Calculation method and electronic device for model physiological parameters in hip prosthesis planning

Abstract

The present invention discloses a method for calculating the physiological parameters of a model in hip prosthesis planning and an electronic device. The method includes obtaining a pelvic model, a left femoral model, a right femoral model, a first feature point set, a second feature point set, a third feature point set, a pelvic prosthesis model, and a femoral prosthesis model; determining a pelvic-pelvic prosthesis assembly model and a femoral-femoral prosthesis assembly model; updating the first feature point set and the target feature point set; splicing the pelvic-pelvic prosthesis assembly model, the femoral-femoral prosthesis assembly model, and the second femoral model according to a first splicing method and a second splicing method, respectively, and calculating the hip joint offset and the hip joint length based on the coordinates of the feature points in the second feature point set and the third feature point set, respectively. The present application calculates the hip joint offset and the hip joint length based on the feature points in the second feature point set and the third feature point set, respectively, and can accurately obtain the numerical values ​​of the postoperative hip joint physiological parameters through the preoperative planned model.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a method for calculating physiological parameters of a model in hip joint prosthesis planning and an electronic device. Background Art

[0002] During hip reconstruction surgery, ensuring equal hip offset and hip length between the operated and non-operated sides is crucial to ensure the patient's recovery of hip function and minimize complications. Therefore, accurate measurement and adjustment of hip offset and hip length play a decisive role in the success of the surgery.

[0003] Currently, during the preoperative planning stage, doctors typically simulate the position of the implanted hip prosthesis on the patient's CT images and then estimate the hip offset and hip length for reference.

[0004] However, using these existing methods, doctors can only rely on experience to determine whether the hip prosthesis installation method is appropriate during preoperative planning. This method cannot accurately determine the impact of hip prosthesis installation on the patient's postoperative hip physiological parameters during actual surgery. For example, different hip prosthesis installation positions can lead to changes in postoperative hip offset and hip length, which are difficult to predict using existing preoperative planning methods, thereby reducing surgical accuracy. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present application provides a method and electronic equipment for calculating the physiological parameters of the model in hip prosthesis planning. By splicing the pelvis-pelvic prosthesis combination model, the femur-femur prosthesis combination model and the second femur model according to the first splicing method and the second method respectively, and then calculating the hip joint offset and hip joint length based on the feature points in the second feature point set and the third feature point set respectively, the numerical values ​​of the postoperative hip joint physiological parameters can be accurately obtained through the preoperative planning model, which is convenient for doctors to judge whether the current preoperative planning is reasonable, thereby providing doctors with accurate reference for performing hip joint reconstruction surgery and improving the accuracy of the surgery.

[0006] In order to solve the above problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for calculating physiological parameters of a model in hip prosthesis planning, comprising: obtaining a pelvic model, a left femoral model, a right femoral model, a first feature point set of the pelvic model, a second feature point set of the left femoral model, and a third feature point set of the right femoral model;

[0008] Obtain pelvic prosthesis models and femoral prosthesis models;

[0009] receiving a first control instruction, moving the pelvic prosthesis model to a position where it is combined with the pelvic model according to the first control instruction, and determining a pelvic-pelvic prosthesis combination model based on the pelvic model and the pelvic prosthesis model;

[0010] receiving a second control instruction, moving the femoral prosthesis model to a position for combination with a first femoral model according to the second control instruction, and determining a femoral-femoral prosthesis combination model according to the first femoral model and the femoral prosthesis model, wherein the first femoral model is the left femoral model or the right femoral model;

[0011] Updating the first feature point set based on the pelvic prosthesis model, and updating the target feature point set corresponding to the first femoral model based on the femoral prosthesis model, wherein the target feature point set is the second feature point set or the third feature point set;

[0012] splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and a second femur model in a first splicing manner, and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set, wherein the second femur model is a femur model of the left femur model and the right femur model that is different from the first femur model;

[0013] The pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femur model are spliced ​​in a second splicing manner, and the hip joint length is calculated based on the coordinates of the lesser trochanter point in the second feature point set and the third feature point set.

[0014] In some embodiments, before splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and the second femur model in a first splicing manner and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set, the method further includes:

[0015] moving the pelvis-pelvic prosthesis combination model to a first target position based on the first feature point set;

[0016] moving the femur-femoral prosthesis combination model to a second target position based on the updated target feature point set;

[0017] The second femur model is moved to a third target position based on the feature point set corresponding to the second femur model.

[0018] In some embodiments, moving the pelvis-pelvic prosthesis combination model to a first target position based on the first feature point set includes:

[0019] Establishing a first local coordinate system of the pelvis-pelvic prosthesis combination model based on the first feature point set;

[0020] Calculate a first transformation matrix based on the first local coordinate system and the world coordinate system;

[0021] The coordinates of each point on the pelvis-pelvic prosthesis assembly model are multiplied by the inverse matrix of the first transformation matrix to move the pelvis-pelvic prosthesis assembly model to the first target position.

[0022] In some embodiments, moving the femur-femoral prosthesis combination model to a second target position based on the updated target feature point set includes:

[0023] Establishing a second local coordinate system of the femur-femoral prosthesis combination model based on the updated target feature point set;

[0024] Calculate a second transformation matrix based on the second local coordinate system and the world coordinate system;

[0025] multiplying the coordinates of each point on the femur-femoral prosthesis assembly model by the inverse matrix of the second transformation matrix to move the femur-femoral prosthesis assembly model to the second target position;

[0026] The moving the second femur model to a third target position based on the feature point set corresponding to the second femur model includes:

[0027] Establishing a third local coordinate system of the second femur model based on the updated feature point set corresponding to the second femur model;

[0028] Calculating a third transformation matrix based on the third local coordinate system and the world coordinate system;

[0029] The coordinates of each point on the second femoral model are multiplied by the inverse matrix of the third transformation matrix to move the second femoral model to the third target position.

[0030] In some embodiments, updating the first feature point set based on the pelvic prosthesis model, and updating the target feature point set corresponding to the first femoral model based on the femoral prosthesis model, includes:

[0031] Using the coordinates of the rotation center point of the pad model in the pelvic prosthesis model as the coordinates of the rotation center point of the hip joint on the corresponding side of the updated first feature point set;

[0032] The coordinates of the rotation center point of the ball head model in the femoral prosthesis model are used as the coordinates of the rotation center point of the femoral head on the corresponding side of the updated target feature point set.

[0033] In some embodiments, the first feature point set includes the left hip joint rotation center point and the right hip joint rotation center point, the second feature point set includes the left femoral rotation center point, the left femoral shaft axis proximal point and the left femoral shaft axis distal point, and the third feature point set includes the right femoral rotation center point, the right femoral shaft axis proximal point and the right femoral shaft axis distal point.

[0034] The step of splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and the second femur model in a first splicing manner, and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set, includes:

[0035] translating the femur-femoral prosthesis assembly model based on a direction vector pointing from the femoral rotation center point in the target feature point set to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the target feature point set coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvis prosthesis assembly model and the femur-femoral prosthesis assembly model;

[0036] translating the second femoral model based on a direction vector pointing from the femoral rotation center point in the feature point set corresponding to the second femoral model to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the feature point set corresponding to the second femoral model coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvic prosthesis combination model and the second femoral model;

[0037] The hip joint offset is calculated based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set and the first plane.

[0038] In some embodiments, the calculating of the hip joint offset based on the coordinates of the femoral shaft endpoint and the first plane in the second feature point set and the third feature point set includes:

[0039] Determining a first plane based on a difference between a center point of the pelvis-pelvic prosthesis combination model and an origin of a world coordinate system and a vertical plane;

[0040] Determine a left femoral shaft axis passing through the left femoral shaft axis proximal point and the left femoral shaft axis distal point based on the coordinates of the left femoral shaft axis proximal point and the left femoral shaft axis distal point, and use the distance between the left femoral shaft axis and the first plane as the value of the left hip joint offset;

[0041] Based on the coordinates of the proximal point of the right femoral shaft axis and the coordinates of the distal point of the right femoral shaft axis, the right femoral shaft axis passing through the proximal point of the right femoral shaft axis and the distal point of the right femoral shaft axis is determined, and the distance between the right femoral shaft axis and the first plane is used as the numerical value of the right hip joint offset.

[0042] In some embodiments, the first feature point set includes the left hip joint rotation center point and the right hip joint rotation center point, the second feature point set includes the left femoral rotation center point, the left medial femoral condyle point, the left lateral femoral condyle point and the left femoral lesser trochanter point, and the third feature point set includes the right femoral rotation center point, the right medial femoral condyle point, the right lateral femoral condyle point and the right femoral lesser trochanter point.

