Hip joint prosthesis determination method and device and computer equipment

Abstract

The invention relates to a hip joint prosthesis determining method and device and computer equipment. The candidate hip joint prostheses are assembled to the target hip joint model, simulation assemblies are obtained, operation side parameter information of the simulation assemblies is determined, and therefore the target hip joint prosthesis is determined from the candidate hip joint prostheses according to the operation side parameter information of the simulation assemblies. According to the embodiment of the invention, the target hip joint prosthesis is determined from the candidate hip joint prostheses by using the operation side parameter information of the simulated assembly, and the target hip joint prosthesis is obtained in a parameterization manner, so that the problem of long time consumption caused by selection according to experience by medical staff is avoided, and the accuracy of the target hip joint prosthesis is improved. Reference experience is provided for medical staff when the target hip joint prosthesis is selected, the operation efficiency is improved, and the operation risk can be reduced.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a hip joint prosthesis determination method, device and computer equipment. Background Art

[0002] Hip replacement, also known as artificial hip replacement, is a procedure that uses bone cement and screws to fix a hip prosthesis on normal bone to replace the diseased joint and reconstruct the normal function of the patient's hip joint. The hip prosthesis includes, for example, an acetabular cup and a femoral stem. Therefore, the selection of hip prosthesis in hip replacement is extremely important.

[0003] However, in traditional hip replacement surgery, doctors with rich clinical experience are usually required to select hip prostheses based on their experience, which is time-consuming. Summary of the invention

[0004] Based on this, it is necessary to provide a hip prosthesis determination method, device and computer equipment that can reduce time consumption in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a method for determining a hip joint prosthesis, the method comprising:

[0006] Assembling each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly;

[0007] Determining surgical parameter information of each simulated assembly;

[0008] A target hip joint prosthesis is determined from among the candidate hip joint prostheses according to the surgical side parameter information of each simulated assembly.

[0009] In one embodiment, the post-operative parameter information of each simulated assembly includes the difference in lower limb length and the difference in joint eccentricity of each simulated assembly.

[0010] In one embodiment, determining a target hip joint prosthesis from each of the candidate hip joint prostheses according to the surgical parameter information of each of the simulated assemblies comprises:

[0011] Determine the sum of the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, and use the candidate hip joint prosthesis corresponding to the minimum summation result as the target hip joint prosthesis;

[0012] or,

[0013] Determine the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, screen out candidate hip joint prostheses that meet the lower limb length difference of ≤7 mm, and use the candidate hip joint prosthesis that meets the joint eccentricity difference of ≤4 mm among the screened candidate hip joint prostheses as the target hip joint prosthesis.

[0014] In one embodiment, the method further comprises:

[0015] The candidate hip joint prostheses are determined according to the detection image of the hip joint.

[0016] In one embodiment, determining each candidate hip joint prosthesis according to the detection image of the hip joint includes:

[0017] According to the detection image of the hip joint, obtaining joint feature point information corresponding to the hip joint in the detection image;

[0018] Planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model;

[0019] An evaluation is performed according to the planned position to obtain an evaluation result, and each candidate hip joint prosthesis is determined according to the evaluation result.

[0020] In one embodiment, planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis so that the hip joint prosthesis is located at the planned position in the target hip joint model includes:

[0021] According to the detection image of the hip joint, the joint feature point information, the attribute information of the hip prosthesis, and the preset planning conditions corresponding to the hip prosthesis, the hip prosthesis is placed at the target position in a predetermined posture so that the hip prosthesis is in the planned position in the target hip joint model.

[0022] In one embodiment, the step of evaluating the planned position and obtaining an evaluation result, and determining each candidate hip prosthesis according to the evaluation result, comprises:

[0023] Evaluate the planned position according to preset indicators of the hip joint prosthesis to obtain the evaluation result;

[0024] The candidate hip joint prostheses are determined according to the evaluation results and the attribute information of the hip joint prostheses corresponding to the evaluation results.

[0025] In one embodiment, each hip prosthesis includes an acetabular cup and a femoral stem.

[0026] The preset indicators corresponding to the acetabular cup are that the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the acetabular fossa center point is less than the preset offset;

[0027] The preset indicator corresponding to the femoral stem is that the contact condition between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact condition.

[0028] In a second aspect, the present application further provides a hip joint prosthesis determination device, the device comprising:

[0029] An acquisition module is used to assemble each candidate hip joint prosthesis to a target hip joint model to obtain a simulated assembly;

[0030] A first determination module is used to determine the surgical parameter information of each simulated assembly;

[0031] The second determination module is used to determine a target hip joint prosthesis from each of the candidate hip joint prostheses according to the surgical side parameter information of each of the simulated assemblies.

