CONTROL SYSTEM AND METHOD FOR NAVIGATION AND REDUCTION OPERATION

Control system for navigation and reduction operation including a master control apparatus having a host and an optical tracker; a tracing apparatus including a target body tracer arranged on a target body; the optical tracker is configured to obtain a geometric feature of the target body tracer in an actual working space; the host is configured to convert a preliminary image into an intermediate image by matching the preliminary image with the intermediate image, and to convert the preliminary image into the actual working space according to a geometric feature of the target body tracer in the intermediate image and the geometric feature of the target body tracer in the actual working space, to obtain a target pose of the operation apparatus in the actual working space, and to control an operation apparatus to move to the target pose for reduction. A method for navigation and reduction operation is provided.

TECHNICAL FIELD

The present disclosure relates to the technical field of navigation and reduction robots, in particular to a control system and method for navigation and reduction operation.

BACKGROUND

At present, a closest navigation solution is to directly use an intraoperative image and convert it into a real surgical space, which is easily affected by a range of the intraoperative image. The navigation solution is unable to provide real-time tracking of a bone fragment in a fracture and cannot be directly used for reduction of the fracture.

An existing solution for reduction of a fracture mainly includes the determination of a fracture reduction condition according to intraoperative X-ray through continuous adjustment and a large amount of radioactivity, and is unable to implement precise reduction as a three-dimensional pose cannot be fully expressed with two-dimensional information. Another solution is to cut open a fractured site and implement reduction in a visible condition, which leads to a large wound and does not contribute to the recovery of a patient. Therefore, in the prior art, for a hidden and difficultly exposed target body whose position state cannot be intuitively obtained, there are no control system capable of implementing real-time tracking and no control system capable of operating the target body to be precisely reduced, whether in the actual industrial or medical field.

SUMMARY

The present disclosure provides a control system and method for navigation and reduction operation, which are used to overcome the defect of inability to track a hidden and difficultly exposed target body whose position state cannot be intuitively obtained in real time in the prior art, implement real-time three-dimensional navigation, and can track the target body in real time and feed it back to an operator in the form of a three-dimensional model and a preliminary image, so as to precisely reduce and position the target body during actual work.

The present disclosure provides a control system for navigation and reduction operation, including a master control apparatus, a tracing apparatus, and an operation apparatus, where the master control apparatus includes a host and an optical tracker; the tracing apparatus includes a target body tracer arranged on a target body; the optical tracker is configured to obtain a geometric feature of the target body tracer in an actual working space; the host is configured to convert a preliminary image into an intermediate image by matching the preliminary image with the intermediate image, and to convert the preliminary image into the actual working space according to a geometric feature of the target body tracer in the intermediate image and the geometric feature of the target body tracer in the actual working space; and the host is further configured to obtain a target pose of the operation apparatus in the actual working space, and to control the operation apparatus to move to the target pose for reduction.

According to the control system for navigation and reduction operation provided by the present disclosure, the optical tracker is further configured to obtain a pose of the target body tracer in the actual working space in real time; and the host is further configured to convert the preliminary image into the actual working space in real time, and to obtain a pose of the target body in the actual working space.

According to the control system for navigation and reduction operation provided by the present disclosure, the tracing apparatus further includes a tool tracer arranged on a tool; the optical tracker is further configured to obtain a pose of the tool tracer in the actual working space in real time; and the host is further configured to obtain a pose of the tool in the actual working space.

According to the control system for navigation and reduction operation provided by the present disclosure, the tracing apparatus further includes an operation apparatus tracer arranged on the operation apparatus; the optical tracker is further configured to obtain a pose of the operation apparatus tracer in the actual working space in real time; and the host is further configured to obtain a pose of the operation apparatus in the actual working space, to obtain the target pose of the operation apparatus in the actual working space according to a target pose of the target body in the actual working space, and to control the operation apparatus to move to the target pose for reduction.