[0043] The step of splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and the second femur model in a second splicing manner, and calculating the hip joint length based on the coordinates of the lesser trochanter point in the second feature point set and the third feature point set, comprises:

[0044] Rotating the femoral-femoral prosthesis assembly model so that a line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the target feature point concentration and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system;

[0045] translating the femur-femoral prosthesis assembly model based on a direction vector pointing from the femoral rotation center point in the target feature point set to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the target feature point set coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvis prosthesis assembly model and the femur-femoral prosthesis assembly model;

[0046] Rotating the second femoral model so that a line connecting a midpoint of a medial femoral condyle point and a lateral femoral condyle point in a feature point set corresponding to the second femoral model and a femoral rotation center point is parallel to a vertical coordinate axis of the world coordinate system;

[0047] translating the second femoral model based on a direction vector pointing from the femoral rotation center point in the feature point set corresponding to the second femoral model to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the feature point set corresponding to the second femoral model coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvic prosthesis combination model and the second femoral model;

[0048] determining a second plane based on a difference between a center point of the pelvis-pelvic prosthesis combination model and an origin of a world coordinate system and a horizontal plane;

[0049] The distance between the lesser trochanter point of the left femur and the second plane is used as the value of the left hip joint length;

[0050] The distance between the right femoral lesser trochanter point and the second plane is used as the value of the right hip joint length.

[0051] In some embodiments, the second feature point set further includes a proximal end point of the left femoral shaft axis and a distal end point of the left femoral shaft axis, and the third feature point set further includes a proximal end point of the right femoral shaft axis and a distal end point of the right femoral shaft axis.

[0052] The step of rotating the femur-femoral prosthesis assembly model so that a line connecting a midpoint between the medial femoral condyle point and the lateral femoral condyle point in the target feature point concentration and the femoral rotation center point is parallel to a vertical coordinate axis of a world coordinate system includes:

[0053] Determine a direction vector from a midpoint of a line connecting a medial femoral condyle point and a lateral femoral condyle point in the target feature point set to a femoral rotation center point in the target feature point set as a first vector;

[0054] Determine a second vector as a result of cross-multiplying the first vector by a direction vector pointing from the distal end point of the femoral shaft axis in the target feature point set to the proximal end point of the femoral shaft axis in the target feature point set;

[0055] Cross-multiplying the first vector by the second vector to obtain a third vector;

[0056] determining a first rotation matrix based on the first vector, the second vector, and the third vector;

[0057] Multiplying the coordinates of each point on the femur-femoral prosthesis assembly model by the first rotation matrix to rotate the femur-femoral prosthesis assembly model so that a line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the target feature point set and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system;

[0058] The rotating the second femoral model so that a line connecting a midpoint between a medial femoral condyle point and a lateral femoral condyle point in a feature point set corresponding to the second femoral model and a femoral rotation center point is parallel to a vertical coordinate axis of the world coordinate system, comprising:

[0059] Determine a direction vector pointing from a midpoint of a line connecting a medial femoral condyle point and a lateral femoral condyle point in the feature point set corresponding to the second femoral model to a femoral rotation center point in the feature point set corresponding to the second femoral model as a fourth vector;

[0060] Determine a fifth vector by cross-multiplying the direction vector from the distal end point of the femoral shaft axis in the feature point set corresponding to the second femoral model to the proximal end point of the femoral shaft axis in the feature point set corresponding to the second femoral model by the fourth vector;

[0061] Cross-multiplying the fourth vector by the fifth vector to obtain a sixth vector;

[0062] determining a second rotation matrix based on the fourth vector, the fifth vector, and the sixth vector;

[0063] Multiply the coordinates of each point on the second femoral model by the second rotation matrix to rotate the second femoral model so that the line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the feature point set corresponding to the second femoral model and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system.

[0064] In a second aspect, an embodiment of the present application provides a device for calculating physiological parameters of a model in hip prosthesis planning, comprising an acquisition module and a processing module.

[0065] The acquisition module is used to acquire a pelvic model, a left femoral model, a right femoral model, a first feature point set of the pelvic model, a second feature point set of the left femoral model, and a third feature point set of the right femoral model; and acquire a pelvic prosthesis model and a femoral prosthesis model;

[0066] The processing module is configured to receive a first control instruction, move the pelvic prosthesis model to a position where it is combined with the pelvic model according to the first control instruction, and determine a pelvic-pelvic prosthesis combination model based on the pelvic model and the pelvic prosthesis model;

[0067] receiving a second control instruction, moving the femoral prosthesis model to a position for combination with a first femoral model according to the second control instruction, and determining a femoral-femoral prosthesis combination model according to the first femoral model and the femoral prosthesis model, wherein the first femoral model is the left femoral model or the right femoral model;

[0068] Updating the first feature point set based on the pelvic prosthesis model, and updating the target feature point set corresponding to the first femoral model based on the femoral prosthesis model, wherein the target feature point set is the second feature point set or the third feature point set;

[0069] splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and a second femur model in a first splicing manner, and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set, wherein the second femur model is a femur model of the left femur model and the right femur model that is different from the first femur model;

[0070] The pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femur model are spliced ​​in a second splicing manner, and the hip joint length is calculated based on the coordinates of the lesser trochanter point in the second feature point set and the third feature point set.

[0071] The present application provides a method and electronic device for calculating the physiological parameters of a model in hip prosthesis planning. The present application splices a pelvis-pelvic prosthesis combination model, a femur-femur prosthesis combination model, and a second femur model in a first splicing method and a second splicing method, and then calculates the hip joint offset and hip joint length based on the feature points in the second feature point set and the third feature point set, respectively. The present application can accurately obtain the numerical values ​​of the postoperative hip joint physiological parameters through the preoperative planning model, which is convenient for doctors to judge whether the current preoperative planning is reasonable, thereby providing doctors with an accurate reference for performing hip joint reconstruction surgery and improving the accuracy of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 It is a flowchart of the first embodiment of the method for calculating physiological parameters of a model in hip prosthesis planning provided in an embodiment of the present application.

[0073] Figure 2 Schematic diagram of the pelvic model provided in an embodiment of the present application.

[0074] Figure 3 Schematic diagram of the left femur model and the right femur model provided in the embodiments of the present application.

[0075] Figure 4 It is a schematic diagram of the pelvis-pelvic prosthesis combination model provided in an embodiment of the present application.

[0076] Figure 5 It is a partial schematic diagram of the femoral-femoral prosthesis combination model provided in an embodiment of the present application.

[0077] Figure 6 It is a flowchart of the second embodiment of the method for calculating physiological parameters of the model in hip prosthesis planning provided in the embodiment of the present application.

[0078] Figure 7 yes Figure 1 Detailed flowchart of step S600.

[0079] Figure 8 It is a schematic diagram of the first combination model provided in an embodiment of the present application.

[0080] Figure 9 yes Figure 1 Detailed flowchart of step S700.

[0081] Figure 10 It is a schematic diagram of the second combination model provided in an embodiment of the present application.

[0082] Figure 11 It is a schematic diagram of the structure of the device for calculating the physiological parameters of the model in the hip prosthesis planning provided in an embodiment of the present application.

[0083] Figure 12 This is a structural diagram of an electronic device provided in an embodiment of the present application.

[0084] Figure 13 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0085] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0086] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0087] The present application provides a method and electronic device for calculating the physiological parameters of a model in hip prosthesis planning. By splicing a pelvis-pelvic prosthesis combination model, a femur-femur prosthesis combination model and a second femur model respectively according to a first splicing method and a second splicing method, and then calculating the hip joint offset and hip joint length based on the feature points in the second feature point set and the third feature point set respectively, the numerical values ​​of the postoperative hip joint physiological parameters can be accurately obtained through the preoperative planned model, which is convenient for doctors to judge whether the current preoperative planning is reasonable, thereby providing doctors with an accurate reference for performing hip joint reconstruction surgery and improving the accuracy of the surgery.

[0088] The following will describe in detail the method for calculating the physiological parameters of the model in hip prosthesis planning provided by this application with reference to the accompanying drawings.

[0089] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of the first embodiment of the method for calculating the physiological parameters of the model in hip prosthesis planning provided in the embodiment of the present application. Figure 1 As shown, the method for calculating the physiological parameters of the model in hip joint prosthesis planning includes: steps S100 to S700.

[0090] Step S100: Acquire a pelvis model, a left femur model, a right femur model, a first feature point set of the pelvis model, a second feature point set of the left femur model, and a third feature point set of the right femur model.

[0091] In some embodiments, a pelvic model, a left femur model, and a right femur model of the target object are obtained based on a CT image of the target object.