[0032] In a third aspect, the present application further provides a surgical robot system, which includes a computer device, and the computer device executes the steps of the method provided in the first aspect above.

[0033] In a fourth aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0034] Assembling each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly;

[0035] Determining surgical parameter information of each simulated assembly;

[0036] A target hip joint prosthesis is determined from among the candidate hip joint prostheses according to the surgical side parameter information of each simulated assembly.

[0037] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0038] Assembling each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly;

[0039] Determining surgical parameter information of each simulated assembly;

[0040] A target hip joint prosthesis is determined from among the candidate hip joint prostheses according to the surgical side parameter information of each simulated assembly.

[0041] In a sixth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, which implements the following steps when executed by a processor:

[0042] Assembling each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly;

[0043] Determining surgical parameter information of each simulated assembly;

[0044] A target hip joint prosthesis is determined from among the candidate hip joint prostheses according to the surgical side parameter information of each simulated assembly.

[0045] The above-mentioned hip prosthesis determination method, device and computer equipment assemble each candidate hip prosthesis to the target hip joint model to obtain a simulated assembly, and determine the surgical parameter information of each simulated assembly, so as to determine the target hip prosthesis from each candidate hip prosthesis according to the surgical parameter information of each simulated assembly. In the embodiment of the present application, the surgical parameter information of the simulated assembly is used to determine the target hip prosthesis from each candidate hip prosthesis, and the target hip prosthesis is obtained in a parameterized manner, thereby avoiding the time-consuming problem caused by medical staff making selections based on experience, providing reference experience for medical staff when selecting target hip prostheses, improving surgical efficiency, and reducing surgical risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A diagram of an application environment of a hip joint prosthesis determination method in one embodiment;

[0047] Figure 2 A schematic flow chart of a hip joint prosthesis determination method in one embodiment;

[0048] Figure 3 A schematic diagram of a flow chart of a method for determining a candidate hip joint prosthesis in one embodiment;

[0049] Figure 4 A schematic flow chart of a method for determining a candidate hip joint prosthesis in another embodiment;

[0050] Figure 5 It is a structural block diagram of a hip joint prosthesis determination device in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] The hip joint prosthesis determination method provided in the embodiment of the present application can be applied to Figure 1 In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in FIG. Figure 1 As shown. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data related to hip prosthesis. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a hip prosthesis determination method is implemented. The server can be implemented as an independent server or a server cluster consisting of multiple servers.

[0053] Those skilled in the art will understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0054] In one embodiment, Figure 2 As shown, a hip prosthesis determination method is provided, and the method is applied to Figure 1 The computer device in the example is used to illustrate, including the following steps:

[0055] S201, assembling each candidate hip joint prosthesis to a target hip joint model to obtain a simulated assembly.

[0056] Optionally, each candidate hip joint prosthesis may be a hip joint prosthesis screened from multiple initial hip joint prostheses based on the evaluation results of each initial hip joint prosthesis, or may be directly multiple initial hip joint prostheses; the candidate hip joint prostheses include acetabular cups, femoral stems, and the like.

[0057] In this embodiment, the three-dimensional simulation assembly software can be used to assemble each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly. Exemplarily, the candidate hip joint prosthesis is assembled to the target hip joint model by assembling the candidate acetabular cup to the planned position of the acetabular fossa of the target hip joint model, assembling the candidate femoral stem to the planned position of the femur of the target hip joint model, and then assembling the acetabular cup and the femoral stem to obtain a simulated assembly.

[0058] S202, determining the surgical parameter information of each simulated assembly.

[0059] The surgical parameter information of each simulated assembly includes the lower limb length difference and joint eccentricity difference of each simulated assembly.

[0060] In this embodiment, after receiving the instruction triggered by the user, the position of the joint feature points can be measured using the measurement tool in the three-dimensional simulation assembly software to obtain the joint feature point information of each simulated assembly; the simulated assembly can also be sliced ​​to obtain the medical image corresponding to each layer, and the obtained multi-layer medical image is input into a pre-trained network model, and the network is used to perform target detection and target recognition to obtain the joint feature point information of each simulated assembly. Optionally, the joint feature point information includes the acetabular center, acetabular radius, femoral shaft axis, femoral head-femoral neck connection line, etc. in the simulated assembly.

