CN111166473A - Navigation method and system for hip and knee joint replacement surgery - Google Patents
Navigation method and system for hip and knee joint replacement surgery Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1732—Guides or aligning means for drills, mills, pins or wires for bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
- A61B17/1746—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for the acetabulum
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1764—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention relates to the technical field of medical treatment, and discloses a navigation method and a system for hip and knee joint replacement surgery, wherein the method comprises the following steps: acquiring a CT image; performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space; based on the leg bone markers, carrying out spatial pose registration on the leg bone model and the real leg bone, and establishing a mapping relation of the leg bone in the model space and the real space; tracking a leg bone marker; updating the real-time pose of the leg bone model; based on the cutting seam marker, carrying out spatial pose registration on the cutting seam model of the osteotomy guide block and the cutting seam of the osteotomy guide block, and establishing a mapping relation of the cutting seam of the osteotomy guide block in a model space and a real space; tracking the cut seam marker; updating the real-time pose of the cutting seam model of the osteotomy guide block; and displaying the real-time poses of the cutting seam model and the leg bone model of the osteotomy guide block. The scheme of the invention improves the positioning accuracy.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a navigation method and a navigation system for hip and knee joint replacement surgery.
Background
Artificial hip-knee replacement is currently the most effective means for treating end-stage hip-knee lesions. China gradually enters an aging society, the amount of artificial hip and knee joint replacement increases at a speed of 25 to 30 percent per year, and the market gap of joint replacement surgery is huge. However, in clinical practice, conventional hip-knee joint replacement usually requires osteotomy positioning through preoperative X-ray and CT image examination and intraoperative mechanical guide devices, and depends heavily on the experience of the operator, the positioning reliability and accuracy are not sufficient, complications are easily caused, the service life of the prosthesis is shortened, and the positioning is an important factor that restricts the operation effect.
Disclosure of Invention
In order to overcome the technical problems, the invention provides a navigation method and a navigation system for hip-knee joint replacement surgery, which improve the reliability of positioning.
In order to achieve the above object, in one aspect, the present invention provides a navigation method for hip-knee replacement surgery, comprising:
acquiring a CT image;
performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space;
based on leg bone markers installed on leg bones, carrying out spatial pose registration on the leg bone model and real leg bones, and establishing a mapping relation of the leg bones in the model space and the real space;
tracking the leg bone marker;
updating the real-time pose of the leg bone model according to the mapping relation of the leg bone in the model space and the real space;
based on a cutting seam marker installed on a cutting seam of the osteotomy guide block, carrying out spatial pose registration on an osteotomy guide block cutting seam model and the osteotomy guide block cutting seam, and establishing a mapping relation of the osteotomy guide block cutting seam in a model space and a real space;
tracking the cut seam marker;
updating the real-time pose of the osteotomy guide block cutting seam model according to the mapping relation of the osteotomy guide block cutting seam in the model space and the real space;
displaying real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space.
In an alternative embodiment of the present invention, after obtaining the leg bone model in the model space, the method further comprises:
generating and displaying two-dimensional mapping views of the leg bone model on three sections; and selecting a planning position of the cutting seam of the osteotomy guide block by an operator according to the two-dimensional mapping view.
In an alternative embodiment of the invention, the method further comprises:
displaying a planned position of the osteotomy guide block cutting seam in the model space.
In another aspect, the present invention further provides a navigation system for hip-knee replacement surgery, including:
a computer, a tracker;
the computer is used for acquiring CT images; performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space; based on leg bone markers installed on leg bones, carrying out spatial pose registration on the leg bone model and real leg bones, and establishing a mapping relation of the leg bones in the model space and the real space;
the tracker is used for tracking the leg bone marker;
the computer is further used for updating the real-time pose of the leg bone model according to the mapping relation of the leg bone in the model space and the real space;
the computer is further used for carrying out spatial pose registration on the osteotomy guide block cutting seam model and the osteotomy guide block cutting seam based on a cutting seam marker installed on the osteotomy guide block cutting seam, and establishing a mapping relation of the osteotomy guide block cutting seam in a model space and a real space;
the tracker is further configured to track the cutting seam marker;
the computer is further used for updating the real-time pose of the osteotomy guide block cutting seam model according to the mapping relation of the osteotomy guide block cutting seam in the model space and the real space; displaying real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space.