[0092] Optionally, methods for obtaining the pelvic model, left femur model and right femur model of the target object based on the CT image of the target object include manual segmentation methods and artificial intelligence algorithms.

[0093] Optionally, the artificial intelligence algorithm includes U-Net, a neural network algorithm, and an attention mechanism algorithm, etc.

[0094] In some embodiments, the first feature point set, the second feature point set, and the third feature point set are obtained by manually selecting feature points on the model.

[0095] In some embodiments, an artificial intelligence algorithm is used to select feature points on the model to obtain a first feature point set, a second feature point set, and a third feature point set.

[0096] In the following descriptions, "left" or "right" refers to the left or right side of the subject's body, not the left or right side of the image or model. The left side of the image or model is the right side of the subject's body, and the right side of the image or model is the left side of the subject's body.

[0097] See also Figure 2 , Figure 2 Schematic diagram of the pelvic model provided in the embodiment of the present application. Figure 2 As shown, the left anterior superior iliac spine point 11, the right anterior superior iliac spine point 12, the left hip joint rotation center point 13, the right hip joint rotation center point 14, the left pubic tubercle point 15 and the right pubic tubercle point 16 are all feature points on the pelvic model 1.

[0098] In some embodiments, the first feature point set includes a plurality of feature points on the pelvic model.

[0099] like Figure 2As shown, in some embodiments, the first feature point set includes a left hip joint rotation center point 13 and a right hip joint rotation center point 14 .

[0100] like Figure 2 As shown, in some embodiments, the first feature point set also includes the left anterior superior iliac spinous point 11, the right anterior superior iliac spinous point 12, the left pubic tubercle point 15 and the right pubic tubercle point 16.

[0101] In some embodiments, the first feature point set further includes other feature points on the pelvic model.

[0102] In some embodiments, the second feature point set includes a plurality of feature points on the left femur model.

[0103] See also Figure 3 , Figure 3 Schematic diagram of the left femur model and the right femur model provided in the embodiment of the present application. Figure 3 As shown, the left femoral head rotation center point 21, the left lesser trochanter point 22, the left femoral shaft axis proximal point 23, the left femoral shaft axis distal point 24, the left medial femoral condyle point 25, and the left lateral femoral condyle point 26 are all feature points on the left femoral model 2. The right femoral head rotation center point 31, the right lesser trochanter point 32, the right femoral shaft axis proximal point 33, the right femoral shaft axis distal point 34, the right medial femoral condyle point 35, and the right lateral femoral condyle point 36 are all feature points on the right femoral model 3.

[0104] like Figure 3 As shown, in some embodiments, the second feature point set includes a left femoral rotation center point 21 , a left femoral shaft axis proximal point 23 , and a left femoral shaft axis distal point 24 .

[0105] like Figure 3 As shown, in some embodiments, the second feature point set further includes a left lesser trochanter point 22 , a left medial femoral condyle point 25 , and a left lateral femoral condyle point 26 .

[0106] In some embodiments, the second feature point set further includes other feature points on the left femur model.

[0107] like Figure 3 As shown, in some embodiments, the third feature point set includes a right femoral rotation center point 31 , a right femoral shaft axis proximal point 33 , and a right femoral shaft axis distal point 34 .

[0108] like Figure 3 As shown, in some embodiments, the third feature point set further includes a right lesser trochanter point 32 , a right medial femoral condyle point 35 , and a right lateral femoral condyle point 36 .

[0109] In some embodiments, the third feature point set also includes other feature points on the right femur model.

[0110] In some embodiments, the physiological parameters include hip offset and hip length. Hip offset refers to the horizontal distance from the center line of the body to the center of the hip joint. The value of hip offset directly affects the gait and balance of the target subject. Hip length refers to the distance from the acetabulum (the groove part of the hip joint) to the lesser trochanter point of the femur. If the hip length is abnormal, the target subject will have "long legs and short legs". Therefore, it is necessary to know the accurate values ​​of these two physiological parameters in preoperative planning.

[0111] In some embodiments, the hip offset includes a hip offset on a left side and a hip offset on a right side of the target subject's body.

[0112] In some embodiments, the hip joint length includes a hip joint length on a left side and a hip joint length on a right side of the target subject's body.

[0113] Step S200: Acquire a pelvic prosthesis model and a femoral prosthesis model.

[0114] In some embodiments, the hip prosthesis model includes a pelvic prosthesis model and a femoral prosthesis model. The pelvic prosthesis model includes an acetabular cup model and a liner model, and the femoral prosthesis model includes a ball head model and a femoral stem model. During hip reconstruction surgery, the acetabular cup and liner are installed in the pelvis of the target patient, and the ball head and femoral stem are installed in the femur of the target patient.

[0115] In some embodiments, a pelvic prosthesis model and a femoral prosthesis model selected by a doctor from a preset model library are obtained.

[0116] Step S300: receiving a first control instruction, moving the pelvic prosthesis model to a position for combining with the pelvic model according to the first control instruction, and determining a pelvic-pelvic prosthesis combination model according to the pelvic model and the pelvic prosthesis model.

[0117] See also Figure 4 , Figure 4 Schematic diagram of the pelvic-pelvic prosthesis assembly model provided in the embodiment of the present application. Figure 4 As shown, in some embodiments, the pelvic model 1 partially overlaps with the pelvic prosthesis model 5 to form a pelvic-pelvic prosthesis combination model 4. The pelvic prosthesis model 5 includes an acetabular cup model 51 and a liner model 52.

[0118] In some embodiments, the physician moves the pelvic prosthesis model into position for combination with the pelvic model.

[0119] Step S400: receiving a second control instruction, moving the femoral prosthesis model to a position for combining with the first femoral model according to the second control instruction, and determining a femoral-femoral prosthesis combination model according to the first femoral model and the femoral prosthesis model.

[0120] The first femoral model is a left femoral model or a right femoral model. The first femoral model is a femoral model on the side where the femoral prosthesis will be installed.

[0121] See also Figure 5 , Figure 5 It is a partial schematic diagram of the femoral-femoral prosthesis combination model provided in an embodiment of the present application. Figure 5 In the example, the first femur model is the right femur model. Figure 5 As shown, in some embodiments, the right femur model 3 is overlapped with the femoral prosthesis model 7 to form a femoral-femoral prosthesis combination model 6. The femoral prosthesis model 7 includes a ball head model 71 and a femoral stem model 72.

[0122] In some embodiments, the physician moves the femoral prosthesis model into position for combination with the first femoral model.

[0123] In some embodiments, when hip reconstruction surgery is required on both sides of a subject's body, a first femur-femoral prosthesis assembly model is determined based on the first femur model and the first femoral prosthesis model, and a second femur-femoral prosthesis assembly model is determined based on the second femur model and the second femoral prosthesis model, as described above. The second femur model is a different femur model from the second femur model of the left femur model and the right femoral model.

[0124] Step S500: updating the first feature point set based on the pelvic prosthesis model, and updating the target feature point set corresponding to the first femoral model based on the femoral prosthesis model.

[0125] The target feature point set is the second feature point set or the third feature point set. When the first femur model is a left femur model, the target feature point set is the second feature point set. When the first femur model is a right femur model, the target feature point set is the third feature point set.

[0126] In some embodiments, the coordinates of the rotation center of the pad model in the pelvic prosthesis model are used as the coordinates of the hip joint rotation center of the corresponding side in the updated first feature point set. The hip joint rotation center of the corresponding side is the hip joint rotation center point closest to the pad model rotation center point in the first feature point set.

[0127] like Figure 4 As shown, in some embodiments, the pelvic prosthesis model 5 is located on the right side of the pelvic model 1, and the coordinates of the rotation center point 521 of the pad model 52 are used as the updated Figure 2The coordinates of the right hip joint rotation center point 14.

[0128] In some embodiments, the coordinates of the rotation center of the ball head model in the femoral prosthesis model are used as the coordinates of the rotation center of the femoral head on the corresponding side in the updated target feature point set. The rotation center of the femoral head on the corresponding side is the femoral head rotation center closest to the rotation center of the ball head model in the target feature point set.

[0129] like Figure 5 As shown, in some embodiments, the first femoral model is the right femoral model 3, the femoral prosthesis model 7 is located at the right femoral model 3, and the coordinates of the rotation center point 711 of the ball head model 71 in the femoral prosthesis model 7 are used as the updated Figure 3 The coordinates of the rotation center point 31 of the right femoral head.

[0130] In some embodiments, to facilitate the subsequent calculation of physiological parameter values ​​using the coordinates of the feature points, the positions of all models are first initialized. In this way, the physiological parameter values ​​can be directly obtained from the coordinates of the feature points, thereby simplifying the calculation process of the physiological parameters.