According to the control system for navigation and reduction operation provided by the present disclosure, the operation apparatus includes a robotic arm controller and a robotic arm having six or more degrees of freedom; the robotic arm is connected to the robotic arm controller; the robotic arm controller is connected to the host; and the operation apparatus tracer is arranged on the robotic arm.

The present disclosure further provides a method for navigation and reduction operation performed using the control system for navigation and reduction operation as described above, the method including:obtaining a preliminary image and an intermediate image;converting the preliminary image into the intermediate image according to the preliminary image and the intermediate image;obtaining a geometric feature of a target body tracer in an actual working space;converting the preliminary image into the actual working space according to a geometric feature of the target body tracer in the preliminary image and the geometric feature of the target body tracer in the actual working space; andobtaining a target pose of an operation apparatus in the actual working space, and controlling the operation apparatus to move to the target pose for reduction.

According to the method for navigation and reduction operation provided by the present disclosure, the method further includes:obtaining a real-time pose of the target body tracer; andobtaining a three-dimensional model for a target body on the basis of converting the preliminary image into the actual working space.

According to the method for navigation and reduction operation provided by the present disclosure, the method further includes:obtaining a real-time pose of a tool tracer; andobtaining a pose of the tool in the actual working space and a three-dimensional model for the tool according to a relative pose of the tool tracer and the tool and the real-time pose of the tool tracer.

According to the method for navigation and reduction operation provided by the present disclosure, the method further includes:obtaining a real-time pose of an operation apparatus tracer; andobtaining a pose of the operation apparatus in the actual working space according to a relative pose of the operation apparatus tracer and the operation apparatus and the real-time pose of the operation apparatus tracer.

According to the method for navigation and reduction operation provided by the present disclosure, the method further includes:obtaining a target pose of the target body in the actual working space;obtaining the target pose of the operation apparatus according to a connection relationship between the target body and the operation apparatus; andcontrolling the operation apparatus to move to the target pose.

According to the control system for navigation and reduction operation provided by the present disclosure, the target body tracer is fixed to the target body that needs to be tracked; the host obtains the intermediate image and the preliminary image, and converts the preliminary image into a space of the intermediate image by matching the intermediate image with the preliminary image; the optical tracker obtains the geometric feature of the target body tracer in the actual working space and sends it to the host; and the host obtains a conversion relationship between the intermediate image and the actual working space according to the geometric feature of the target body tracer in the intermediate image and the geometric feature of the target body tracer in the actual working space that is obtained by the optical tracker, and further converts the preliminary image into the actual working space. The host of the master control apparatus converts the preliminary image into the actual working space by matching the intermediate image with the preliminary image, and the optical tracker is used to track it in real time, so that the real-time three-dimensional navigation is implemented, and the target body can be tracked in real time and is fed back to the operator in the form of the three-dimensional model and the preliminary image; the host obtains the pose of the operation apparatus in the actual working space, and calculates the target pose of the operation apparatus according to a reduction plan, the real-time pose of the target body tracer, and the current connection relationship between the target body and the operation apparatus; through communication with the operation apparatus, a command is sent to control the operation apparatus to move to the target pose and monitor a motion state of the operation apparatus in real time; and the target body is operated by the operation apparatus to be precisely reduced, so as to precisely reduce and position the target body during actual work.

In addition to the technical problems solved by the present disclosure, the technical features of the formed technical solutions, and the advantages brought by the technical features of these technical solutions described above, other technical features of the present disclosure and the advantages brought by these technical features will be further described in conjunction with the accompanying drawings or learned through the practice of the present disclosure.

IN REFERENCE SIGNS

Detailed Description of the Embodiments

The implementation of the present disclosure will be further described in detail in combination with the accompanying drawings and the embodiments. The embodiments below are used to illustrate the present disclosure, but not intended to limit the scope of the present disclosure.