In an optional embodiment of the present invention, the computer is further configured to generate and display two-dimensional mapping views of the leg bone model on three sections after obtaining the leg bone model in the model space; and selecting a planning position of the cutting seam of the osteotomy guide block by an operator according to the two-dimensional mapping view.
In an alternative embodiment of the present invention, the computer is further configured to display a planned position of the osteotomy guide block cutting seam in the model space.
The invention relates to a navigation method and a system for hip-knee joint replacement surgery, wherein the method comprises the following steps: acquiring a CT image; performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space; based on leg bone markers installed on leg bones, carrying out spatial pose registration on the leg bone model and real leg bones, and establishing a mapping relation of the leg bones in the model space and the real space; tracking the leg bone marker; updating the real-time pose of the leg bone model according to the mapping relation of the leg bone in the model space and the real space; based on a cutting seam marker installed on a cutting seam of the osteotomy guide block, carrying out spatial pose registration on an osteotomy guide block cutting seam model and the osteotomy guide block cutting seam, and establishing a mapping relation of the osteotomy guide block cutting seam in a model space and a real space; tracking the cut seam marker; updating the real-time pose of the osteotomy guide block cutting seam model according to the mapping relation of the osteotomy guide block cutting seam in the model space and the real space; displaying real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space. The technical scheme provided by the invention can be used for reconstructing CT data to visually display image information, and is convenient for preoperative planning and intraoperative guidance by establishing model space images and associated positioning, so that the positioning of the hip-knee joint replacement operation is more accurate and reliable.
Drawings
FIG. 1 is a flow chart of a navigation method for hip and knee joint replacement surgery according to the present invention;
FIG. 2 is a flow chart of a navigation method for hip and knee joint replacement surgery according to the present invention;
FIG. 3 is a schematic diagram of the optical tracker for tracking the leg bone and the osteotomy guide block cutting seam;
fig. 4 is a schematic diagram of the planned and real-time positions of the osteotomy guide block cutting seam of the present invention.
Detailed Description
Embodiments of the present invention are described below with reference to the drawings. Elements and features depicted in one drawing or one embodiment of the invention may be combined with elements and features shown in one or more other drawings or embodiments. It should be noted that the figures and description omit representation and description of components or processes that are not relevant to the present invention and that are known to those of ordinary skill in the art for the sake of clarity.
The embodiment of the invention provides a navigation method for hip and knee joint replacement surgery, which comprises the following steps of:
101. and acquiring a CT image.
The method comprises the steps of carrying out preoperative scanning on a preset part of a patient by utilizing CT equipment, and generating a preoperative CT image which is a three-dimensional view. A predetermined part such as a lower limb of a human body.
102. And (4) carrying out leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in the model space.
Medical staff can plan the position of the osteotomy to be performed in the hip-knee joint replacement operation according to the CT image and the leg bone model, and record the spatial information of the osteotomy position.
103. And carrying out spatial pose registration on the leg bone model and the real leg bone based on leg bone markers installed on the leg bone, and establishing a mapping relation of the leg bone in the model space and the real space.
And realizing the related positioning of the leg bones in the model space and the real space through the mapping relation of the leg bones in the model space and the real space.
104. Leg bone markers are tracked.
The leg bone marker is pre-installed on a leg bone of a patient, and the real-time pose of the leg bone marker is obtained by tracking the leg bone marker. The change of the pose of the leg bone marker reflects the change of the pose of the leg bone.
105. And updating the real-time pose of the leg bone model according to the mapping relation of the leg bone in the model space and the real space.
Under the condition of tracking the leg bone markers and obtaining the real-time pose of the leg bone markers, the real-time pose of the leg bone model in the model space can be obtained according to the mapping relation of the leg bones in the model space and the real space, and the real-time pose updating of the leg bone model is realized.
106. And performing spatial pose registration on the osteotomy guide block cutting seam model and the osteotomy guide block cutting seam based on a cutting seam marker installed on the osteotomy guide block cutting seam, and establishing a mapping relation of the cutting seam between the model space and the real space.
The osteotomy guide block is fixed on the skeleton, and the osteotomy guide block has one cutting seam in the center for cutting with cutting tool inserted into the seam.