[0131] See also Figure 6 , Figure 6 FIG. 2 is a flow chart of the second embodiment of the method for calculating the physiological parameters of the model in hip prosthesis planning provided in the embodiment of the present application. Figure 6 As shown, in some embodiments, before step S600, the method for calculating physiological parameters of the model in hip prosthesis planning further includes steps S501 to S503.

[0132] Step S501: moving the pelvis-pelvic prosthesis combination model to a first target position based on a first feature point set.

[0133] In some embodiments, step S501 includes steps (501.1) to (501.3).

[0134] (501.1) Establish a first local coordinate system of the pelvis-pelvic prosthesis combination model based on the first feature point set.

[0135] In some embodiments, step (501.1) includes steps (501.1.1) to step (501.1.5).

[0136] (501.1.1) The midpoint of the line connecting the left pubic tubercle node and the right pubic tubercle node is used as the origin of the first local coordinate system.

[0137] (501.1.2) The direction vector from the right anterior superior iliac spine point to the left anterior superior iliac spine point is used as the first X-axis direction vector of the first local coordinate system.

[0138] (501.1.3) The result vector of the cross multiplication of the direction vector from the origin of the first local coordinate system to the right anterior superior iliac spine point and the direction vector from the origin of the first local coordinate system to the left anterior superior iliac spine point is used as the first Y-axis direction vector of the first local coordinate system.

[0139] (501.1.4) Cross-multiply the first X-axis direction vector by the first Y-axis direction vector to obtain the first Z-axis direction vector of the first local coordinate system.

[0140] (501.1.5) Determine the first local coordinate system based on the origin of the first local coordinate system, the first X-axis direction vector, the first Y-axis direction vector, and the first Z-axis direction vector.

[0141] (501.2) Calculate a first transformation matrix based on the first local coordinate system and the world coordinate system.

[0142] The world coordinate system is the default coordinate system in model files.

[0143] In some embodiments, the first transformation matrix is ​​calculated based on the coordinates of the origin of the first local coordinate system in the world coordinate system, and expressions of the first X-axis direction vector, the first Y-axis direction vector, and the first Z-axis direction vector in the world coordinate system.

[0144] Optionally, the first transformation matrix is:

[0145] Where T1 represents the first transformation matrix, Indicates the first value of the first X-axis direction vector, Indicates the first value of the first Y-axis direction vector, It represents the first value of the first Z-axis direction vector, p1[1] represents the first value of the coordinate of the origin of the first local coordinate system in the world coordinate system, and so on.

[0146] (501.3) Multiply the coordinates of each point on the pelvis-pelvic prosthesis assembly model by the inverse matrix of the first transformation matrix to move the pelvis-pelvic prosthesis assembly model to the first target position.

[0147] In some embodiments, all models in the present method are mesh models, which are composed of multiple polygonal patches, each of which has multiple vertices.

[0148] Optionally, the coordinates of each vertex and each feature point on the pelvic model and the coordinates of each vertex on the pelvic prosthesis model are multiplied by the inverse matrix of the first transformation matrix to move the pelvis-pelvic prosthesis combination model to the first target position.

[0149] Optionally, the first target position is a position where the first local coordinate system coincides with the world coordinate system.

[0150] Step S502: moving the femur-femoral prosthesis combination model to a second target position based on the updated target feature point set.

[0151] In some embodiments, step S502 includes steps (502.1) to (502.3).

[0152] (502.1) Establish a second local coordinate system of the femur-femoral prosthesis combination model based on the updated target feature point set.

[0153] In some embodiments, when the first femur model is a left femur model, the target feature point set is the second feature point set, and step (502.1) includes steps (502.1.1) to (502.1.5).

[0154] (502.1.1) The proximal end point of the left femoral shaft is used as the origin of the second local coordinate system.

[0155] (502.1.2) The direction vector from the distal point of the left femoral shaft axis to the proximal point of the left femoral shaft axis is used as the second Z-axis direction vector of the second local coordinate system.

[0156] (502.1.3) The inverse vector of the resultant vector of the cross-multiplication of the second Z-axis direction vector and the direction vector from the proximal end point of the left femoral shaft axis to the rotation center point of the left femoral head is used as the second Y-axis direction vector of the second local coordinate system.

[0157] At this point, the rotation center point of the left femoral head has been updated.

[0158] (502.1.4) Cross-multiply the second Y-axis direction vector by the second Z-axis direction vector to obtain a second X-axis direction vector.

[0159] (502.1.5) Determine the second local coordinate system based on the origin of the second local coordinate system, the second X-axis direction vector, the second Y-axis direction vector, and the second Z-axis direction vector.

[0160] In some embodiments, when the first femur model is a right femur model, the target feature point set is a third feature point set, and step (502.1) includes steps (502.1.6) to (502.1.10).

[0161] (502.1.6) The proximal point of the right femoral shaft is used as the origin of the second local coordinate system.

[0162] (502.1.7) The direction vector from the distal point of the right femoral shaft axis to the proximal point of the right femoral shaft axis is used as the second Z-axis direction vector of the second local coordinate system.

[0163] (502.1.8) The result vector of the cross-multiplication of the second Z-axis direction vector and the direction vector from the proximal end point of the right femoral shaft axis to the rotation center point of the right femoral head is used as the second Y-axis direction vector of the second local coordinate system.

[0164] At this point, the rotation center point of the right femoral head has been updated.

[0165] (502.1.9) Cross-multiply the second Y-axis direction vector by the second Z-axis direction vector to obtain the second X-axis direction vector.

[0166] (502.1.10) Determine the second local coordinate system based on the origin of the second local coordinate system, the second X-axis direction vector, the second Y-axis direction vector, and the second Z-axis direction vector.

[0167] (502.2) Calculate a second transformation matrix based on the second local coordinate system and the world coordinate system.

[0168] In some embodiments, the second transformation matrix is ​​calculated based on the coordinates of the origin of the second local coordinate system in the world coordinate system, and expressions of the second X-axis direction vector, the second Y-axis direction vector, and the second Z-axis direction vector in the world coordinate system.

[0169] Optionally, the second transformation matrix is:

[0170] Where T2 represents the second transformation matrix, Indicates the first value of the second X-axis direction vector, Indicates the first value of the second Y-axis direction vector, It represents the first value of the second Z-axis direction vector, p2[1] represents the first value of the coordinate of the origin of the second local coordinate system in the world coordinate system, and so on.

[0171] (502.3) Multiply the coordinates of each point on the femur-femoral prosthesis assembly model by the inverse matrix of the second transformation matrix to move the femur-femoral prosthesis assembly model to a second target position.

[0172] As mentioned above, in some embodiments, all models in the present method are grid models.

[0173] Optionally, the coordinates of each vertex and each feature point on the femoral model and the coordinates of each vertex on the femoral prosthesis model are multiplied by the inverse matrix of the second transformation matrix to move the femoral-femoral prosthesis combination model to the second target position.

[0174] Optionally, the second target position is a position where the second local coordinate system coincides with the world coordinate system.

[0175] Step S503: moving the second femur model to a third target position based on the feature point set corresponding to the second femur model.

[0176] In some embodiments, step S503 includes steps (503.1) to (503.3).

[0177] (503.1) Establish a third local coordinate system of the second femur model based on the feature point set corresponding to the updated second femur model.

[0178] In some embodiments, when the second femoral model is a left femoral model, the feature point set corresponding to the second femoral model is the second feature point set, and the method for establishing the third local coordinate system of the second femoral model refers to steps (502.1.1) to (502.1.5).

[0179] In some embodiments, when the second femoral model is a right femoral model, the feature point set corresponding to the second femoral model is the third feature point set, and the method for establishing the third local coordinate system of the second femoral model refers to steps (502.1.6) to (502.1.10).

[0180] (503.2) Calculate a third transformation matrix based on the third local coordinate system and the world coordinate system.

[0181] In some embodiments, the third transformation matrix is ​​calculated based on the coordinates of the origin of the third local coordinate system in the world coordinate system, and the expressions of the third X-axis direction vector, the third Y-axis direction vector and the third Z-axis direction vector of the third local coordinate system in the world coordinate system, and the method refers to step (502.2).

[0182] (503.3) Multiply the coordinates of each point on the second femur model by the inverse matrix of the third transformation matrix to move the second femur model to the third target position.

[0183] Optionally, the coordinates of each vertex and each feature point on the second femur model are multiplied by the inverse matrix of the third transformation matrix to move the second femur model to the third target position.

[0184] Optionally, the third target position is a position where the third local coordinate system coincides with the world coordinate system.

[0185] In some implementations, the positions of all models may not be initialized first, but may be manually adjusted.