[0061] In this embodiment, the length of the lower limbs is determined according to the joint feature point information of each simulated assembly, and the difference in the length of the lower limbs is determined according to the lengths of the lower limbs on both sides. For example, the length of the lower limbs is determined according to the distance between the anterior superior iliac spine and the tip of the medial malleolus on the same side in the joint feature point information, and the difference in the length of the lower limbs is determined according to the lengths of the lower limbs on both sides; or according to the distance between the anterior superior iliac spine and the tip of the lateral malleolus on the same side in the marking points, etc. The length of the lower limbs is determined by measuring the distance between the greater trochanter of the femur and the tip of the medial malleolus or the tip of the lateral malleolus, and the difference in the length of the lower limbs is determined according to the lengths of the lower limbs on both sides.

[0062] In this embodiment, the first joint eccentricity is determined based on the femoral head center and the femoral shaft axis in the joint feature point information of the simulated assembly, and the second joint eccentricity is determined based on the femoral head center and the femoral shaft axis in the marked points of the detection image corresponding to the target hip joint, and the joint eccentricity difference of the simulated assembly is obtained based on the first joint eccentricity and the second joint eccentricity.

[0063] S203: Determine a target hip joint prosthesis from among the candidate hip joint prostheses according to the surgical side parameter information of each simulated assembly.

[0064] In this embodiment, the sum of the lower limb length differences and joint eccentricity differences of each simulated assembly can be obtained, and the candidate hip joint prosthesis with the smallest sum is determined as the target hip joint prosthesis.

[0065] In one possible implementation, a first simulated assembly in which the lower limb length difference is less than a preset lower limb length difference can be determined, and a second simulated assembly in which the joint eccentricity difference is less than the preset joint eccentricity difference can be determined from the first simulated assembly, and the candidate hip prosthesis corresponding to the second simulated assembly is used as the target hip prosthesis.

[0066] Furthermore, the target hip prosthesis and the determination process of the target hip prosthesis are simultaneously saved and recorded as a learning case for offline iterative optimization, providing guidance and reference for subsequent hip prosthesis selection.

[0067] In the above-mentioned hip prosthesis determination method, each candidate hip prosthesis is assembled to the target hip joint model to obtain a simulated assembly, and the surgical parameter information of each simulated assembly is determined, so as to determine the target hip prosthesis from each candidate hip prosthesis based on the surgical parameter information of each simulated assembly. In the embodiment of the present application, the surgical parameter information of the simulated assembly is used to determine the target hip prosthesis from each candidate hip prosthesis, and the target hip prosthesis is obtained in a parameterized manner, thereby avoiding the time-consuming problem caused by medical staff making selections based on experience, providing reference experience for medical staff when selecting target hip prostheses, improving surgical efficiency, and reducing surgical risks.

[0068] The embodiments of the present application relate to two possible implementation methods of determining a target hip joint prosthesis from candidate hip joint prostheses based on the surgical parameter information of each simulated assembly:

[0069] The first method is to determine the sum of the lower limb length difference and the joint eccentricity difference in the surgical side parameters of each simulated assembly, and use the candidate hip prosthesis corresponding to the minimum summation result as the target hip prosthesis.

[0070] In this embodiment, the length differences of each lower limb and the corresponding combined eccentricity difference are summed to obtain a summation result. For example, for simulated assembly 1, the length difference of the lower limb is 0.2, the combined eccentricity difference is 1.5, and the summation result is 1.7; for simulated assembly 2, the length difference of the lower limb is 0.4, the combined eccentricity difference is 0.5, and the summation result is 0.9; for simulated assembly 3, the length difference of the lower limb is 0.7, the combined eccentricity difference is 1.5, and the summation result is 2.2.

[0071] Further, the simulated assembly corresponding to the minimum summation result is determined, and the candidate hip joint prosthesis corresponding to the simulated assembly is used as the target hip joint prosthesis. For example, in the above embodiment, the minimum summation result is 0.9, and the candidate hip joint prosthesis corresponding to the simulated assembly 2 is the target hip joint prosthesis.

[0072] The second method is to determine the lower limb length difference and joint eccentricity difference in the surgical side parameter information of each simulated assembly, screen out candidate hip joint prostheses that meet the lower limb length difference of ≤7mm, and use the candidate hip joint prosthesis that meets the joint eccentricity difference of ≤4mm among the screened candidate hip joint prostheses as the target hip joint prosthesis.