The cutting seam marker is pre-installed on a cutting seam of the osteotomy guide block, and the real-time pose of the cutting seam marker is obtained by tracking the marker. The pose change of the cutting seam marker reflects the pose change of the cutting seam of the osteotomy guide block.
107. The cut seam marker is tracked.
108. And updating the real-time pose of the cutting seam model of the osteotomy guide block according to the mapping relation of the cutting seam of the osteotomy guide block in the model space and the real space.
Under the condition of tracking the cutting seam markers and obtaining the real-time pose of the cutting seam markers, the real-time pose of the cutting seam model of the osteotomy guide block in the model space can be obtained according to the mapping relation of the osteotomy guide block cutting seam in the model space and the real space, and the real-time pose updating of the osteotomy guide block cutting seam model is achieved.
109. And displaying the real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space.
The embodiment of the invention provides a navigation method for hip and knee joint replacement surgery, which comprises the following steps: acquiring a CT image; performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space; based on leg bone markers installed on leg bones, carrying out spatial pose registration on the leg bone model and real leg bones, and establishing a mapping relation of the leg bones in the model space and the real space; tracking the leg bone markers and updating the real-time pose of the leg bone model according to the mapping relation; based on a cutting seam marker installed on a cutting seam of the osteotomy guide block, carrying out spatial pose registration on the osteotomy guide block cutting seam model and the osteotomy guide block cutting seam, and establishing a mapping relation of the osteotomy guide block cutting seam in a model space and a real space; tracking the cutting seam marker and updating the real-time pose of the cutting seam model of the osteotomy guide block according to the mapping relation of the cutting seam of the osteotomy guide block in the model space and the real space; and displaying the real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space. The technical scheme provided by the invention can be used for reconstructing CT data to visually display image information, and is convenient for preoperative planning and intraoperative guidance by establishing model space images and associated positioning, so that the positioning of the hip-knee joint replacement operation is more accurate and reliable.
The embodiment of the invention also provides a navigation method for the hip-knee joint replacement surgery, as shown in fig. 2, the method comprises the following steps:
201. and acquiring a CT image.
202. And performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space.
Specifically, a Graphcut-based method is used for image segmentation and three-dimensional reconstruction.
203. And generating and displaying two-dimensional mapping views of the leg bone model on three sections.
204. And the surgical personnel finish the surgical planning according to the two-dimensional mapping view.
Specifically, a function of selecting a section of the three-view on the leg bone model is provided for a doctor, and after the doctor determines the position of the section in the model space, the doctor renders and displays a two-dimensional mapping view of the three-dimensional leg bone model on the three sections. The doctor selects key characteristic points of the artificial hip and knee joint replacement operation on the three mapping views to calculate a force line, select a prosthesis and plan the position of a cutting seam of the osteotomy guide block, and the preoperative planning of the operation is completed.
205. And carrying out spatial pose registration on the leg bone model and the real leg bone based on leg bone markers installed on the leg bone, and establishing a mapping relation of the leg bone in the model space and the real space.
Leg bone markers are pre-installed on the leg bones of the patient, and the posture change of the leg bones is reflected through the posture change of the leg bone markers.
206. Leg bone markers are tracked.
207. And updating the real-time pose of the leg bone model according to the mapping relation of the leg bone in the model space and the real space.
Specifically, the relative positions of the patient's leg bone and the leg bone markers 500 are calibrated by the optical tracker 200 shown in fig. 3, so that the registration of the patient's leg bone pose in the model space and the real space is realized, and then the tracking of the patient's leg bone can be realized by tracking the leg bone markers 500. When the pose of the leg bone of the patient changes, the pose of the marker 500 changes, and the pose of the leg bone model in the model space is updated as the leg bone moves in the real space.
208. And performing spatial pose registration on the osteotomy guide block cutting seam model and the osteotomy guide block cutting seam based on a cutting seam marker installed on the osteotomy guide block cutting seam, and establishing a mapping relation of the cutting seam between the model space and the real space.
209. The cut seam marker is tracked.
210. And updating the real-time pose of the cutting seam model of the osteotomy guide block according to the mapping relation of the cutting seam of the osteotomy guide block in the model space and the real space.