[0186] Step S600: splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femur model in a first splicing manner, and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set.

[0187] The second femur model is a femur model of the left femur model and the right femur model that is different from the first femur model.

[0188] As mentioned above, the numerical value of hip offset needs to be calculated during preoperative planning.

[0189] In some embodiments, the left and right femoral shaft axes are rotated vertically, and the difference between the line-plane distances between the pelvic model mid-axis plane (i.e., the first plane described below) and the left and right femoral shaft axes is calculated to obtain the values ​​of the hip joint offsets on both sides. Under this calculation method, the hip joint offsets on both sides can only be equal if the lever arm lengths of the left and right hip joints are equal and the acetabular fossa offsets on both sides are symmetrical.

[0190] See also Figure 7 , Figure 7 yes Figure 1 Detailed flow chart of step S600 in FIG. Figure 7 As shown, in some embodiments, step S600 includes steps S610 to S630.

[0191] Step S610: Translate the femur-femoral prosthesis assembly model based on the direction vector pointing from the femoral rotation center point in the target feature point set to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the target feature point set coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvic prosthesis assembly model and the femur-femoral prosthesis assembly model.

[0192] At this time, the femur rotation center point in the target feature point set and the hip joint rotation center point on the corresponding side in the first feature point set have been updated.

[0193] In some embodiments, when the femoral rotation center point in the target feature point set is the left femoral rotation center point, the hip joint rotation center point on the corresponding side is the left hip joint rotation center point.

[0194] In some embodiments, when the femoral rotation center point in the target feature point set is the right femoral rotation center point, the hip joint rotation center point on the corresponding side is the right hip joint rotation center point.

[0195] In some embodiments, the coordinates of each vertex and each feature point on the first femoral model, as well as the coordinates of each vertex on the femoral prosthesis model, are added to the expression of the direction vector pointing from the femoral rotation center point in the target feature point set to the hip joint rotation center point on the corresponding side, thereby translating the femoral-femoral prosthesis combination model.

[0196] Step S620: Translate the second femoral model based on the direction vector pointing from the femoral rotation center point in the feature point set corresponding to the second femoral model to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the feature point set corresponding to the second femoral model coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvic prosthesis combination model and the second femoral model.

[0197] In some embodiments, when the femoral rotation center point in the feature point set corresponding to the second femoral model is the left femoral rotation center point, the hip joint rotation center point on the corresponding side is the left hip joint rotation center point.

[0198] In some embodiments, when the femoral rotation center point in the feature point set corresponding to the second femoral model is the right femoral rotation center point, the hip joint rotation center point on the corresponding side is the right hip joint rotation center point.

[0199] In some embodiments, the coordinates of each vertex and each feature point on the second femoral model are added to the expression of the direction vector pointing from the femoral rotation center point in the feature point set corresponding to the second femoral model to the hip joint rotation center point on the corresponding side in the first feature point set, thereby translating the second femoral model.

[0200] See also Figure 8 , Figure 8 Schematic diagram of the first combination model provided in the embodiment of the present application. Figure 8 As shown, in some embodiments, the pelvis-pelvic prosthesis assembly model 4, the femur-femur prosthesis assembly model 6 and the second femur model ( Figure 8 In the example, the second femur model is the left femur model 2), and the first combined model 9 is obtained. Figure 8 The coordinate system 8 in is the world coordinate system.

[0201] Step S630: Calculate the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set and the first plane.

[0202] In some embodiments, step S630 includes steps (630.1) to (630.3).

[0203] (630.1) Determine a first plane based on the difference between the center point of the pelvis-pelvic prosthesis assembly model and the origin of the world coordinate system and the vertical plane.

[0204] Optionally, the center point of the pelvis-pelvic prosthesis assembly model is the midpoint of a line connecting the left pubic tubercle and the right pubic tubercle.

[0205] Optionally, the midpoint of the line connecting the left pubic tubercle node and the right pubic tubercle node is the origin of the first local coordinate system.

[0206] Optionally, the vertical plane is a plane in the vertical direction passing through the origin of the world coordinate system.

[0207] Optionally, the first plane is a plane parallel to the vertical plane and passing through the center point of the pelvis-pelvic prosthesis combination model.

[0208] In some embodiments, after the pelvis-pelvic prosthesis assembly model is moved to the first target position, the center point of the pelvis-pelvic prosthesis assembly model (ie, the origin of the first local coordinate system) coincides with the origin of the world coordinate system, and the first plane is a vertical plane.

[0209] Optionally, the first plane is a YOZ plane determined according to the world coordinate system. The YOZ plane is a plane passing through the origin of the world coordinate system (i.e., point O), the Y axis of the world coordinate system, and the Z axis of the world coordinate system, wherein the Z axis of the world coordinate system is the coordinate axis in the vertical direction.

[0210] (630.2) Based on the coordinates of the proximal end point of the left femoral shaft axis and the coordinates of the distal end point of the left femoral shaft axis, the left femoral shaft axis passing through the proximal end point of the left femoral shaft axis and the distal end point of the left femoral shaft axis is determined, and the distance between the left femoral shaft axis and the first plane is used as the value of the left hip joint offset.

[0211] In some embodiments, when the first plane is the YOZ plane, the left femoral axis is parallel to the YOZ plane, and the absolute value of the X-axis coordinate of the proximal end point 23 of the left femoral axis or the absolute value of the X-axis coordinate of the distal end point 24 of the left femoral axis is the value of the left hip joint offset. In this way, the calculation process of the hip joint offset can be simplified.

[0212] (630.3) Based on the coordinates of the proximal end point of the right femoral shaft axis and the coordinates of the distal end point of the right femoral shaft axis, the right femoral shaft axis passing through the proximal end point of the right femoral shaft axis and the distal end point of the right femoral shaft axis is determined, and the distance between the right femoral shaft axis and the first plane is used as the value of the right hip joint offset.

[0213] like Figure 8As shown, in some embodiments, when the first plane is the YOZ plane, the right femoral shaft axis is parallel to the YOZ plane, and the absolute value of the X-axis coordinate value of the proximal point 33 of the right femoral shaft axis or the absolute value of the X-axis coordinate value of the distal point 34 of the right femoral shaft axis is the value of the right hip joint offset.

[0214] In some embodiments, when hip joint reconstruction surgery is required on both sides of the target subject's body, the pelvis-pelvic prosthesis assembly model, the first femur-femur prosthesis assembly model, and the second femur-femur prosthesis assembly model are spliced ​​in a first splicing manner, and then the hip joint offsets on both sides are calculated, according to the method described above.

[0215] Step S700: splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femur model in a second splicing manner, and calculating the hip joint length based on the coordinates of the lesser trochanter point in the second feature point set and the third feature point set.

[0216] See also Figure 9 , Figure 9 yes Figure 1 Detailed flow chart of step S700 in FIG. Figure 9 As shown, in some embodiments, step S700 includes steps S710 to S770.

[0217] Step S710: Rotate the femur-femoral prosthesis assembly model so that the line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the target feature point concentration and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system.

[0218] Among them, the femoral rotation center point in the target feature point set has been updated.

[0219] In some embodiments, step S710 includes steps (710.1) to (710.5).

[0220] (710.1) A direction vector pointing from the midpoint of a line connecting the medial femoral condyle point and the lateral femoral condyle point in the target feature point set to the femoral rotation center point in the target feature point set is determined as a first vector.

[0221] (710.2) A result vector obtained by cross-multiplying the first vector by the direction vector pointing from the distal end point of the femoral shaft axis in the target feature point set to the proximal end point of the femoral shaft axis in the target feature point set is determined as a second vector.

[0222] (710.3) Cross-multiply the first vector by the second vector to obtain the third vector.

[0223] (710.4) Determine a first rotation matrix based on the first vector, the second vector, and the third vector.

[0224] Optionally, when the first femur model is a right femur model, the first rotation matrix is:

[0225]

[0226] Among them, T3 represents the first rotation matrix, represents the third vector, represents the second vector, represents the first vector, express The first value of express The first value of express The first value of , and so on.

[0227] Optionally, when the first femur model is a left femur model, the first rotation matrix is:

[0228]

[0229] (710.5) Multiply the coordinates of each point on the femur-femoral prosthesis assembly model by the first rotation matrix to rotate the femur-femoral prosthesis assembly model so that the line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the target feature point concentration and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system.

[0230] Optionally, the coordinates of each vertex and each feature point on the first femoral model and the coordinates of each vertex on the femoral prosthesis model are multiplied by a first rotation matrix to rotate the femoral-femoral prosthesis combination model.

