Hip joint osteochondral forming operation planning method, system and equipment based on reverse motion envelope surface and medium

Abstract

The invention relates to the technical field of medical data processing, and discloses a hip joint bone cartilage forming operation planning method, system and equipment based on a reverse motion envelope surface and a medium, and aims to accurately identify a bone impact area through all-attitude three-dimensional collision detection and remarkably reduce missed diagnosis and excessive resection risks; the device adapts to multiple pelvis postures, and limitation of a single posture is avoided; an inverse motion enveloping strategy is adopted, so that the operation efficiency and precision are improved, and the submillimeter resolution is realized; a multi-attitude and time dimension collision detection process is simplified, a potential conflict area is quickly obtained through union set operation, and digital operation planning is greatly facilitated. In addition, a doctor can be assisted in obtaining a three-dimensional visual'to-be-cut-off area 'before an operation, and the operation time is shortened; human experience errors are reduced, and the postoperative joint motion range is improved; the hip joint protection surgery is promoted to be converted from a two-dimensional scheme to a'three-dimensional + time 'multi-dimensional refined planning, and the method has important significance in reducing surgical wounds and improving postoperative functional recovery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical data processing, and particularly to a hip osteochondroplasty surgical planning method, system, device and medium based on an inverse kinematic envelope surface. Background Art

[0002] Femoroacetabular impingement (FAI) is a common hip joint disease. During treatment, it is necessary to accurately remove abnormal bony protrusions on the femoral head or acetabular side through surgery to restore joint mobility and prevent further cartilage damage. Traditional surgical planning relies on two-dimensional X-rays or CT slices, making it difficult to comprehensively simulate three-dimensional bone surface impingement in multiple postures, which may lead to over-resection or under-resection. Although the development of three-dimensional reconstruction and digital orthopedic software has made it possible to create three-dimensional hip models based on CT / MRI data, there is still a lack of an efficient and accurate global detection scheme for collision prediction in multiple postures (such as flexion, internal and external rotation, pelvic tilt). The main challenges include: 1) The computational cost of multi-posture analysis is large, and the complexity of three-dimensional Boolean operations in discrete postures is high, making it difficult to meet the real-time clinical needs; 2) Existing methods are difficult to fully evaluate three-dimensional impingement within the range of motion, and real impingement sites are easily missed based on only a few CTs or two-dimensional projections in certain postures; 3) Insufficient consideration is given to individual anatomical differences, and simplified geometric models cannot accurately reflect the true anatomical structure of patients, resulting in a deviation between the planning results and the actual situation.

[0003] Therefore, there is an urgent need for a hip osteochondroplasty surgical planning method, system, device and medium based on an inverse kinematic envelope surface. Summary of the Invention

[0004] The present invention provides a hip osteochondroplasty surgical planning method, system, device and medium based on an inverse kinematic envelope surface to solve the deficiencies of the existing hip osteochondroplasty surgical planning methods being inefficient and inaccurate.

[0005] A hip osteochondroplasty surgical planning method based on an inverse kinematic envelope surface provided by the present invention includes:

[0006] S110. Obtain the medical image data of the patient for preoperative planning;

[0007] S120. Reconstruct a three-dimensional femoral model and a three-dimensional acetabular model

[0008] S130. Discretize the hip joint movement parameters of the patient for preoperative planning and obtain multiple groups of discrete sampling points;

[0009] S140. Obtain the inverse kinematic envelope surface of the patient for preoperative planning according to the multiple groups of discrete sampling points and the three-dimensional acetabular model ​

[0010] S150. Reconstruct the inverse kinematic envelope surface of the patient according to the preoperative plan and the three-dimensional femoral model to obtain a three-dimensional potential collision area, which serves as the candidate resection area for hip osteochondroplasty surgery.

[0011] According to a method for planning hip osteochondroplasty surgery based on the inverse kinematic envelope surface provided by the present invention, the medical imaging data includes CT data and / or MRI data.