[0073] In this embodiment, a first candidate hip joint prosthesis with a lower limb length difference of less than or equal to 7 mm may be determined first, and a second candidate hip joint prosthesis with a combined eccentricity difference of less than or equal to 4 mm may be determined from the first candidate hip joint prosthesis as the target hip joint prosthesis. Alternatively, a first candidate hip joint prosthesis with a combined eccentricity difference of less than or equal to 4 mm may be selected first, and a second candidate hip joint prosthesis with a lower limb length difference of less than or equal to 7 mm may be selected from the first candidate hip joint prosthesis as the target hip joint prosthesis.

[0074] In the embodiment of the present application, the target hip joint prosthesis is determined from each candidate hip joint prosthesis according to the surgical parameter information of each simulated assembly. In the present embodiment, the target hip joint prosthesis is determined by the difference in lower limb length and the difference in joint eccentricity in the surgical parameter information, thereby improving the accuracy of determining the target hip joint prosthesis. Moreover, the candidate hip joint prosthesis corresponding to the smallest summation result is used as the target hip joint prosthesis, which is simple to implement and improves the efficiency of determining the target hip joint prosthesis.

[0075] In one embodiment, candidate hip joint prostheses are determined based on a detection image of the hip joint.

[0076] Optionally, the detected image may be a computerized tomography image, a magnetic resonance image, a positron emission tomography image, or the like.

[0077] In this embodiment, the hip joint model and the corresponding hip joint prosthesis of each detection image in the historical planning case are stored in the historical database. According to the detection image of the hip joint, the detection image with the same or similar physiological parameters as the detection object is obtained from the historical database, and the corresponding hip joint prosthesis in the historical planning case is used as a candidate hip joint prosthesis. The use of this embodiment can make full use of the historical planning cases. The historical planning cases are all verified and better prosthesis selection cases. Therefore, it is possible to find out whether there are cases of detection objects with the same or similar physiological parameters in the historical planning cases in the historical database. If there are, the historical planning cases can be called up, and simulated assembly and calculation of surgical side parameters are given priority. The use of this embodiment can improve the efficiency of obtaining candidate hip joint prostheses. Further, it can be understood that after the scheme of hip joint prosthesis selection of this embodiment is determined and implemented, the corresponding detection images containing information such as physiological parameters and the target hip joint prosthesis finally determined can also be stored in the historical database for reference in subsequent planning cases.

[0078] Figure 3 FIG. 1 is a flow chart of a method for determining a candidate hip prosthesis in one embodiment. Figure 3 As shown, the embodiment of the present application relates to a possible implementation method of how to determine each candidate hip joint prosthesis according to the detection image of the hip joint, including the following steps:

[0079] S301, based on the detection image of the hip joint, obtaining the joint feature point information of the hip joint in the corresponding detection image 。

[0080] In this embodiment, the detection image is processed using an image detection algorithm to obtain the joint feature point information of the hip joint in the corresponding detection image. 。

[0081] S302, planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model.

[0082] Optionally, the attribute information of the hip joint prosthesis includes the model, manufacturer, size information, etc. of the hip joint prosthesis.

[0083] In this embodiment, the hip prosthesis is initially planned based on the detection image, joint feature point information and attribute information of the hip prosthesis, and the hip prosthesis is placed at the target position in a predetermined posture, and the target position is directly used as the planned position of the hip prosthesis in the target hip joint model.

[0084] In one possible implementation, the hip prosthesis can also be placed in the target position in a predetermined posture, and the target position of the hip prosthesis in the target hip joint model can be adjusted according to the preset planning conditions corresponding to the hip prosthesis to obtain the planned position of the hip prosthesis in the target hip joint model.

[0085] S303, performing an evaluation according to the planned position and obtaining an evaluation result, and determining each candidate hip joint prosthesis according to the evaluation result.

[0086] In this embodiment, the planned position of the hip joint prosthesis can be evaluated according to preset indicators to obtain evaluation results, and the hip joint prosthesis corresponding to the qualified evaluation results in the evaluation results is used as a candidate hip joint prosthesis.

[0087] In an embodiment of the present application, based on a detection image of the hip joint, joint feature point information corresponding to the hip joint in the detection image is obtained, and the hip prosthesis is planned based on the detection image, the joint feature point information and the attribute information of the hip prosthesis so that the hip prosthesis is in the planned position in the target hip joint model, and an evaluation is performed and an evaluation result is obtained based on the planned position, and each candidate hip prosthesis is determined based on the evaluation result. In this embodiment, the hip prosthesis is planned so that the hip prosthesis is in the planned position in the target hip joint model, and is compatible with different hip prosthesis planning methods, including position planning and evaluation functions of the planned position, and provides relevant indicators for hip prosthesis planning.