[0231] Step S720: Translate the femur-femoral prosthesis assembly model based on the direction vector pointing from the femoral rotation center point in the target feature point set to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the target feature point set coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvic prosthesis assembly model and the femur-femoral prosthesis assembly model.

[0232] Optionally, the coordinates of each vertex and each feature point on the first femoral model, as well as the coordinates of each vertex on the femoral prosthesis model, are added with an expression of a direction vector pointing from the femoral rotation center point in the target feature point set to the hip joint rotation center point on the corresponding side in the first feature point set to translate the femoral-femoral prosthesis combination model.

[0233] Step S730: Rotate the second femoral model so that the line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the feature point set corresponding to the second femoral model and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system.

[0234] In some embodiments, step S730 includes steps (730.1) to (730.5).

[0235] (730.1) The direction vector of the midpoint of the line connecting the medial femoral condyle point and the lateral femoral condyle point in the feature point set corresponding to the second femoral model pointing to the femoral rotation center point in the feature point set corresponding to the second femoral model is determined as the fourth vector.

[0236] (730.2) The result vector of the cross-multiplication of the fourth vector by the direction vector from the distal end point of the femoral shaft axis in the feature point set corresponding to the second femoral model to the proximal end point of the femoral shaft axis in the feature point set corresponding to the second femoral model is determined as the fifth vector.

[0237] (730.3) Cross-multiply the fourth vector by the fifth vector to obtain the sixth vector.

[0238] (730.4) Determine a second rotation matrix based on the fourth vector, the fifth vector, and the sixth vector.

[0239] Optionally, the method for determining the second rotation matrix refers to the method for determining the first rotation matrix.

[0240] (730.5) Multiply the coordinates of each point on the second femoral model by the second rotation matrix to rotate the second femoral model so that the line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the feature point set corresponding to the second femoral model and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system.

[0241] Optionally, the coordinates of each vertex and each feature point on the second femur model are multiplied by the second rotation matrix to rotate the second femur model.

[0242] Step S740: Translate the second femoral model based on the direction vector pointing from the femoral rotation center point in the feature point set corresponding to the second femoral model to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the feature point set corresponding to the second femoral model coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvic prosthesis combination model and the second femoral model.

[0243] Optionally, the coordinates of each vertex and each feature point on the second femoral model are added with an expression of a direction vector pointing from the femoral rotation center point in the feature point set corresponding to the second femoral model to the hip joint rotation center point on the corresponding side in the first feature point set to translate the second femoral model.

[0244] See also Figure 10 , Figure 10 Schematic diagram of the second combination model provided in the embodiment of the present application. Figure 10As shown, in some embodiments, the pelvis-pelvic prosthesis assembly model 4, the femur-femur prosthesis assembly model 6 and the second femur model ( Figure 10 In the example, the second femur model is the left femur model 2), and a second combined model 10 is obtained.

[0245] Step S750: Determine a second plane based on the difference between the center point of the pelvis-pelvic prosthesis assembly model and the origin of the world coordinate system and the horizontal plane.

[0246] As described above, in some embodiments, the center point of the pelvis-pelvic prosthesis assembly model is the midpoint of the line connecting the left pubic tubercle and the right pubic tubercle.

[0247] Optionally, the second plane is a plane parallel to the horizontal plane and passing through the center point of the pelvis-pelvic prosthesis combination model.

[0248] In some embodiments, after the pelvis-pelvic prosthesis assembly model is moved to the first target position, the center point of the pelvis-pelvic prosthesis assembly model (ie, the origin of the first local coordinate system) coincides with the origin of the world coordinate system, and the first plane is a horizontal plane.

[0249] Optionally, the second plane is an XOY plane determined according to the world coordinate system, and the XOY plane is a plane passing through the origin of the world coordinate system (i.e., point O), the X-axis of the world coordinate system, and the Y-axis of the world coordinate system, wherein the X-axis and Y-axis of the world coordinate system are both located on a horizontal plane.

[0250] Step S760: The distance between the lesser trochanter point of the left femur and the second plane is used as the value of the left hip joint length.

[0251] In some embodiments, when the second plane is the XOY plane, the distance between the left lesser trochanter point and the second plane is the absolute value of the Z-axis coordinate value of the left lesser trochanter point.

[0252] Step S770: The distance between the right femoral lesser trochanter point and the second plane is used as the value of the right hip joint length.

[0253] In some embodiments, when the second plane is the XOY plane, the distance between the right lesser trochanter point and the second plane is the absolute value of the Z-axis coordinate value of the right lesser trochanter point.

[0254] In some embodiments, when hip joint reconstruction surgery is required on both sides of the target subject's body, the pelvis-pelvic prosthesis assembly model, the first femur-femur prosthesis assembly model, and the second femur-femur prosthesis assembly model are spliced ​​in a second splicing manner, and then the hip joint lengths on both sides are calculated, according to the method described above.

[0255] In some embodiments, after obtaining the values ​​of the hip joint offset and hip joint length on both sides, the doctor adjusts the position of the pelvic prosthesis model and / or the femoral prosthesis model according to the values ​​of the hip joint offset and hip joint length on both sides.

[0256] In some embodiments, each time the position of the pelvic prosthesis model and / or the femoral prosthesis model is adjusted, steps S300 to S700 are executed again to recalculate the values ​​of the hip joint offset and hip joint length on both sides based on the adjusted positions of the pelvic prosthesis model and / or the femoral prosthesis model.

[0257] In some embodiments, the doctor adjusts the position of the pelvic prosthesis model and / or the femoral prosthesis model multiple times, and recalculates the values ​​of the hip joint offset and hip joint length on both sides each time, until the hip joint offset on both sides is adjusted to a first preset value, and the value of the hip joint length is adjusted to a second preset value, and then performs hip joint reconstruction surgery on the target object based on the finally obtained combined model.

[0258] By recalculating physiological parameters in this way, it can be ensured that the hip joint offset and hip joint length on the surgical side and the non-surgical side are ultimately equal, which is beneficial for the target subject to recover hip joint function and reduce complications after surgery.

[0259] In summary, the method for calculating physiological parameters of the model in hip prosthesis planning provided by the embodiments of the present application has the following advantages:

[0260] 1. By splicing the pelvis-pelvic prosthesis combination model, the femur-femur prosthesis combination model, and the second femur model respectively according to the first splicing method and the second method, and then calculating the hip joint offset and hip joint length based on the feature points in the second feature point set and the third feature point set respectively, the numerical values ​​of the postoperative hip joint physiological parameters can be accurately obtained through the preoperative planned model, which is convenient for doctors to judge whether the current preoperative planning is reasonable, thereby providing doctors with accurate reference for performing hip joint reconstruction surgery and improving the accuracy of the surgery.

[0261] 2. By initializing the positions of all models first, the values ​​of physiological parameters can be directly obtained through the coordinate values ​​of feature points, thereby simplifying the calculation process of physiological parameters.

[0262] 3. By recalculating physiological parameters, it can ensure that the hip joint offset and hip joint length on the surgical side and the non-surgical side are equal, which is beneficial to the target subject's postoperative recovery of hip joint function and reduction of complications.

[0263] The present application also provides a device for calculating physiological parameters of a model in hip joint prosthesis planning, which is used to implement the method for calculating physiological parameters of a model in hip joint prosthesis planning as described above.

[0264] See also Figure 11 , Figure 11 Schematic diagram of the structure of the device for calculating the physiological parameters of the model in hip prosthesis planning provided by the embodiment of the present application. Figure 11 As shown, the device 300 for calculating physiological parameters of a model in hip joint prosthesis planning includes an acquisition module 310 and a processing module 320 .

[0265] In some embodiments, the acquisition module 310 is used to acquire a pelvic model, a left femoral model, a right femoral model, a first feature point set of the pelvic model, a second feature point set of the left femoral model, and a third feature point set of the right femoral model; and to acquire a pelvic prosthesis model and a femoral prosthesis model.

[0266] In some embodiments, the processing module 320 is used to receive a first control instruction, move the pelvic prosthesis model to a position combined with the pelvic model according to the first control instruction, and determine a pelvic-pelvic prosthesis combination model based on the pelvic model and the pelvic prosthesis model; receive a second control instruction, move the femoral prosthesis model to a position combined with the first femoral model according to the second control instruction, and determine a femoral-femoral prosthesis combination model based on the first femoral model and the femoral prosthesis model, wherein the first femoral model is a left femoral model or a right femoral model; update the first feature point set based on the pelvic prosthesis model, and update the target feature corresponding to the first femoral model based on the femoral prosthesis model. point set, wherein the target feature point set is the second feature point set or the third feature point set; the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femur model are spliced ​​in a first splicing method, and the hip joint offset is calculated based on the coordinates of the femoral shaft end point in the second feature point set and the third feature point set, wherein the second femur model is a femur model different from the first femur model in the left femur model and the right femur model; the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femur model are spliced ​​in a second splicing method, and the hip joint length is calculated based on the coordinates of the lesser trochanter point in the second feature point set and the third feature point set.