[0012] According to a method for planning hip osteochondroplasty surgery based on the inverse kinematic envelope surface provided by the present invention, the three-dimensional femoral model reconstructed from the medical imaging data of the patient according to the preoperative plan and the three-dimensional acetabular model include:

[0013] When reconstructing the three-dimensional femoral model and the three-dimensional acetabular model from the medical imaging data of the patient according to the preoperative plan, align the center of the femoral head of the patient according to the preoperative plan to the origin O F , and make the anatomical axis coincide with the x, y, and z axes;

[0014] Use sparse voxels or triangular meshes to store the reconstructed three-dimensional femoral model and the three-dimensional acetabular model

[0015] According to a method for planning hip osteochondroplasty surgery based on the inverse kinematic envelope surface provided by the present invention, the hip joint movement parameters include the flexion angle θ f1ex , the rotation angle θ rot , and the pelvic tilt angle PT. Discretize the hip joint movement parameters of the patient according to the preoperative plan and obtain multiple sets of discrete sampling points, including:

[0016] Define the flexion angle θ flex , and let θ flex ∈[0°, 120°];

[0017] Define the rotation angle θ rot , and let θ rot ∈[γ, δ];

[0018] Define the pelvic tilt angle PT, and let PT ∈ [PT stand , PT sit ;

[0019] Divide the range of the hip joint movement parameters into multiple sets of discrete sampling points (θ flex , θ rot , PT), and denote the sampling set as The total number is N.

[0020] A hip joint osteochondroplasty surgical planning method based on the inverse kinematic envelope surface provided by the present invention, according to a plurality of sets of discrete sampling points and the three-dimensional acetabular model Obtain the inverse kinematic envelope surface of the pre-operative planned patient Including:

[0021] Calculate the rigid body transformation matrix T for the k-th set of discrete sampling points in the sampling set k , where T k =R y (PT)·R x (θ flex )·R z (θ rot ), k ∈ {1, 2, …, N}, R x , R y , R z respectively represent rotations about the x, y, and z axes;

[0022] Apply the rigid body transformation matrix T of the k-th set of discrete sampling points in the sampling set k to the three-dimensional acetabular model to obtain the transformed model

[0023] Take the union of the transformed models obtained from all discrete sampling points in the sampling set to obtain the inverse kinematic envelope surface of the pre-operative planned patient Among them,

[0024] A hip joint osteochondroplasty surgical planning method based on the inverse kinematic envelope surface provided by the present invention, according to the inverse kinematic envelope surface of the pre-operative planned patient and the three-dimensional femoral model Obtain the three-dimensional potential collision region as the candidate resection area for hip joint osteochondroplasty surgery, including:

[0025] In the femoral coordinate system, find the intersection of the inverse kinematic envelope surface of the pre-operative planned patient and the three-dimensional femoral model as the three-dimensional potential collision region, where

[0026] Perform connected domain analysis on the three-dimensional potential collision region, and retain the largest connected part in terms of the number of voxels or meshes, denoted as Obtain the final three-dimensional potential collision region as the candidate resection area for hip joint osteochondroplasty surgery.

[0027] ​A hip joint osteochondroplasty surgical planning method based on the inverse kinematic envelope according to the present invention further includes:

[0028] When there are multiple value segments for the pelvic tilt angle of the pre-operative planned patient, for each value segment, steps S140 - S150 are executed to obtain the corresponding final three-dimensional potential collision area, and the union of the final three-dimensional potential collision areas corresponding to the multiple value segments is taken to obtain the final three-dimensional potential collision area set, denoted as Where M represents the number of value segments;

[0029] According to the preset clinical requirements, the final three-dimensional potential collision area set is morphologically dilated to obtain the final three-dimensional potential collision area set, which is used as the candidate resection area set for hip joint osteochondroplasty surgery.