In the description of the embodiments of the present disclosure, it should be noted that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “transverse”, “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, etc. are based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the embodiments of the present disclosure and simplifying the description rather than indicating or implying that the apparatus or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the embodiments of the present disclosure. Furthermore, the terms “first”, “second”, and “third” are merely used for descriptive purposes and should not be understood to indicate or imply relative importance.

In the description of the embodiments of the present disclosure, it should be noted that the terms “connected” and “connection” should be understood in a broad sense, unless otherwise expressly specified and defined. For example, the “connection” may be a fixed connection, a detachable connection, or an integrated connection; the “connection” may also be a mechanical connection or an electrical connection; and the “connected” may be directly connected or indirectly connected via an intermediate medium. Those of ordinary skill in the art may understand the specific meanings of the above terms in the embodiments of the present disclosure according to the specific circumstances.

In the embodiments of the present disclosure, the state that the first feature is “over” or “under” the second feature may include a state that the first and second features are in direct contact with each other, or a state that the first and second features are in indirect contact with each other via an intermediate medium, unless otherwise expressly specified and defined. Moreover, the state that the first feature is “over”, “above”, and “on” the second feature may include a state that the first feature is right above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is greater than the horizontal height of the second feature. The state that the first feature is “under”, “below”, and “beneath” the second feature may include a state that the first feature is right below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is smaller than the horizontal height of the second feature.

In the description of this specification, the description with reference to the term such as “one embodiment”, “some embodiments”, “an example”, “a specific example”, or “some examples” means that the specific features, structures, materials, or characteristics described in combination with the embodiments or examples are included in at least one embodiment or example of the embodiments of the present disclosure. In this specification, the schematic representations of the above terms need not be directed to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, different embodiments or examples described in this specification and features of different embodiments or examples may be connected and combined by those skilled in the art without mutual contradiction.

As shown inFIG.1, a control system for navigation and reduction operation provided by an embodiment of the present disclosure includes a master control apparatus100, a tracing apparatus200, and an operation apparatus600, where the master control apparatus100includes a host110and an optical tracker120; the tracing apparatus200includes a target body tracer210arranged on a target body700; the optical tracker120is configured to obtain a geometric feature of the target body tracer210in an actual working space; the host110is configured to convert a preliminary image into an intermediate image by matching the preliminary image with the intermediate image, and to convert the preliminary image into the actual working space according to a geometric feature of the target body tracer210in the intermediate image and the geometric feature of the target body tracer210in the actual working space; and the host110is further configured to obtain a target pose of the operation apparatus600in the actual working space, and to control the operation apparatus600to move to the target pose for reduction.

According to the control system for navigation and reduction operation provided by this embodiment of the present disclosure, the target body tracer210is fixed to the target body700that needs to be tracked; the host110obtains the intermediate image and the preliminary image, and converts the preliminary image into a space of the intermediate image by matching the intermediate image with the preliminary image; the optical tracker120obtains the geometric feature of the target body tracer210in the actual working space and sends it to the host110; and the host110obtains a conversion relationship between the intermediate image and the actual working space according to the geometric feature of the target body tracer210in the intermediate image and the geometric feature of the target body tracer210in the actual working space that is obtained by the optical tracker120, and further converts the preliminary image into the actual working space. The host110of the master control apparatus100converts the preliminary image into the actual working space by matching the intermediate image with the preliminary image, and the optical tracker120is used to track it in real time, so that real-time three-dimensional navigation is implemented, and the target body700can be tracked in real time and is fed back to an operator in the form of a three-dimensional model and the preliminary image; the host110obtains a pose of the operation apparatus600in the actual working space, and calculates the target pose of the operation apparatus600according to a reduction plan, a real-time pose of the target body tracer210, and a current connection relationship between the target body700and the operation apparatus600; through communication with the operation apparatus600, a command is sent to control the operation apparatus600to move to the target pose and monitor a motion state of the operation apparatus600in real time; and the target body700is operated by the operation apparatus600to be precisely reduced, so as to precisely reduce and position the target body700during actual work.