[0267] See also Figure 12 , Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 12 As shown, the electronic device 400 includes: one or more processors 410 and a memory 420, Figure 12 A processor 410 is taken as an example.

[0268] In some embodiments, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 12 The bus connection is taken as an example.

[0269] In some embodiments, the processor 410 is used to obtain a pelvic model, a left femoral model, a right femoral model, a first feature point set of the pelvic model, a second feature point set of the left femoral model, and a third feature point set of the right femoral model; obtain a pelvic prosthesis model and a femoral prosthesis model; receive a first control instruction, move the pelvic prosthesis model to a position combined with the pelvic model according to the first control instruction, and determine a pelvic-pelvic prosthesis combination model according to the pelvic model and the pelvic prosthesis model; receive a second control instruction, move the femoral prosthesis model to a position combined with the first femoral model according to the second control instruction, and determine a femoral-femoral prosthesis combination model according to the first femoral model and the femoral prosthesis model, wherein the first femoral model is a left femoral model or a right femoral model; based on the pelvic prosthesis, the femoral prosthesis is moved to a position combined with the first femoral model according to the second control instruction, and determine a femoral-femoral prosthesis combination model according to the first femoral model and the femoral prosthesis model. The first feature point set is updated according to the body model, and the target feature point set corresponding to the first femoral model is updated based on the femoral prosthesis model, wherein the target feature point set is the second feature point set or the third feature point set; the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femoral model are spliced ​​in a first splicing manner, and the hip joint offset is calculated based on the coordinates of the femoral shaft end point in the second feature point set and the third feature point set, wherein the second femoral model is a femoral model different from the first femoral model in the left femoral model and the right femoral model; the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femoral model are spliced ​​in a second splicing manner, and the hip joint length is calculated based on the coordinates of the lesser trochanter point of the femur in the second feature point set and the third feature point set.

[0270] In some embodiments, memory 420, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules for the method for calculating physiological parameters of a model in hip prosthesis planning in the embodiments of the present application. Processor 410 executes the non-volatile software programs, instructions, and modules stored in memory 420 to execute various functional applications and data processing of electronic device 400, thereby implementing the method for calculating physiological parameters of a model in hip prosthesis planning in the above-described method embodiment.

[0271] In some embodiments, the memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device 400, etc. In addition, the memory 420 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely located relative to the processor 410, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0272] In some embodiments, one or more modules are stored in the memory 420, and when executed by one or more processors 410, the calculation method of the model physiological parameters in the hip prosthesis planning in any of the above method embodiments is executed, for example, the calculation method described above is executed. Figure 1 Method steps S100 to S700.

[0273] Please refer to Figure 13 , Figure 13 The computer-readable storage medium 500 stores program code 510, which can be called by a processor to execute the method for calculating physiological parameters of the model in hip prosthesis planning described in the above method embodiment.

[0274] The computer-readable storage medium 500 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk or a ROM. Optionally, the computer-readable storage medium includes a non-volatile computer-readable storage medium (non transitory computer readable storage medium). The computer-readable storage medium 500 has storage space for program codes for executing any method steps in the method for calculating the physiological parameters of the model in the above-mentioned hip prosthesis planning. These program codes can be read from or written into one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0275] In summary, the present application provides a method for calculating physiological parameters of a model in hip prosthesis planning and an electronic device, wherein the method for calculating physiological parameters of a model in hip prosthesis planning includes obtaining a pelvic model, a left femoral model, a right femoral model, a first feature point set of the pelvic model, a second feature point set of the left femoral model, and a third feature point set of the right femoral model; obtaining a pelvic prosthesis model and a femoral prosthesis model; receiving a first control instruction, moving the pelvic prosthesis model to a position combined with the pelvic model according to the first control instruction, and determining a pelvic-pelvic prosthesis combination model according to the pelvic model and the pelvic prosthesis model; receiving a second control instruction, moving the femoral prosthesis model to a position combined with the first femoral model according to the second control instruction, and determining a femoral-femoral prosthesis combination model according to the first femoral model and the femoral prosthesis model, wherein the first femoral model The model is a left femur model or a right femur model; the first feature point set is updated based on the pelvic prosthesis model, and the target feature point set corresponding to the first femur model is updated based on the femoral prosthesis model, wherein the target feature point set is the second feature point set or the third feature point set; the pelvis-pelvic prosthesis combination model, the femur-femoral prosthesis combination model and the second femur model are spliced ​​in a first splicing method, and the hip joint offset is calculated based on the coordinates of the femoral shaft end point in the second feature point set and the third feature point set, wherein the second femur model is a femur model different from the first femur model in the left femur model and the right femur model; the pelvis-pelvic prosthesis combination model, the femur-femoral prosthesis combination model and the second femur model are spliced ​​in a second splicing method, and the hip joint length is calculated based on the coordinates of the lesser trochanter point of the femur in the second feature point set and the third feature point set. The present application splices a pelvis-pelvic prosthesis combination model, a femur-femur prosthesis combination model and a second femur model in a first splicing method and a second method respectively, and then calculates the hip joint offset and hip joint length based on the feature points in the second feature point set and the third feature point set respectively. The numerical values ​​of the postoperative hip joint physiological parameters can be accurately obtained through the preoperative planning model, which is convenient for doctors to judge whether the current preoperative planning is reasonable, thereby providing doctors with an accurate reference for performing hip joint reconstruction surgery and improving the accuracy of the surgery.

[0276] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for calculating physiological parameters of a model in hip prosthesis planning, characterized in that: include: Acquire a pelvis model, a left femur model, a right femur model, a first feature point set of the pelvis model, a second feature point set of the left femur model, and a third feature point set of the right femur model; Obtain pelvic prosthesis models and femoral prosthesis models; receiving a first control instruction, moving the pelvic prosthesis model to a position where it is combined with the pelvic model according to the first control instruction, and determining a pelvic-pelvic prosthesis combination model based on the pelvic model and the pelvic prosthesis model; receiving a second control instruction, moving the femoral prosthesis model to a position for combination with a first femoral model according to the second control instruction, and determining a femoral-femoral prosthesis combination model according to the first femoral model and the femoral prosthesis model, wherein the first femoral model is the left femoral model or the right femoral model; Updating the first feature point set based on the pelvic prosthesis model, and updating the target feature point set corresponding to the first femoral model based on the femoral prosthesis model, wherein the target feature point set is the second feature point set or the third feature point set; splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and a second femur model in a first splicing manner, and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set, wherein the second femur model is a femur model of the left femur model and the right femur model that is different from the first femur model; The pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femur model are spliced ​​in a second splicing manner, and the hip joint length is calculated based on the coordinates of the lesser trochanter point in the second feature point set and the third feature point set.

2. The method for calculating physiological parameters of a model in hip joint prosthesis planning according to claim 1, characterized in that: Before splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and the second femur model in a first splicing manner, and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set, the method further includes: moving the pelvis-pelvic prosthesis combination model to a first target position based on the first feature point set; moving the femur-femoral prosthesis combination model to a second target position based on the updated target feature point set; The second femur model is moved to a third target position based on the feature point set corresponding to the second femur model.

3. The method for calculating physiological parameters of a model in hip joint prosthesis planning according to claim 2, characterized in that: The step of moving the pelvis-pelvic prosthesis combination model to a first target position based on the first feature point set includes: Establishing a first local coordinate system of the pelvis-pelvic prosthesis combination model based on the first feature point set; Calculate a first transformation matrix based on the first local coordinate system and the world coordinate system; The coordinates of each point on the pelvis-pelvic prosthesis assembly model are multiplied by the inverse matrix of the first transformation matrix to move the pelvis-pelvic prosthesis assembly model to the first target position.

4. The method for calculating physiological parameters of a model in hip joint prosthesis planning according to claim 2, characterized in that: The step of moving the femur-femoral prosthesis combination model to a second target position based on the updated target feature point set includes: Establishing a second local coordinate system of the femur-femoral prosthesis combination model based on the updated target feature point set; Calculate a second transformation matrix based on the second local coordinate system and the world coordinate system; multiplying the coordinates of each point on the femur-femoral prosthesis assembly model by the inverse matrix of the second transformation matrix to move the femur-femoral prosthesis assembly model to the second target position; The moving the second femur model to a third target position based on the feature point set corresponding to the second femur model includes: Establishing a third local coordinate system of the second femur model based on the updated feature point set corresponding to the second femur model; Calculating a third transformation matrix based on the third local coordinate system and the world coordinate system; The coordinates of each point on the second femoral model are multiplied by the inverse matrix of the third transformation matrix to move the second femoral model to the third target position.