[0088] The embodiment of the present application relates to a possible implementation method of how to plan a hip joint prosthesis according to a detection image, joint feature point information and attribute information of the hip joint prosthesis so that the hip joint prosthesis is located at a planned position in a target hip joint model, including:

[0089] According to the detection image of the hip joint, the joint feature point information, the attribute information of the hip prosthesis and the preset planning conditions corresponding to the hip prosthesis, the hip prosthesis is placed at the target position with a predetermined posture so that the hip prosthesis is in the planned position in the target hip joint model.

[0090] Among them, the hip joint prosthesis includes the acetabular cup and the femoral stem.

[0091] In this embodiment, the acetabular cup is placed at a corresponding target position with a preset anteversion angle and a preset abduction angle as a predetermined posture, that is, the position where the center point of the acetabular cup coincides with the center point of the acetabulum of the target hip joint model.

[0092] The femoral stem is placed at the corresponding target position with the axis of the femoral stem coinciding with the axis of the femoral shaft as the predetermined posture. The target position is the intersection of two lines, namely, the first line between the center point of the femoral stem and the femoral head, and the second line between the center point of the femoral neck and the femoral shaft.

[0093] Optionally, the preset planning conditions of the acetabular cup are the center point position of the acetabular cup and the degrees of freedom of the acetabular cup in three directions of x, y, and z; the preset planning conditions of the femoral stem are the axial direction of the femoral stem.

[0094] In this embodiment, the target position of the acetabular cup in the target hip joint model is adjusted according to the preset planning conditions of the acetabular cup, so that the acetabular cup is in the planned position in the target hip joint model; and the target position of the femoral stem is adjusted according to the preset planning conditions of the femoral stem, so that the femoral stem is in the planned position in the target hip joint model.

[0095] In an embodiment of the present application, the hip prosthesis is placed at a target position in a predetermined posture according to the detection image of the hip joint and the attribute information of the hip prosthesis, and the target position of the hip prosthesis in the target hip joint model is adjusted according to the preset planning conditions corresponding to the hip prosthesis, and the hip prosthesis is placed at the planned position in the target hip joint model. In this embodiment, the target position of the hip prosthesis in the target hip joint model is adjusted using the preset planning conditions to obtain the planned position of the hip prosthesis in the target hip joint model, laying the foundation for determining the candidate hip prosthesis based on the planned position.

[0096] Figure 4 FIG. 4 is a flow chart of a method for determining a candidate hip prosthesis in another embodiment. Figure 4As shown, the embodiment of the present application relates to how to evaluate and obtain evaluation results according to the planned positions, and a possible implementation method for determining each candidate hip prosthesis according to the evaluation results includes the following steps:

[0097] S401, evaluating the planned position according to preset indicators of the hip joint prosthesis to obtain an evaluation result.

[0098] The preset indicators corresponding to the acetabular cup are that the acetabular cup coverage is greater than the preset coverage, the radius of the acetabular cup is within the preset radius range, and the offset of the acetabular center point is less than the preset offset; the preset indicators corresponding to the femoral stem are that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact conditions.

[0099] In this embodiment, the planned position is evaluated according to preset indicators of the hip prosthesis to obtain an evaluation result. When the acetabular cup is in the planned position in the target hip joint model, the coverage rate of the acetabular cup, the radius of the acetabular cup and the offset of the center point of the acetabular fossa are obtained. If the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset, the evaluation result of the acetabular cup is qualified. If any one of the conditions is not met, the evaluation result of the acetabular cup is unqualified.

[0100] When the preset contact condition is met, the amount of grinding and filing of the femoral medullary cavity is small. Therefore, when the femoral stem is in the planned position in the target hip joint model, the contact between the femoral stem and the femoral medullary cavity of the target hip joint model is obtained. If the contact between the femoral stem and the target hip joint model meets the preset contact condition, the evaluation result of the femoral stem is qualified. If the contact between the femoral stem and the target hip joint model does not meet the preset contact condition, the evaluation result of the femoral stem is unqualified. Optionally, if the morphological match between the femoral stem and the femoral medullary cavity of the target hip joint model is consistent, it is considered that the preset contact condition is met; if the effective contact area between the femoral stem and the femoral medullary cavity of the target hip joint is greater than the preset area threshold, it is considered that the preset contact condition is met.

[0101] S402: Determine candidate hip joint prostheses according to the evaluation results and attribute information of the hip joint prostheses corresponding to the evaluation results.