[0030] A hip joint osteochondroplasty surgical planning method based on the inverse kinematic envelope according to the present invention, the step of morphologically dilating the final three-dimensional potential collision area set according to the preset clinical requirements to obtain the final three-dimensional potential collision area set, which is used as the candidate resection area set for hip joint osteochondroplasty surgery, includes:

[0031] Using a spherical structuring element B(r) to morphologically dilate the final three-dimensional potential collision area set to obtain the final resection area, denoted as where,

[0032] The present invention also provides a hip joint osteochondroplasty surgical planning system based on the inverse kinematic envelope, including:

[0033] A data receiving module, configured to: receive medical image data of a pre-operative planned patient from at least one terminal;

[0034] A reconstruction module, configured to: reconstruct a three-dimensional femoral model and a three-dimensional acetabular model

[0035] A hip joint motion parameter discretization module, configured to: discretize the hip joint motion parameters of a pre-operative planned patient and obtain multiple groups of discrete sampling points;

[0036] An inverse kinematic envelope calculation module, configured to: obtain the inverse kinematic envelope of a pre-operative planned patient according to multiple groups of discrete sampling points and the three-dimensional acetabular model

[0037] ​An impact area recognition module, configured to: obtain a three-dimensional potential collision area based on the inverse motion envelope surface of the preoperatively planned patient and the three-dimensional femoral model as a candidate resection area for hip osteochondroplasty surgery;

[0038] A data output module, configured to: output an image representation of the three-dimensional potential collision area to at least one terminal.

[0039] It should be noted that a terminal refers to an input / output device connected to a computer system. According to different functions, terminals can be divided into various types: smart terminals or intelligent terminals, dumb terminals, interactive terminals or online terminals. Specifically, a terminal can be various mobile communication devices, such as mobile phones, tablets, etc. The purpose of this article is to provide users with the functions of inputting data and obtaining data output.

[0040] The present invention also provides an electronic device, including a processor and a memory storing a computer program. When the processor executes the computer program, it implements any one of the above-mentioned hip osteochondroplasty surgery planning methods based on the inverse motion envelope surface.

[0041] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any one of the above-mentioned hip osteochondroplasty surgery planning methods based on the inverse motion envelope surface.

[0042] The present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute any one of the above-mentioned hip osteochondroplasty surgery planning methods based on the inverse motion envelope surface.

[0043] A hip osteochondroplasty surgical planning method, system, device and medium based on an inverse kinematic envelope surface provided by the present invention can accurately identify the bony impingement area through full-attitude three-dimensional collision detection, significantly reducing the risks of missed diagnosis and over-resection; it adapts to multiple pelvic postures (such as standing, sitting, semi-squatting), avoiding the limitations of a single posture; adopts an inverse kinematic envelope strategy to improve the operation efficiency and accuracy, achieving sub-millimeter resolution; simplifies the collision detection process in multiple postures and time dimensions, and quickly obtains all potential conflict areas through union operations, greatly facilitating digital surgical planning. In addition, the present invention has important clinical value: assisting physicians to obtain a three-dimensional visual "area to be resected" before surgery, shortening the surgical time; reducing human experience errors and improving postoperative joint mobility; promoting the transformation of hip joint preservation surgery from two-dimensional plans to "three-dimensional + time" multi-dimensional refined planning. In summary, the present invention realizes the efficient detection and personalized planning of multi-posture, three-dimensional + time collision risks in FAI osteochondroplasty by introducing the concept of inverse kinematic envelope surface, which is of great significance for reducing surgical trauma and improving postoperative functional recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 It is a schematic flowchart of a hip osteochondroplasty surgical planning method based on an inverse kinematic envelope surface provided by the present invention.

[0046] Figure 2 It is a schematic structural diagram of a hip osteochondroplasty surgical planning system based on an inverse kinematic envelope surface provided by the present invention.

[0047] Figure 3 It is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. They should not be construed as limiting the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. In the description of the present invention, it should be understood that the terms used are only for the purpose of description and cannot be construed as indicating or implying relative importance.

[0049] A hip osteo-chondroplasty surgical planning method based on the inverse motion envelope surface provided by the present invention converts the hip joint motions in multiple postures and time dimensions into the union of inverse envelopes for the fixed femur, significantly reducing the computational cost of repeated detections and taking into account both accuracy and globality, so as to achieve personalized, three-dimensional + time full-dimensional planning in FAI osteo-chondroplasty surgery.