5. The method for calculating physiological parameters of a model in hip joint prosthesis planning according to any one of claims 1 to 4, characterized in that: The updating of the first feature point set based on the pelvic prosthesis model, and the updating of the target feature point set corresponding to the first femoral model based on the femoral prosthesis model, include: Using the coordinates of the rotation center point of the pad model in the pelvic prosthesis model as the coordinates of the rotation center point of the hip joint on the corresponding side of the updated first feature point set; The coordinates of the rotation center point of the ball head model in the femoral prosthesis model are used as the coordinates of the rotation center point of the femoral head on the corresponding side of the updated target feature point set.

6. The method for calculating physiological parameters of a model in hip joint prosthesis planning according to claim 5, characterized in that: The first feature point set includes the left hip joint rotation center point and the right hip joint rotation center point, the second feature point set includes the left femoral rotation center point, the left femoral shaft axis proximal point and the left femoral shaft axis distal point, and the third feature point set includes the right femoral rotation center point, the right femoral shaft axis proximal point and the right femoral shaft axis distal point. The step of splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and the second femur model in a first splicing manner, and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set, includes: translating the femur-femoral prosthesis assembly model based on a direction vector pointing from the femoral rotation center point in the target feature point set to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the target feature point set coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvis prosthesis assembly model and the femur-femoral prosthesis assembly model; translating the second femoral model based on a direction vector pointing from the femoral rotation center point in the feature point set corresponding to the second femoral model to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the feature point set corresponding to the second femoral model coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvic prosthesis combination model and the second femoral model; The hip joint offset is calculated based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set and the first plane.

7. The method for calculating physiological parameters of a model in hip joint prosthesis planning according to claim 6, characterized in that: The calculating of the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set and the first plane includes: Determining a first plane based on a difference between a center point of the pelvis-pelvic prosthesis combination model and an origin of a world coordinate system and a vertical plane; Determine a left femoral shaft axis passing through the left femoral shaft axis proximal point and the left femoral shaft axis distal point based on the coordinates of the left femoral shaft axis proximal point and the left femoral shaft axis distal point, and use the distance between the left femoral shaft axis and the first plane as the value of the left hip joint offset; Based on the coordinates of the proximal point of the right femoral shaft axis and the coordinates of the distal point of the right femoral shaft axis, the right femoral shaft axis passing through the proximal point of the right femoral shaft axis and the distal point of the right femoral shaft axis is determined, and the distance between the right femoral shaft axis and the first plane is used as the numerical value of the right hip joint offset.

8. The method for calculating physiological parameters of a model in hip joint prosthesis planning according to claim 5, characterized in that: The first feature point set includes the left hip joint rotation center point and the right hip joint rotation center point, the second feature point set includes the left femoral rotation center point, the left medial femoral condyle point, the left lateral femoral condyle point and the left femoral lesser trochanter point, and the third feature point set includes the right femoral rotation center point, the right medial femoral condyle point, the right lateral femoral condyle point and the right femoral lesser trochanter point. The step of splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and the second femur model in a second splicing manner, and calculating the hip joint length based on the coordinates of the lesser trochanter point in the second feature point set and the third feature point set, comprises: Rotating the femoral-femoral prosthesis assembly model so that a line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the target feature point concentration and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system; translating the femur-femoral prosthesis assembly model based on a direction vector pointing from the femoral rotation center point in the target feature point set to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the target feature point set coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvis prosthesis assembly model and the femur-femoral prosthesis assembly model; Rotating the second femoral model so that a line connecting a midpoint of a medial femoral condyle point and a lateral femoral condyle point in a feature point set corresponding to the second femoral model and a femoral rotation center point is parallel to a vertical coordinate axis of the world coordinate system; translating the second femoral model based on a direction vector pointing from the femoral rotation center point in the feature point set corresponding to the second femoral model to the hip joint rotation center point on the corresponding side in the first feature point set, so that the femoral rotation center point in the feature point set corresponding to the second femoral model coincides with the hip joint rotation center point on the corresponding side, thereby splicing the pelvis-pelvic prosthesis combination model and the second femoral model; determining a second plane based on a difference between a center point of the pelvis-pelvic prosthesis combination model and an origin of a world coordinate system and a horizontal plane; The distance between the lesser trochanter point of the left femur and the second plane is used as the value of the left hip joint length; The distance between the right femoral lesser trochanter point and the second plane is used as the value of the right hip joint length.

9. The method for calculating physiological parameters of a model in hip joint prosthesis planning according to claim 8, characterized in that: The second feature point set also includes a proximal end point of the left femoral shaft axis and a distal end point of the left femoral shaft axis, and the third feature point set also includes a proximal end point of the right femoral shaft axis and a distal end point of the right femoral shaft axis. The step of rotating the femur-femoral prosthesis assembly model so that a line connecting a midpoint between the medial femoral condyle point and the lateral femoral condyle point in the target feature point concentration and the femoral rotation center point is parallel to a vertical coordinate axis of a world coordinate system includes: Determine a direction vector from a midpoint of a line connecting a medial femoral condyle point and a lateral femoral condyle point in the target feature point set to a femoral rotation center point in the target feature point set as a first vector; Determine a second vector as a result of cross-multiplying the first vector by a direction vector pointing from the distal end point of the femoral shaft axis in the target feature point set to the proximal end point of the femoral shaft axis in the target feature point set; Cross-multiplying the first vector by the second vector to obtain a third vector; determining a first rotation matrix based on the first vector, the second vector, and the third vector; Multiplying the coordinates of each point on the femur-femoral prosthesis assembly model by the first rotation matrix to rotate the femur-femoral prosthesis assembly model so that a line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the target feature point set and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system; The rotating the second femoral model so that a line connecting a midpoint between a medial femoral condyle point and a lateral femoral condyle point in a feature point set corresponding to the second femoral model and a femoral rotation center point is parallel to a vertical coordinate axis of the world coordinate system, comprising: Determine a direction vector pointing from a midpoint of a line connecting a medial femoral condyle point and a lateral femoral condyle point in the feature point set corresponding to the second femoral model to a femoral rotation center point in the feature point set corresponding to the second femoral model as a fourth vector; Determine a fifth vector by cross-multiplying the direction vector from the distal end point of the femoral shaft axis in the feature point set corresponding to the second femoral model to the proximal end point of the femoral shaft axis in the feature point set corresponding to the second femoral model by the fourth vector; Cross-multiplying the fourth vector by the fifth vector to obtain a sixth vector; determining a second rotation matrix based on the fourth vector, the fifth vector, and the sixth vector; Multiply the coordinates of each point on the second femoral model by the second rotation matrix to rotate the second femoral model so that the line connecting the midpoint of the medial femoral condyle point and the lateral femoral condyle point in the feature point set corresponding to the second femoral model and the femoral rotation center point is parallel to the vertical coordinate axis of the world coordinate system.

10. A device for calculating physiological parameters of a model in hip joint prosthesis planning, characterized in that: Including acquisition module and processing module, The acquisition module is used to acquire a pelvic model, a left femoral model, a right femoral model, a first feature point set of the pelvic model, a second feature point set of the left femoral model, and a third feature point set of the right femoral model; and acquire a pelvic prosthesis model and a femoral prosthesis model; The processing module is configured to receive a first control instruction, move the pelvic prosthesis model to a position where it is combined with the pelvic model according to the first control instruction, and determine a pelvic-pelvic prosthesis combination model based on the pelvic model and the pelvic prosthesis model; receiving a second control instruction, moving the femoral prosthesis model to a position for combination with a first femoral model according to the second control instruction, and determining a femoral-femoral prosthesis combination model according to the first femoral model and the femoral prosthesis model, wherein the first femoral model is the left femoral model or the right femoral model; Updating the first feature point set based on the pelvic prosthesis model, and updating the target feature point set corresponding to the first femoral model based on the femoral prosthesis model, wherein the target feature point set is the second feature point set or the third feature point set; splicing the pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model, and a second femur model in a first splicing manner, and calculating the hip joint offset based on the coordinates of the femoral shaft endpoints in the second feature point set and the third feature point set, wherein the second femur model is a femur model of the left femur model and the right femur model that is different from the first femur model; The pelvis-pelvic prosthesis assembly model, the femur-femoral prosthesis assembly model and the second femur model are spliced ​​in a second splicing manner, and the hip joint length is calculated based on the coordinates of the lesser trochanter point in the second feature point set and the third feature point set.

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