When this embodiment is applied to the reduction of a bone fragment of a patient with a fracture through the medical technology, the master control apparatus100may be a master control trolley, and the host110may be controlled by a keyboard and mouse unit140. A preoperative imaging device300, such as a CT machine, acquires a preoperative image of a fractured site of the patient on admission as the preliminary image and sends it to the host110, where the preliminary image may be a three-dimensional image. An intraoperative imaging device400, such as the CT machine, acquires an intraoperative image of the fractured site of the patient during operation as the intermediate image and sends it to the host110, where the intermediate image may be a two-dimensional or three-dimensional image. The actual working space is a surgical space.FIG.1shows a schematic structural diagram of a control system for navigation and reduction operation, where a straight line for connection represents a fixed connection, a solid arrow represents a control flow, and a hollow arrow represents a data flow.

Firstly, the target body tracer210is fixed to the bone fragment that needs to be tracked, the preoperative imaging device300obtains the preoperative image and transmits it to the host110, the intraoperative imaging device400obtains the intraoperative image and transmits it to the host110, and the host110converts the preoperative image into the space of the intraoperative image by matching the preoperative image with the intraoperative image through image or point cloud registration. The host110obtains the conversion relationship between the intraoperative image and the surgical space according to the geometric feature of the target body tracer210in the intraoperative image and the geometric feature of the target body tracer210in the surgical space that is obtained by the optical tracker120, and further converts the preoperative image into the surgical space, so that the bone fragment in the fracture can be tracked in real time and is fed back to the operator in the form of the three-dimensional model and the preoperative image for precise reduction and positioning during operation.

According to one embodiment provided by the present disclosure, the optical tracker120is further configured to obtain a pose of the target body tracer210in the actual working space in real time; and the host110is further configured to convert the preliminary image into the actual working space in real time, and to obtain a pose of the target body700in the actual working space. In this embodiment, the optical tracker120obtains the pose of the target body tracer210in real time and sends it to the host110, and the host110converts the preliminary image into the actual working space in real time and obtains the pose of the target body700in the actual working space according to the real-time pose of the target body tracer210. The target body700can be tracked in real time and is fed back to the operator in the form of the three-dimensional model and the preliminary image, so as to precisely reduce and position the target body700during actual work. The master control apparatus100tracks the target body tracer210, and obtains the pose of the tracked target body700in real time. The master control apparatus may also simultaneously track a plurality of target body tracers210and display relative poses of a plurality of tracked target bodies700.

When this embodiment is applied to the reduction of the bone fragment of the patient with the fracture through the medical technology, the optical tracker120obtains the pose of the target body tracer210in real time and sends it to the host110, and the host110converts the preoperative image into the surgical space in real time and obtains the pose of the bone fragment in the surgical space according to the real-time pose of the target body tracer210. The bone fragment can be tracked in real time and is fed back to the operator in the form of the three-dimensional model and the preoperative image, so as to precisely reduce and position the bone fragment in the fracture during operation. The master control trolley tracks the target body tracer210and obtains the pose of the tracked bone fragment in real time. The master control apparatus may also simultaneously track the plurality of target body tracers210and display the relative poses of the plurality of tracked bone fragments.

According to one embodiment provided by the present disclosure, the tracing apparatus200further includes a tool tracer220arranged on a tool500; the optical tracker120is further configured to obtain a pose of the tool tracer220in the actual working space in real time; and the host110is further configured to obtain a pose of the tool500in the actual working space. In this embodiment, during navigation and reduction of the target body700, the tool500for assisting in navigation is usually used, and the tool tracer220is correspondingly mounted on the tool500. The optical tracker120obtains the pose of the tool tracer220in real time, and the host110obtains the pose of the tool500in the actual working space according to known relative pose of the tool tracer220and the tool500. The master control apparatus100tracks the tool tracer220, obtains the pose of the tool500where the tool tracer220is located in real time, and displays it, so as to guide the positioning of the tool500.

