wherein:

The ideal nail-feeding direction is the insertion direction provided by the user;

or

The ideal nail advancing direction is obtained by analyzing a medical image, and the medical image is obtained when the sensor is at the reference position.
The method of claim 44, wherein:

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

The height value of the ideal nail entry position in the direction perpendicular to the horizontal plane is determined by a first reference height value and a second reference height value, and the first reference height value is when the insertion end of the orthopedic surgical tool is located at the predetermined insertion position The height value of the sensor in the direction perpendicular to the horizontal plane at the first side vertex of the area, and the second reference height value is when the insertion end of the orthopedic surgery tool is located at the second side vertex of the predetermined insertion area. The height value of the sensor in the direction perpendicular to the horizontal plane.
A method according to any one of claims 35 to 38, characterized in that:

The second relative position information includes a second displacement deviation and/or a second angular deviation between the real-time position and the target position to which the orthopedic surgical tool is expected to move.
The method of claim 49, wherein:

The second angular deviation includes: after projecting both the designated direction of the sensor at the real-time position and the expected insertion direction onto the same plane, an included angle between two projections on the plane.
The method of claim 50, wherein:

The expected insertion direction is the insertion direction provided by the user;

or

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

The second displacement deviation includes: a distance between the real-time position of the sensor and the expected insertion position in a direction perpendicular to the horizontal plane.
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 and a second reference height value, and the first reference height value is that the insertion end of the orthopedic surgical tool is located in a predetermined insertion area The height value of the sensor in the direction perpendicular to the horizontal plane when the first side vertex of the orthopedic surgery tool is located at the second side vertex of the predetermined insertion area, and the second reference height value is the sensor The height value in the direction perpendicular to the horizontal plane.
The method according to any one of claims 34 to 38, further comprising:

Obtaining the pitch angle between the bottom surface of the medical navigation device and the horizontal plane measured by the sensor of the medical navigation device;

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

Provide error prompt information, the error prompt information is information generated when the cumulative duration is greater than the preset duration, and/or, the error prompt information is information generated when the calculated error is greater than the error threshold, and the cumulative duration is from The duration of time counting 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, wherein when the computer program is executed by the processor, the processor implements any one of claims 34 to 57 The steps of the method described in the item.
A computer-readable storage medium on which a computer program is stored, wherein the computer program implements the steps of any one of claims 34 to 57 when the computer program is executed by a processor.
A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 34 to 57 are implemented.
A medical navigation system, characterized in that the medical navigation system comprises: an orthopedic surgical tool, and the device according to any one of claims 1 to 33 detachably fixed to the orthopedic surgical tool.