Specifically, by installing the cutting seam marker 300 shown in fig. 3 on the cutting seam of the osteotomy guide block 400, the optical tracker 200 calibrates the relative positions of the cutting seam of the osteotomy guide block and the cutting seam marker 300, so as to realize registration of the cutting seam pose of the osteotomy guide block in the model space and the real space, and then, tracking of the cutting seam can be realized by tracking the cutting seam marker 300. When the pose of the osteotomy guide block cutting seam changes, the pose of the marker 300 changes, and the pose of the osteotomy guide block cutting seam model in the model space is updated along with the real space motion.
211. And displaying the real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space.
The doctor can directly observe the real-time poses of the osteotomy guide block cutting seam model and the leg bone model displayed in the model space, and then the operation is completed. The real-time pose of the osteotomy guide block cutting seam model reflects the real-time pose of the osteotomy guide block cutting seam in the real space, and the real-time pose of the leg bone model reflects the real-time pose of the leg bone of the patient in the display space.
Furthermore, the pre-planned position of the cutting seam of the osteotomy guide block can be displayed in the model space at the same time, so that a doctor is guided to accurately place the osteotomy guide block.
As shown in fig. 4, the planned position of the cutting seam of the osteotomy guide block and the real-time position of the cutting seam model of the osteotomy guide block are displayed at the same time, so that the cutting seam is guided to be accurately positioned at the planned position as much as possible, the osteotomy guide block is conveniently fixed on the leg bone, and the surgical operation is ensured to be consistent with the planning. After the doctor finishes the placement of the osteotomy guide block, the doctor carries out the operation operations of guide block installation, osteotomy, prosthesis installation and the like.
The navigation method for the hip-knee joint replacement operation provided by the embodiment of the invention has the advantages that the positioning of the hip-knee joint replacement operation is more accurate and reliable through preoperative planning on image data and intraoperative guidance of the osteotomy guide block and the leg bone marker, and the following advantages are brought, so that the quality of the hip-knee joint replacement operation is improved, and the life quality of a patient is improved:
1) and reconstructing the CT data to more intuitively display the leg bone image information of the patient.
2) Through the two-dimensional mapping view of the leg bone model, the operation planning can be conveniently carried out on the leg bone model, and the operation scheme can be more fully and comprehensively formulated, so that the operation quality can be improved, and the operation time can be shortened.
3) The auxiliary osteotomy positioning is realized by establishing a model space image and tracking the osteotomy guide block and the leg bone marker, so that a mechanical guide device is avoided, the positioning effect is improved, the surgical wound is reduced, the pain of a patient is reduced, and the surgical risk is reduced.
The embodiment of the invention also provides a navigation system for the hip-knee joint replacement surgery, which comprises: a computer and a tracker.
The computer is used for acquiring a CT image, and performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space; and carrying out spatial pose registration on the leg bone model and the real leg bone based on leg bone markers installed on the leg bone, and establishing a mapping relation of the leg bone in the model space and the real space.
The tracker is used for tracking the leg bone markers and acquiring the real-time pose of the leg bone markers.
And the computer is also used for updating the real-time pose of the leg bone model according to the mapping relation of the leg bone in the model space and the real space.
The computer is further used for carrying out space pose registration on the osteotomy guide block cutting seam model and the osteotomy guide block cutting seam based on the cutting seam markers installed on the osteotomy guide block cutting seam, and establishing a mapping relation of the osteotomy guide block cutting seam in the model space and the real space.
The tracker is also used to track the cutting seam marker.
And the computer is also used for updating the real-time pose of the osteotomy guide block cutting seam model according to the mapping relation of the osteotomy guide block cutting seam in the model space and the real space, and displaying the real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space.
The computer is also used for generating two-dimensional mapping views of the leg bone model on three sections after obtaining the leg bone model in the model space, and displaying the two-dimensional mapping views of the leg bone model on the three sections through the display device. The surgical personnel can select the planning position of the cutting seam of the osteotomy guide block according to the two-dimensional mapping view.
The computer may also be configured to display, via the display device, a planned position of the osteotomy guide block cutting seam in the model space.
And uniformly displaying the pre-planned cutting seam position of the osteotomy guide block and the real-time position of the osteotomy guide block cutting seam model on the leg bone model so as to guide the determination of the installation position of the osteotomy guide block.