[0102] In this embodiment, a qualified first evaluation result is determined in the evaluation results, and the hip prosthesis corresponding to the first evaluation result can be used as an initial hip prosthesis. The initial hip prosthesis is further screened based on the attribute information and preset attribute information of the initial hip prosthesis, and the initial hip prosthesis that meets the preset attribute information is used as a candidate hip prosthesis.

[0103] In the embodiment of the present application, the planned position is evaluated according to the preset index of the hip prosthesis to obtain the evaluation result, and each candidate hip prosthesis is determined according to the evaluation result and the attribute information of the hip prosthesis corresponding to the evaluation result. In the present embodiment, the candidate hip prosthesis is determined by using the evaluation result, which simplifies the operation process of determining the target hip prosthesis based on the candidate hip prosthesis and the target hip joint model, and improves the efficiency of determining the target hip prosthesis.

[0104] In one embodiment, a surgical robot system is provided. The surgical robot system includes a computer device. The computer device is used to implement the hip joint prosthesis determination method provided in any of the above embodiments, so as to determine a target hip joint prosthesis.

[0105] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0106] Based on the same inventive concept, the embodiment of the present application also provides a hip joint prosthesis determination device for implementing the hip joint prosthesis determination method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more hip joint prosthesis determination device embodiments provided below can refer to the limitations of the hip joint prosthesis determination method above, and will not be repeated here.

[0107] In one embodiment, Figure 5 As shown, a hip joint prosthesis determination device is provided, comprising: an acquisition module 11, a first determination module 12 and a second determination module 13, wherein:

[0108] An acquisition module 11 is used to assemble each candidate hip joint prosthesis to a target hip joint model to obtain a simulated assembly;

[0109] A first determination module 12 is used to determine the surgical parameter information of each simulated assembly;

[0110] The second determination module 13 is used to determine the target hip joint prosthesis from each candidate hip joint prosthesis according to the surgical side parameter information of each simulated assembly.

[0111] In one embodiment, the post-operative parameter information of each simulated assembly includes the difference in lower limb length and the difference in joint eccentricity of each simulated assembly.

[0112] In one embodiment, the second determination module is used to determine the sum of the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, and use the candidate hip joint prosthesis corresponding to the minimum summation result as the target hip joint prosthesis;

[0113] Alternatively, it is used to determine the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, screen out candidate hip joint prostheses that meet the lower limb length difference of ≤ 7 mm, and select the candidate hip joint prosthesis that meets the joint eccentricity difference of ≤ 4 mm among the screened candidate hip joint prostheses as the target hip joint prosthesis.

[0114] In one embodiment, the hip prosthesis determination device further comprises:

[0115] The third determination module is used to determine each candidate hip joint prosthesis according to the detection image of the hip joint.

[0116] In one embodiment, the third determination module includes:

[0117] An acquisition unit, used for acquiring joint feature point information of the hip joint in the corresponding detection image according to the detection image of the hip joint;

[0118] A planning unit, used for planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model;

[0119] The first determination unit is used to evaluate according to the planned position and obtain an evaluation result, and determine each candidate hip joint prosthesis according to the evaluation result.

[0120] In one embodiment, the planning unit is also used to place the hip prosthesis at the target position in a predetermined posture based on the detection image of the hip joint, joint feature point information, attribute information of the hip prosthesis, and preset planning conditions corresponding to the hip prosthesis, so that the hip prosthesis is in the planned position in the target hip joint model.

[0121] In one embodiment, the first determination unit is further used to evaluate the planned position according to preset indicators of the hip prosthesis to obtain an evaluation result; and determine each candidate hip prosthesis according to the evaluation result and attribute information of the hip prosthesis corresponding to the evaluation result.

[0122] In one embodiment, each hip prosthesis includes an acetabular cup and a femoral stem.

[0123] The preset indicators corresponding to the acetabular cup are that the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset;

[0124] The preset indicator corresponding to the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact condition.

[0125] Each module in the above-mentioned hip prosthesis determination device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0126] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0127] Assembling each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly;

[0128] Determine the surgical parameter information of each simulated assembly;

[0129] According to the surgical side parameter information of each simulated assembly, a target hip joint prosthesis is determined from each candidate hip joint prosthesis.

[0130] In one embodiment, the post-operative parameter information of each simulated assembly includes the difference in lower limb length and the difference in joint eccentricity of each simulated assembly.