When this embodiment is applied to the reduction of the bone fragment of the patient with the fracture through the medical technology, the tool500for navigation may be a cobalt drill, a positioning sleeve, a probe, etc., and the tool tracer220is correspondingly mounted on it. The optical tracker120obtains the pose of the tool tracer220in real time and sends it to the host110, and the host110obtains the pose of the tool500in the surgical space according to the known relative pose of the tool tracer220and the tool500and a real-time pose of the tool tracer220, and displays it, so as to guide the positioning of the tool500.

According to one embodiment provided by the present disclosure, the tracing apparatus200further includes an operation apparatus tracer230arranged on the operation apparatus600; the optical tracker120is further configured to obtain a pose of the operation apparatus tracer230in the actual working space in real time; and the host110is further configured to obtain a pose of the operation apparatus600in the actual working space, to obtain the target pose of the operation apparatus600in the actual working space according to a target pose of the target body700in the actual working space, and to control the operation apparatus600to move to the target pose for reduction. In this embodiment, the operation apparatus600is connected to the target body700that needs to be reduced by holding the tool500and a fixation pin, and the operation apparatus tracer230is mounted on the corresponding operation apparatus600. The optical tracker120obtains the pose of the operation apparatus tracer230in the actual working space in real time and sends it to the host110, and the host110obtains the pose of the operation apparatus600in the actual working space. The host110obtains the target pose of the target body700in the actual working space according to the reduction plan and the real-time pose of the target body tracer210, and calculates the target pose of the operation apparatus600according to the current connection relationship between the target body700and the operation apparatus600; through the communication with the operation apparatus600, the command is sent to control the operation apparatus600to move to the target pose and monitor the motion state of the operation apparatus600in real time; and the target body700is operated by the operation apparatus600to be precisely reduced.

When this embodiment is applied to the reduction of the bone fragment of the patient with the fracture through the medical technology, the operation apparatus600is connected to the bone fragment that needs to be reduced by holding the tool and the fixation pin, and the operation apparatus tracer230is mounted on the corresponding operation apparatus600. The optical tracker120obtains the pose of the operation apparatus tracer230in the surgical space in real time and sends it to the host110, and the host110obtains the pose of the operation apparatus600during operation. The host110obtains the target pose of the bone fragment during operation according to the reduction plan and the real-time pose of the target body tracer210, and calculates the target pose of the operation apparatus600according to the current connection relationship between the bone fragment and the operation apparatus600; through the communication with the operation apparatus600, the command is sent to control the operation apparatus600to move to the target pose and monitor the motion state of the operation apparatus600in real time; and the bone fragment is operated by the operation apparatus600to be precisely reduced.

According to one embodiment provided by the present disclosure, the operation apparatus600includes a robotic arm controller620and a robotic arm610having six or more degrees of freedom; the robotic arm610is connected to the robotic arm controller620; the robotic arm controller620is connected to the host110; and the operation apparatus tracer230is arranged on the robotic arm610. In this embodiment, the operation apparatus600may include the robotic arm controller620and the robotic arm610. The robotic arm controller620controls the robotic arm610to move, and the robotic arm610is connected to the target body that needs to be reduced by holding the tool and the fixation pin. The robotic arm610has six degrees of freedom, which facilitates angle and position adjustment such as overturning and horizontal movement of the target body700. The operation apparatus tracer230is mounted on the corresponding robotic arm610. The optical tracker120obtains the pose of the operation apparatus tracer230in the surgical space in real time and sends it to the host110, and the host110obtains a pose of the robotic arm610in the actual working space. The host110obtains the target pose of the target body700during operation according to the reduction plan and the real-time pose of the target body tracer210, and calculates a target pose of the robotic arm610according to a current connection relationship between the target body700and the robotic arm610; through communication with the robotic arm controller620, a command is sent to control the robotic arm610to move to the target pose and monitor a motion state of the robotic arm610in real time; and the target body700is operated by the robotic arm610to be precisely reduced.