[0050] Figure 1 It is a schematic flowchart of a hip osteo-chondroplasty surgical planning method based on the inverse motion envelope surface provided by the present invention. The execution subject of a hip osteo-chondroplasty surgical planning method based on the inverse motion envelope surface provided by the present invention can be any applicable terminal-side device or network-side device, such as a hip osteo-chondroplasty surgical planning device based on the inverse motion envelope surface, etc.

[0051] See Figure 1 , a hip osteo-chondroplasty surgical planning method based on the inverse motion envelope surface provided by the present invention may include:

[0052] S110. Obtain the medical image data of the patient for preoperative planning, where the medical image data includes CT data and / or MRI data. The patient for preoperative planning may be a patient diagnosed with hip impingement syndrome and who needs to remove abnormal bony protrusions on the femoral head or acetabular side through surgery. The medical image data can be obtained by measuring with a medical imaging device.

[0053] S120. Reconstruct a three-dimensional femoral model according to the medical image data of the patient for preoperative planning and a three-dimensional acetabular model Specifically, the construction of the three-dimensional model can be realized by using existing three-dimensional reconstruction methods or three-dimensional reconstruction software (such as Mimics, 3D Slicer, etc.). When reconstructing a three-dimensional femoral model and a three-dimensional acetabular model according to the medical image data of the patient for preoperative planning, align the center of the femoral head of the patient for preoperative planning to the origin O F , make the anatomical axis coincide with the x, y, z axes to facilitate subsequent rigid body transformation, and use sparse voxels or triangular meshes to store the reconstructed three-dimensional femoral model and a three-dimensional acetabular model which is beneficial to accelerating Boolean operations.

[0054] S130. Discretize the hip joint motion parameters of the patient for preoperative planning and obtain multiple groups of discrete sampling points, where the hip joint motion parameters include the flexion angle θ flex , the rotation angle θ rot , and the pelvic tilt angle PT.

[0055] In one embodiment, S130 may include:

[0056] Define the flexion angle θ flex , and let θ flex ∈[0°, 120°];

[0057] Define the rotation angle θ rot , θ rot ∈[γ, δ]. In this embodiment, let θ rot ∈[-15°, 15°];

[0058] Define the pelvic tilt angle PT, and let PT ∈ [PT stand , PT sit ;

[0059] Divide the range of hip joint movement parameters into multiple groups of discrete sampling points (θ flex , θ rot , PT), and denote the sampling set as The total number is N.

[0060] S140. Obtain the inverse kinematic envelope surface (or volume) of the pre-operative planned patient according to the multiple groups of discrete sampling points and the three-dimensional acetabular model

[0061]

[0061] In one embodiment, S140 may include:

[0062] Calculate the rigid body transformation matrix T for the k-th group of discrete sampling points in the sampling set k , where T k = R y (PT)·R x (θ flex )·R z (θ rot ), k ∈ {1, 2,..., N}, R x , R y , R z respectively represent rotations about the x, t, and z axes;

[0063] Apply the rigid body transformation matrix T of the k-th group of discrete sampling points in the sampling set k to the three-dimensional acetabular model to obtain the transformed model

[0064] Take the union of the transformed models obtained from all discrete sampling points in the sampling set to obtain the inverse kinematic envelope surface of the pre-operative planned patient where,

[0065] S150. According to the inverse kinematic envelope surface of the pre-operative planned patient and the three-dimensional model of the femur Obtain the three-dimensional potential collision region as the candidate resection area for hip osteochondroplasty surgery.

[0066] The application of the ordinary motion envelope in hip osteochondroplasty surgery refers to the trajectory and range of relative motion between the contact surfaces of the femoral head and acetabulum within the normal or predetermined hip motion range, specifically the envelope formed by the movement of the femur in the acetabular coordinate system. This helps to understand the force distribution and wear pattern of hip cartilage during physiological activities such as walking and running, so as to restore or simulate this natural motion envelope as much as possible during surgery to maintain joint functionality and reduce abnormal stress.