[0131] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0132] Determine the sum of the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, and use the candidate hip joint prosthesis corresponding to the minimum summation result as the target hip joint prosthesis;

[0133] or,

[0134] Determine the lower limb length difference and joint eccentricity difference in the surgical side parameter information of each simulated assembly, screen out candidate hip prostheses that meet the lower limb length difference of ≤7mm, and select the candidate hip prosthesis that meets the joint eccentricity difference of ≤4mm among the screened candidate hip prostheses as the target hip prosthesis.

[0135] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0136] According to the detection image of the hip joint, each candidate hip joint prosthesis is determined.

[0137] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0138] According to the detection image of the hip joint, obtaining joint feature point information of the hip joint in the corresponding detection image;

[0139] Planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model;

[0140] An assessment is performed according to the planned position and an assessment result is obtained, and each candidate hip joint prosthesis is determined according to the assessment result.

[0141] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0142] According to the detection image of the hip joint, the joint feature point information, the attribute information of the hip prosthesis, and the preset planning conditions corresponding to the hip prosthesis, the hip prosthesis is placed at the target position with a predetermined posture so that the hip prosthesis is in the planned position in the target hip joint model.

[0143] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0144] Evaluate the planned position according to the preset indicators of the hip prosthesis to obtain the evaluation results;

[0145] Each candidate hip joint prosthesis is determined according to the evaluation result and the attribute information of the hip joint prosthesis corresponding to the evaluation result.

[0146] In one embodiment, each hip prosthesis includes an acetabular cup and a femoral stem.

[0147] The preset indicators corresponding to the acetabular cup are that the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset;

[0148] The preset indicator corresponding to the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact condition.

[0149] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0150] Assembling each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly;

[0151] Determine the surgical parameter information of each simulated assembly;

[0152] According to the surgical side parameter information of each simulated assembly, a target hip joint prosthesis is determined from each candidate hip joint prosthesis.

[0153] In one embodiment, the post-operative parameter information of each simulated assembly includes the difference in lower limb length and the difference in joint eccentricity of each simulated assembly.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0155] Determine the sum of the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, and use the candidate hip joint prosthesis corresponding to the minimum summation result as the target hip joint prosthesis;

[0156] or,

[0157] Determine the lower limb length difference and joint eccentricity difference in the surgical side parameter information of each simulated assembly, screen out candidate hip prostheses that meet the lower limb length difference of ≤7mm, and select the candidate hip prosthesis that meets the joint eccentricity difference of ≤4mm among the screened candidate hip prostheses as the target hip prosthesis.

[0158] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0159] According to the detection image of the hip joint, each candidate hip joint prosthesis is determined.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0161] According to the detection image of the hip joint, obtaining joint feature point information of the hip joint in the corresponding detection image;

[0162] Planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model;

[0163] An assessment is performed according to the planned position and an assessment result is obtained, and each candidate hip joint prosthesis is determined according to the assessment result.

[0164] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0165] According to the detection image of the hip joint, the joint feature point information, the attribute information of the hip prosthesis, and the preset planning conditions corresponding to the hip prosthesis, the hip prosthesis is placed at the target position with a predetermined posture so that the hip prosthesis is in the planned position in the target hip joint model.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0167] Evaluate the planned position according to the preset indicators of the hip prosthesis to obtain the evaluation results;

[0168] Each candidate hip joint prosthesis is determined according to the evaluation result and the attribute information of the hip joint prosthesis corresponding to the evaluation result.

[0169] In one embodiment, each hip prosthesis includes an acetabular cup and a femoral stem.

[0170] The preset indicators corresponding to the acetabular cup are that the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset;

[0171] The preset indicator corresponding to the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact condition.

[0172] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0173] Assembling each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly;

[0174] Determine the surgical parameter information of each simulated assembly;

[0175] According to the surgical side parameter information of each simulated assembly, a target hip joint prosthesis is determined from each candidate hip joint prosthesis.

[0176] In one embodiment, the post-operative parameter information of each simulated assembly includes the difference in lower limb length and the difference in joint eccentricity of each simulated assembly.

[0177] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0178] Determine the sum of the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, and use the candidate hip joint prosthesis corresponding to the minimum summation result as the target hip joint prosthesis;

[0179] or,

[0180] Determine the lower limb length difference and joint eccentricity difference in the surgical side parameter information of each simulated assembly, screen out candidate hip prostheses that meet the lower limb length difference of ≤7mm, and select the candidate hip prosthesis that meets the joint eccentricity difference of ≤4mm among the screened candidate hip prostheses as the target hip prosthesis.