After the osteotomy guide block is arranged at the preset position, a doctor can perform osteotomy and prosthesis installation work to complete the operation.
The navigation system for the hip-knee joint replacement operation provided by the embodiment of the invention enables the positioning of the hip-knee joint replacement operation to be more accurate and reliable through preoperative planning on image data and intraoperative guidance of the osteotomy guide block and the leg bone marker. And the CT data is reconstructed, and the leg bone image information of the patient is displayed more intuitively. In addition, by displaying the two-dimensional mapping view of the leg bone model, the operation planning can be conveniently carried out on the leg bone model, and the operation scheme can be more fully and comprehensively formulated, so that the operation quality can be improved, and the operation time can be shortened. The navigation system for hip and knee joint replacement surgery provided by the embodiment of the invention can also assist in osteotomy positioning by establishing a model space image and tracking the osteotomy guide block and the leg bone marker, avoids using a mechanical guide device, improves the positioning effect, reduces surgical wounds, reduces pain of patients and reduces surgical risks.
Although the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims. Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, means, methods, or steps, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present invention. Accordingly, the appended claims are intended to include within their scope such processes, devices, means, methods, or steps.
Claims (6)
1. A method of navigating hip and knee replacement surgery, comprising:
acquiring a CT image;
performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space;
based on leg bone markers installed on leg bones, carrying out spatial pose registration on the leg bone model and real leg bones, and establishing a mapping relation of the leg bones in the model space and the real space;
tracking the leg bone marker;
updating the real-time pose of the leg bone model according to the mapping relation of the leg bone in the model space and the real space;
based on a cutting seam marker installed on a cutting seam of the osteotomy guide block, carrying out spatial pose registration on an osteotomy guide block cutting seam model and the osteotomy guide block cutting seam, and establishing a mapping relation of the osteotomy guide block cutting seam in a model space and a real space;
tracking the cut seam marker;
updating the real-time pose of the osteotomy guide block cutting seam model according to the mapping relation of the osteotomy guide block cutting seam in the model space and the real space;
displaying real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space.
2. The method of navigating hip-knee replacement surgery according to claim 1, wherein after obtaining the leg bone model in the model space, the method further comprises:
generating and displaying two-dimensional mapping views of the leg bone model on three sections; and selecting a planning position of the cutting seam of the osteotomy guide block by an operator according to the two-dimensional mapping view.
3. The method of navigating hip and knee replacement surgery according to claim 2, further comprising:
displaying a planned position of the osteotomy guide block cutting seam in the model space.
4. A navigation system for hip and knee replacement surgery, comprising:
a computer, a tracker;
the computer is used for acquiring CT images; performing leg bone segmentation and reconstruction according to the CT image to obtain a leg bone model in a model space; based on leg bone markers installed on leg bones, carrying out spatial pose registration on the leg bone model and real leg bones, and establishing a mapping relation of the leg bones in the model space and the real space;
the tracker is used for tracking the leg bone marker;
the computer is further used for updating the real-time pose of the leg bone model according to the mapping relation of the leg bone in the model space and the real space;
the computer is further used for carrying out spatial pose registration on the osteotomy guide block cutting seam model and the osteotomy guide block cutting seam based on a cutting seam marker installed on the osteotomy guide block cutting seam, and establishing a mapping relation of the osteotomy guide block cutting seam in a model space and a real space;
the tracker is further configured to track the cutting seam marker;
the computer is further used for updating the real-time pose of the osteotomy guide block cutting seam model according to the mapping relation of the osteotomy guide block cutting seam in the model space and the real space; displaying real-time poses of the osteotomy guide block cutting seam model and the leg bone model in the model space.
5. The navigation system for hip-knee replacement surgery according to claim 4, wherein the computer is further configured to generate and display two-dimensional mapping views of the leg bone model on three sections after obtaining the leg bone model in the model space; and selecting a planning position of the cutting seam of the osteotomy guide block by an operator according to the two-dimensional mapping view.
6. The navigation system of hip-knee replacement surgery as recited in claim 5, wherein the computer is further configured to display a planned location of the osteotomy guide block cutting seam in the model space.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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