[0067] The application of the reverse motion envelope in hip osteochondroplasty surgery refers to the need to reverse-plan the contact surfaces of the femoral head and acetabulum during surgery to ensure that the repaired cartilage can adapt to and withstand normal physiological loads during joint movement in order to achieve an ideal cartilage repair or reconstruction effect. This involves an in-depth understanding of joint kinematics and precise control of bone and cartilage remodeling during surgery.

[0068] The difference between the two is that the ordinary motion envelope focuses on the motion characteristics of the hip joint under normal physiological conditions, while the reverse motion envelope is to reverse-engineer and plan the joint motion characteristics during surgery to achieve the best repair effect.

[0069] In one embodiment, S150 may include:

[0070] In the femoral coordinate system, obtain the reverse motion envelope of the pre-operative planned patient and the three-dimensional model of the femur of the intersection as the three-dimensional potential collision region, where

[0071] Perform connected domain analysis on the three-dimensional potential collision region, retain the connected part with the largest number of voxels or meshes, denoted as Thereby excluding noise and obtaining the final three-dimensional potential collision region as the candidate resection area for hip osteochondroplasty surgery.

[0072] In one embodiment, a hip osteochondroplasty surgery planning method based on the reverse motion envelope provided by the present invention may further include the steps:

[0073] When there are multiple value segments for the pelvic tilt angle of the patient in the preoperative planning (such as standing, sitting, etc., that is, there is a value range for the PT value in the standing and sitting postures respectively), for each value segment, steps S140 - 150 are executed to obtain the corresponding final three-dimensional potential collision region, and the union of the final three-dimensional potential collision regions corresponding to multiple value segments is taken to obtain the set of final three-dimensional potential collision regions, denoted as where M represents the number of value segments;

[0074] According to the preset clinical requirements, use the spherical structural element B(r) to perform morphological dilation on the set of final three-dimensional potential collision regions to obtain the set of final three-dimensional potential collision regions, denoted as where as the set of candidate resection areas for hip osteochondroplasty surgery.

[0075] A hip osteochondroplasty surgery planning method based on the inverse motion envelope surface provided by the present invention has the kinematic equivalence of the inverse method, This property indicates that detecting "femur - acetabulum collision" can be equivalent to detecting "collision between the femur after inverse transformation and the acetabulum", thus unifying the multi - posture analysis to obtain the envelope union at one time in the femoral coordinate system.

[0076] Compared with the traditional method (performing three - dimensional Boolean operations on the femur and acetabulum at each discrete posture. If the discrete sampling number is denoted as N and the model resolution is denoted as K 3 , then the overall complexity is easily up to O(N·K 3 ), the present invention only needs to update the sparse voxels near the envelope surface, and the complexity is reduced to O(N·K 2 ), significantly improving the efficiency at fine sampling and high resolution.

[0077] A hip osteochondroplasty surgery planning method based on the inverse motion envelope surface provided by the present invention has the following characteristics:

[0078] I. Introduce the concept of the moving hip joint envelope surface

[0079] Regard the spatial coverage of the acetabulum in all possible postures as a unified "envelope" and then intersect with the femur at one time, without performing complete three - dimensional Boolean operations at each posture.

[0080] Ⅱ. Achieve dimensionality reduction through reference frame inversion

[0081] In the femoral coordinate system, convert the "forward movement of the acetabulum in multiple postures" into "unified static femur + inverse envelope", simplifying the four - dimensional (including time / posture) dynamic problem into three - dimensional geometric operations.

[0082] Ⅲ. Greatly improve the computing efficiency

[0083] Compared with the traditional O(N·K 3 ), the reverse method effectively controls the computational volume within the range of O(N·K 2 ) by leveraging GPU parallelism and sparse voxels, meeting the clinically acceptable time requirements.

[0084] Ⅳ. Comprehensive analysis of three dimensions + time

[0085] Beyond the original two-dimensional or single-pose planning, it covers multiple dimensions such as pelvic tilt, flexion, and rotation, thus "globally" capturing potential impingement sites.