When this embodiment is applied to the reduction of the bone fragment of the patient with the fracture through the medical technology, the robotic arm610is connected to the bone fragment that needs to be reduced by holding the tool and the fixation pin, and the operation apparatus tracer230is mounted on the corresponding robotic arm610. The optical tracker120obtains the pose of the operation apparatus tracer230in the surgical space in real time and sends it to the host110, and the host110obtains the pose of the robotic arm610during operation. The host110obtains the target pose of the bone fragment during operation according to the reduction plan and the real-time pose of the target body tracer210, and calculates the target pose of the robotic arm610according to the current connection relationship between the bone fragment and the robotic arm610; through the communication with the robotic arm controller620, the command is sent to control the robotic arm610to move to the target pose and monitor the motion state of the robotic arm610in real time; and the bone fragment is operated by the robotic arm610to be precisely reduced.

In one embodiment, the master control apparatus100further includes a display130configured to display three-dimensional models for the target body700and the tool500. In this embodiment, the master control apparatus100tracks the target body tracer210, obtains the real-time pose of the tracked target body700, and displays the three-dimensional model for the target body700in the display130. The master control apparatus simultaneously tracks the plurality of target body tracers210and displays the relative poses of the plurality of tracked target bodies700in the display130. The master control apparatus100tracks the tool tracer220, obtains the pose of the tool500where the tool tracer220is located in real time, and displays the tool500in the display130, so as to guide the positioning of the tool500.

When this embodiment is applied to the reduction of the bone fragment of the patient with the fracture through the medical technology, the master control trolley tracks the target tracer210, obtains the real-time pose of the tracked bone fragment, and displays the three-dimensional model for the bone fragment in the display130. The master control trolley simultaneously tracks the plurality of target body tracers210and displays the relative poses of the plurality of tracked bone fragments in the display130. The master control trolley tracks the tool tracer220, obtains the pose of the tool500where the tool tracer220is located in real time, and displays the tool500in the display130, so as to guide the positioning of the tool500.

An embodiment of the present disclosure further provides a method for navigation and reduction operation performed using the control system for navigation and reduction operation as described in the above-mentioned embodiment, the method including:obtaining a preliminary image and an intermediate image;converting the preliminary image into the intermediate image according to the preliminary image and the intermediate image;obtaining a geometric feature of a target body tracer210in an actual working space;converting the preliminary image into the actual working space according to a geometric feature of the target body tracer210in the preliminary image and the geometric feature of the target body tracer210in the actual working space; andobtaining a target pose of an operation apparatus600in the actual working space, and controlling the operation apparatus600to move to the target pose for reduction.

According to the method for navigation and reduction operation provided by this embodiment of the present disclosure, the target body tracer210is fixed to a target body700that needs to be tracked; a host110obtains the intermediate image and the preliminary image, and converts the preliminary image into a space of the intermediate image by matching the intermediate image with the preliminary image; an optical tracker120obtains the geometric feature of the target body tracer210in the actual working space and sends it to the host110; and the host110obtains a conversion relationship between the intermediate image and the actual working space according to a geometric feature of the target body tracer210in the intermediate image and the geometric feature of the target body tracer210in the actual working space that is obtained by the optical tracker120, and further converts the preliminary image into the actual working space. The host110of a master control apparatus100converts the preliminary image into the actual working space by matching the intermediate image with the preliminary image, and the optical tracker120is used to track it in real time, so that real-time three-dimensional navigation is implemented, and the target body700can be tracked in real time and is fed back to an operator in the form of a three-dimensional model and the preliminary image; the host110obtains a pose of the operation apparatus600in the actual working space, and calculates the target pose of the operation apparatus600according to a reduction plan, a real-time pose of the target body tracer210, and a current connection relationship between the target body700and the operation apparatus600; through communication with the operation apparatus600, a command is sent to control the operation apparatus600to move to the target pose and monitor a motion state of the operation apparatus600in real time; and the target body700is operated by the operation apparatus600to be precisely reduced, so as to precisely reduce and position the target body700during actual work.