[0181] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0182] According to the detection image of the hip joint, each candidate hip joint prosthesis is determined.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0184] According to the detection image of the hip joint, obtaining joint feature point information of the hip joint in the corresponding detection image;

[0185] Planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model;

[0186] An assessment is performed according to the planned position and an assessment result is obtained, and each candidate hip joint prosthesis is determined according to the assessment result.

[0187] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0188] According to the detection image of the hip joint, the joint feature point information, the attribute information of the hip prosthesis, and the preset planning conditions corresponding to the hip prosthesis, the hip prosthesis is placed at the target position with a predetermined posture so that the hip prosthesis is in the planned position in the target hip joint model.

[0189] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0190] Evaluate the planned position according to the preset indicators of the hip prosthesis to obtain the evaluation results;

[0191] Each candidate hip joint prosthesis is determined according to the evaluation result and the attribute information of the hip joint prosthesis corresponding to the evaluation result.

[0192] In one embodiment, each type of hip prosthesis includes an acetabular cup and a femoral stem,

[0193] The preset indicators corresponding to the acetabular cup are that the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset;

[0194] The preset indicator corresponding to the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact condition.

[0195] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0196] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0197] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0198] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for determining a hip joint prosthesis, characterized in that: The method comprises: Assembling each candidate hip joint prosthesis to the target hip joint model to obtain a simulated assembly; Determining surgical parameter information of each simulated assembly; A target hip joint prosthesis is determined from among the candidate hip joint prostheses according to the surgical side parameter information of each simulated assembly.

2. The method according to claim 1, characterized in that The post-operative parameter information of each simulated assembly includes the difference in lower limb length and the difference in joint eccentricity of each simulated assembly.

3. The method according to claim 1, characterized in that Determining the target hip joint prosthesis from the candidate hip joint prostheses according to the surgical side parameter information of each simulated assembly includes: Determine the sum of the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, and use the candidate hip joint prosthesis corresponding to the minimum summation result as the target hip joint prosthesis; or, Determine the lower limb length difference and the joint eccentricity difference in the surgical side parameter information of each simulated assembly, screen out candidate hip joint prostheses that meet the lower limb length difference of ≤7 mm, and use the candidate hip joint prosthesis that meets the joint eccentricity difference of ≤4 mm among the screened candidate hip joint prostheses as the target hip joint prosthesis.

4. The method according to claim 1, characterized in that: The method further comprises: The candidate hip joint prostheses are determined according to the detection image of the hip joint.

5. The method according to claim 4, characterized in that The step of determining each candidate hip joint prosthesis according to the detection image of the hip joint comprises: According to the detection image of the hip joint, obtaining joint feature point information corresponding to the hip joint in the detection image; Planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model; An evaluation is performed according to the planned position to obtain an evaluation result, and each candidate hip joint prosthesis is determined according to the evaluation result.

6. The method according to claim 5, characterized in that The step of planning the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis so that the hip joint prosthesis is located at the planned position in the target hip joint model includes: According to the detection image of the hip joint, the joint feature point information, the attribute information of the hip prosthesis, and the preset planning conditions corresponding to the hip prosthesis, the hip prosthesis is placed at the target position in a predetermined posture so that the hip prosthesis is in the planned position in the target hip joint model.

7. The method according to claim 5, characterized in that The step of evaluating the planned position and obtaining an evaluation result, and determining each candidate hip joint prosthesis according to the evaluation result, comprises: Evaluate the planned position according to preset indicators of the hip joint prosthesis to obtain the evaluation result; The candidate hip joint prostheses are determined according to the evaluation results and the attribute information of the hip joint prostheses corresponding to the evaluation results.

8. The method according to claim 7, characterized in that Each hip prosthesis consists of an acetabular cup and a femoral stem. The preset indicators corresponding to the acetabular cup are that the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the acetabular fossa center point is less than the preset offset; The preset indicator corresponding to the femoral stem is that the contact condition between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact condition.

9. A hip joint prosthesis identification device, characterized in that: The device comprises: An acquisition module is used to assemble each candidate hip joint prosthesis to a target hip joint model to obtain a simulated assembly; A first determination module is used to determine the surgical parameter information of each simulated assembly; The second determination module is used to determine a target hip joint prosthesis from each of the candidate hip joint prostheses according to the surgical side parameter information of each of the simulated assemblies.

10. A surgical robot system, characterized in that: The surgical robot system comprises a computer device which performs the steps of the method according to any one of claims 1 to 8.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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