[0086] Ⅴ. Can be combined with real individual anatomy

[0087] It is no longer limited to idealized spherical and cylindrical models, but directly uses the patient characteristics reconstructed from CT / MRI to adapt to personalized surgical plans.

[0088] The hip osteochondroplasty surgical planning method based on the reverse kinematic envelope surface provided by the present invention can at least bring the following technical effects:

[0089] 1. Significantly reduce the risks of missed diagnosis and over-resection

[0090] Three-dimensional collision detection in all poses accurately identifies the bony impingement area, assisting the doctor to effectively remove the protruding parts causing impingement while preserving healthy tissues.

[0091] 2. Adapt to multiple pelvic poses

[0092] It can be extended to different PT poses such as standing, sitting, and semi-squatting through union operations, avoiding the limitations based on a single pose.

[0093] 3. Improve computing efficiency and accuracy

[0094] The reverse kinematic envelope strategy makes the computational volume more controllable, enabling collision prediction to be completed at a finer angular step size and achieving a model resolution at the sub-millimeter level.

[0095] 4. Simplify the collision detection process in multiple poses and time dimensions

[0096] Fold the "motion - time" axis into the "envelope geometry", enabling all potential conflict areas to be obtained with a single union operation, greatly facilitating digital surgical planning.

[0097] 5. Clinical value

[0098] Help the doctor obtain a three-dimensional visualization of the "area to be resected" before surgery, shortening the surgical operation time;

[0099] Reduce the errors caused by human experience factors and improve the postoperative joint range of motion;

[0100] Open up the path of hip joint preservation surgery from two-dimensional plans to multi-dimensional refined planning of "three-dimensional + time".

[0101] In summary, by introducing the concept of "reverse motion envelope surface", the present invention successfully realizes the efficient detection and personalized planning of multi-posture and three-dimensional + time collision risks in FAI osteochondroplasty, which is of great significance for reducing surgical trauma and improving postoperative functional recovery in clinical practice.

[0102] The hip joint osteochondroplasty surgery planning system based on the reverse motion envelope surface provided by the present invention will be described below. The hip joint osteochondroplasty surgery planning system based on the reverse motion envelope surface described below can be correspondingly referred to the hip joint osteochondroplasty surgery planning method described above.

[0103] See Figure 2 , a hip joint osteochondroplasty surgery planning system based on the reverse motion envelope surface provided by the present invention may include:

[0104] A data receiving module, configured to: receive medical image data of a preoperatively planned patient from at least one terminal;

[0105] A reconstruction module, configured to: reconstruct a three-dimensional model of the femur according to the medical image data of the preoperatively planned patient and a three-dimensional model of the acetabulum

[0106] A hip joint motion parameter discretization module, configured to: discretize the hip joint motion parameters of the preoperatively planned patient and obtain multiple groups of discrete sampling points;

[0107] A reverse motion envelope surface calculation module, configured to: obtain the reverse motion envelope surface of the preoperatively planned patient according to multiple groups of discrete sampling points and the three-dimensional model of the acetabulum

[0108] An impact area identification module, configured to: obtain a three-dimensional potential collision area according to the reverse motion envelope surface of the preoperatively planned patient and the three-dimensional model of the femur

[0109] A data output module, configured to: output an image representation of the three-dimensional potential collision area to at least one terminal.

[0110] Figure 3 Illustrates a schematic physical structure diagram of an electronic device, such as Figure 3 ​​As shown in the figure, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communications interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call logical instructions in the memory 830 to execute the following steps:

[0111] Receive medical image data of a pre-operative planned patient from at least one terminal;

[0112] Reconstruct a three-dimensional model of the femur based on the medical image data of the pre-operative planned patient and a three-dimensional model of the acetabulum

[0113] Discretize the hip joint movement parameters of the pre-operative planned patient and obtain multiple sets of discrete sampling points;

[0114] Based on the multiple sets of discrete sampling points and the three-dimensional model of the acetabulum Obtain the inverse kinematic envelope of the pre-operative planned patient

[0115] Based on the inverse kinematic envelope of the pre-operative planned patient and the three-dimensional model of the femur Obtain a three-dimensional potential collision area as a candidate resection area for hip osteochondroplasty surgery;

[0116] Output an image representation of the three-dimensional potential collision area to at least one terminal.