When this embodiment is applied to the reduction of a bone fragment of a patient with a fracture through the medical technology, the master control apparatus100may be a master control trolley. A preoperative imaging device300, such as a CT machine, acquires a preoperative image of a fractured site of the patient on admission as the preliminary image and sends it to the host110, where the preliminary image may be a three-dimensional image. An intraoperative imaging device400, such as the CT machine, acquires an intraoperative image of the fractured site of the patient during operation as the intermediate image and sends it to the host110, where the intermediate image may be a two-dimensional or three-dimensional image. The actual working space is a surgical space.

Firstly, the target body tracer210is fixed to the bone fragment that needs to be tracked, the preoperative imaging device300obtains the preoperative image and transmits it to the host110, the intraoperative imaging device400obtains the intraoperative image and transmits it to the host110, and the host110converts the preoperative image into the space of the intraoperative image by matching the preoperative image with the intraoperative image through image or point cloud registration. The host110obtains the conversion relationship between the intraoperative image and the surgical space according to the geometric feature of the target body tracer210in the intraoperative image and the geometric feature of the target body tracer210in the surgical space that is obtained by the optical tracker120, and further converts the preoperative image into the surgical space, so that the bone fragment in the fracture can be tracked in real time and is fed back to the operator in the form of the three-dimensional model and the preoperative image for precise reduction and positioning during operation.

According to an embodiment provided by the present disclosure, the method for navigation and reduction operation in this embodiment of the present disclosure further includes:obtaining a real-time pose of the target body tracer210; andobtaining a three-dimensional model for a target body700on the basis of converting the preliminary image into the actual working space.

In this embodiment, the optical tracker120obtains the pose of the target body tracer210in real time and sends it to the host110, and the host110converts the preliminary image into the actual working space in real time and obtains the pose of the target body700in the actual working space according to the real-time pose of the target body tracer210. The target body700can be tracked in real time and is fed back to the operator in the form of the three-dimensional model and the preliminary image, so as to precisely reduce and position the target body700during actual work. The master control apparatus100tracks the target body tracer210and obtains the pose of the tracked target body700in real time. The master control apparatus may also simultaneously track a plurality of target body tracers210and display relative poses of a plurality of tracked target bodies700. A tracking method is to repeat the process in the above-mentioned embodiment.

The master control apparatus100tracks the target body tracer210, obtains a real-time pose of the tracked target body700, and displays the three-dimensional model for the target body700in a display130. The master control apparatus simultaneously tracks the plurality of target body tracers210and displays the relative poses of the plurality of tracked target bodies700in the display130.

When this embodiment is applied to the reduction of the bone fragment of the patient with the fracture through the medical technology, the optical tracker120obtains the pose of the target body tracer210in real time and sends it to the host110, and the host110converts the preoperative image into the surgical space in real time and obtains the pose of the bone fragment in the surgical space according to the real-time pose of the target body tracer210. The bone fragment can be tracked in real time and is fed back to the operator in the form of the three-dimensional model and the preoperative image, so as to precisely reduce and position the bone fragment in the fracture during operation. The master control trolley tracks the target body tracer210and obtains the pose of the tracked bone fragment in real time. The master control apparatus may also simultaneously track the plurality of target body tracers210and display the relative poses of the plurality of tracked bone fragments. The master control trolley tracks the target body tracer210, obtains the real-time pose of the tracked bone fragment, and displays the three-dimensional model for the bone fragment in the display130. The master control trolley simultaneously tracks the plurality of target body tracers210and displays the relative poses of the plurality of tracked bone fragments in the display130.

According to an embodiment provided by the present disclosure, the method for navigation and reduction operation in this embodiment of the present disclosure further includes:obtaining a real-time pose of a tool tracer220; andobtaining a pose of the tool500in the actual working space and a three-dimensional model for the tool500according to a relative pose of the tool tracer220and the tool500and the real-time pose of the tool tracer220.