[0117] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0118] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the following steps:

[0119] Receive medical image data of a preoperatively planned patient from at least one terminal;

[0120] Reconstruct a three-dimensional femoral model based on the medical image data of the preoperatively planned patient and a three-dimensional acetabular model

[0121] Discretize the hip joint movement parameters of the preoperatively planned patient and obtain multiple sets of discrete sampling points;

[0122] Based on the multiple sets of discrete sampling points and the three-dimensional acetabular model Obtain the inverse kinematic envelope surface of the preoperatively planned patient

[0123] Based on the inverse kinematic envelope surface of the preoperatively planned patient and the three-dimensional femoral model Obtain a three-dimensional potential collision area as the candidate resection area for hip osteochondroplasty surgery;

[0124] Output the image representation of the three-dimensional potential collision area to at least one terminal.

[0125] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it realizes the following steps:

[0126] Receive medical image data of a preoperatively planned patient from at least one terminal;

[0127] Reconstruct a three-dimensional femoral model based on the medical image data of the preoperatively planned patient and a three-dimensional acetabular model

[0128] Discretize the hip joint movement parameters of the preoperatively planned patient and obtain multiple sets of discrete sampling points;

[0129] Based on the multiple sets of discrete sampling points and the three-dimensional acetabular model Obtain the inverse kinematic envelope surface of the preoperatively planned patient

[0130] Based on the inverse kinematic envelope surface of the preoperatively planned patient and the three-dimensional femoral model Obtain a three-dimensional potential collision area as the candidate resection area for hip osteochondroplasty surgery;

[0131] Output an image representation of the three-dimensional potential collision area to at least one terminal.

[0132] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0133] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A hip osteochondroplasty surgical planning method based on the inverse kinematic envelope surface, characterized in that Including: S110. Obtain the medical image data of the patient for preoperative planning; S120. Reconstruct a three-dimensional femoral model and an acetabular three-dimensional model based on the preoperative planned medical image data of the patient and an acetabular three-dimensional model S130. Discretize the hip joint movement parameters of the patient for preoperative planning and obtain multiple sets of discrete sampling points; S140. Based on multiple sets of discrete sampling points and the three-dimensional acetabular model Obtain the reverse motion envelope of the patient for preoperative planning S150. Obtain the reverse motion envelope surface of the patient according to the preoperative plan and the three-dimensional femoral model to obtain a three-dimensional potential collision area as a candidate resection area for hip osteochondroplasty 2. The hip osteochondroplasty surgical planning method based on the reverse kinematic envelope surface according to claim 1, characterized in that, The three-dimensional femoral model reconstructed based on the pre-operative planned medical image data of the patient and the three-dimensional acetabular model comprises: When reconstructing the three-dimensional femoral model and the three-dimensional acetabular model from the medical image data of the patient according to the preoperative plan align the center of the femoral head of the patient in the preoperative plan to the origin O so that the anatomical axis coincides with the x, y, and z axes; F ​ Store the reconstructed three-dimensional femoral model and acetabular three-dimensional model using sparse voxels or triangular meshes and acetabular three-dimensional model 3. The hip joint osteochondroplasty surgical planning method based on the reverse kinematic envelope surface according to claim 2, wherein, The hip joint movement parameters include the flexion angle θ flex , the rotation angle θ rot , and the pelvic tilt angle PT. The hip joint movement parameters of the discretized preoperative planning patient are obtained, and multiple groups of discrete sampling points are obtained, including: Define the buckling angle θ flex , and let θ flex ∈[0°, 120°]; Define the rotation angle θ rot , and let θ rot ∈[γ, δ]; Define the pelvic tilt angle PT, and let PT ∈ [PT stand , PT sit ; The range of hip joint movement parameters is subdivided into multiple groups of discrete sampling points (θ flex , θ rot , PT), and the sampling set is denoted as with a total number of N.