In this embodiment, during navigation and reduction of the target body700, the tool500for assisting in navigation is usually used, and the tool tracer220is correspondingly mounted on the tool500. The optical tracker120obtains the pose of the tool tracer220in real time, and the host110obtains the pose of the tool500in the actual working space according to known relative pose of the tool tracer220and the tool500. The master control apparatus100tracks the tool tracer220, obtains the pose of the tool500where the tool tracer220is located in real time, and displays it, so as to guide the positioning of the tool500. The master control apparatus100tracks the tool tracer220, obtains the pose of the tool500where the tool tracer220is located in real time, and displays the tool500in the display130, so as to guide the positioning of the tool500.

When this embodiment is applied to the reduction of the bone fragment of the patient with the fracture through the medical technology, the tool500for navigation may be a cobalt drill, a positioning sleeve, a probe, etc., and the tool tracer220is correspondingly mounted on it. The optical tracker120obtains the pose of the tool tracer220in real time and sends it to the host110, and the host110obtains the pose of the tool500in the surgical space according to the known relative pose of the tool tracer220and the tool500and a real-time pose of the tool tracer220, and displays it, so as to guide the positioning of the tool500. The master control trolley tracks the tool tracer220, obtains the pose of the tool500where the tool tracer220is located in real time, and displays the tool500in the display130, so as to guide the positioning of the tool500.

According to an embodiment provided by the present disclosure, the method for navigation and reduction operation in this embodiment of the present disclosure further includes:obtaining a real-time pose of an operation apparatus tracer230;obtaining a pose of the operation apparatus600in the actual working space according to relative pose of the operation apparatus tracer230and the operation apparatus600and the real-time pose of the operation apparatus tracer230;obtaining a target pose of the target body700in the actual working space;obtaining the target pose of the operation apparatus600according to a connection relationship between the target body700and the operation apparatus600; andcontrolling the operation apparatus600to move to the target pose.

In this embodiment, the operation apparatus600is connected to the target body700that needs to be reduced by holding the tool500and a fixation pin, and the operation apparatus tracer230is mounted on the corresponding operation apparatus600. The optical tracker120obtains the pose of the operation apparatus tracer230in the actual working space in real time and sends it to the host110, and the host110obtains the pose of the operation apparatus600in the actual working space. The host110obtains the target pose of the target body700in the actual working space according to the reduction plan and the real-time pose of the target body tracer210, and calculates the target pose of the operation apparatus600according to the current connection relationship between the target body700and the operation apparatus600; through the communication with the operation apparatus600, the command is sent to control the operation apparatus600to move to the target pose and monitor the motion state of the operation apparatus600in real time; and the target body700is operated by the operation apparatus600to be precisely reduced.

When this embodiment is applied to the reduction of the bone fragment of the patient with the fracture through the medical technology, the operation apparatus600may include a robotic arm controller620and a robotic arm610. The robotic arm controller620controls the robotic arm610to move, and the robotic arm610is connected to the bone fragment that needs to be reduced by holding the tool500and the fixation pin. The operation apparatus tracer230is mounted on the corresponding robotic arm610. The optical tracker120obtains the pose of the operation apparatus tracer230in the surgical space in real time and sends it to the host110, and the host110obtains the pose of the robotic arm610during operation. The host110obtains the target pose of the bone fragment during operation according to the reduction plan and the real-time pose of the target body tracer210, and calculates a target pose of the robotic arm610according to a current connection relationship between the bone fragment and the robotic arm610; through communication with the robotic arm controller620, a command is sent to control the robotic arm610to move to the target pose and monitor a motion state of the robotic arm610in real time; and the bone fragment is operated by the robotic arm610to be precisely reduced.

Finally, it should be noted that the above embodiments are merely used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: they may still make modifications to the technical solutions described in the above-mentioned embodiments, or make equivalent substitutions to some of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present disclosure.