4. The hip osteochondroplasty surgical planning method based on the reverse kinematic envelope surface according to claim 3, wherein The inverse motion envelope of the pre-operative planned patient is obtained based on multiple sets of discrete sampling points and the three-dimensional acetabular model including: ​ Calculate the rigid body transformation matrix T for the k-th set of discrete sampling points in the sampling set k , where T k = R y (PT)·R x (θ f1ex )·R z (θ rot ), k ∈ {1, 2, …, N}, R x , R y , R z represent rotations about the x, y, and z axes respectively; The rigid body transformation matrix T of the k-th group of discrete sampling points in the sampling set k is applied to the three-dimensional acetabular model to obtain the transformed model The union of the transformation models obtained from all discrete sampling points in the sampling set is taken to obtain the inverse motion envelope surface of the pre-operative planning patient Among them, 5. The hip joint osteochondroplasty surgical planning method based on the reverse kinematic envelope surface according to claim 4, wherein The reverse motion envelope surface of the patient according to the preoperative plan and the three-dimensional femoral model are used to obtain a three-dimensional potential collision area, which serves as a candidate resection area for hip osteochondroplasty surgery, including: Under the femoral coordinate system, find the inverse kinematic envelope of the pre-operative planned patient and the three-dimensional femoral model intersection as the three-dimensional potential collision area, where Perform connected component analysis on the three-dimensional potential collision region, and retain the connected part with the largest number of voxels or grids, denoted as Obtain the final three-dimensional potential collision region as the candidate resection area for hip osteochondroplasty surgery.

6. The hip joint osteochondroplasty surgical planning method based on the reverse kinematic envelope surface according to claim 5, wherein It further includes: When there are multiple value segments for the pelvic tilt angle of the pre-operative planned patient, for each value segment, steps S140 - S150 are executed to obtain the corresponding final three-dimensional potential collision region, and the union of the final three-dimensional potential collision regions corresponding to the multiple value segments is taken to obtain the set of final three-dimensional potential collision regions, denoted as Where M represents the number of value segments; According to the preset clinical requirements, the final three-dimensional potential collision region set is morphologically dilated to obtain the final three-dimensional potential collision region set, which serves as the candidate resection area set for hip osteochondroplasty surgery.

7. The hip osteochondroplasty surgical planning method based on the reverse kinematic envelope surface according to claim 6, wherein According to the preset clinical requirements, for the final three-dimensional set of potential collision regions perform morphological dilation to obtain the final three-dimensional set of potential collision regions, which serves as the set of candidate resection regions for hip osteochondroplasty surgery, including: Using the spherical structural element B(r) for the set of final three-dimensional potential collision regions perform morphological dilation to obtain the final resection region, denoted as where 8. A hip osteochondroplasty surgical planning system based on an inverse kinematic envelope surface, characterized in that, Including: A data receiving module, configured to: receive the medical image data of the patient for preoperative planning from at least one terminal; A reconstruction module, configured to: reconstruct a three-dimensional femoral model and a three-dimensional acetabular model based on the pre-operative planned medical image data of the patient and a three-dimensional acetabular model A hip joint movement parameter discretization module, configured to: discretize the hip joint movement parameters of the patient for preoperative planning and obtain multiple sets of discrete sampling points; Inverse motion envelope calculation module, which is used to: based on multiple sets of discrete sampling points and the three-dimensional acetabular model Obtain the inverse motion envelope of the pre-operative planned patient The impact area recognition module is used to: according to the inverse motion envelope of the preoperatively planned patient and the three-dimensional femoral model , obtain a three-dimensional potential collision area as the candidate resection area for hip osteochondroplasty surgery; A data output module, configured to: output the image representation of the three-dimensional potential collision area to at least one terminal.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the hip joint osteochondroplasty surgical planning method based on the inverse kinematic envelope surface according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the hip joint osteochondroplasty surgical planning method based on the inverse kinematic envelope surface according to any one of claims 1 to 7.

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