Method for generating bone tunnel, surgical robot, storage medium and electronic device

Abstract

The present application relates to the field of digital medical technology and specifically provides a method for generating bone tunnels, a surgical robot, a storage medium, and an electronic device. The method may include: obtaining bone tunnel parameters of an object to be treated; wherein the object to be treated includes: the femur and tibia of the knee joint; the bone tunnel parameters include: a bone tunnel entry point, a bone tunnel exit point, and a bone tunnel diameter; generating bone tunnel data that matches the bone tunnel parameters; wherein the bone tunnel data includes: femoral bone tunnel data corresponding to the femur and tibial bone tunnel data corresponding to the tibia; and generating a three-dimensional bone tunnel image based on the fusion data of the object to be treated and the bone tunnel data. Embodiments of the present application can improve the accuracy of bone tunnel planning.

Description

Technical Field

[0001] The present application relates to the field of digital medical technology, and in particular to a method for generating bone tunnels, a surgical robot, a storage medium, and an electronic device. Background Art

[0002] The anterior cruciate ligament (ACL) of the knee is a crucial stabilizing structure within the knee joint, connecting the femur (thigh bone) and tibia (shin bone). Its primary function is to limit excessive anterior movement of the tibia and help maintain rotational stability of the knee during movement. ACL injuries are common during sudden stops, changes of direction, or collisions during exercise, and can cause knee pain, swelling, limited mobility, and even long-term instability.

[0003] Currently, computer-assisted surgery (CASS) is used in anterior cruciate ligament (ACL) reconstruction surgery to create a model using 3D images of the patient. The surgeon then visually observes the morphology and spatial position of the bone tract within the bone to optimize the surgical plan and achieve preoperative bone tract planning. However, this approach is highly surgeon-dependent and cannot accurately determine the bone tract that best matches the patient.

[0004] Therefore, how to provide a technical solution for a method of generating bone channels with high accuracy has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The purpose of some embodiments of the present application is to provide a method for generating bone tunnels, a surgical robot, a storage medium and an electronic device. Through the technical solutions of the embodiments of the present application, the automatic generation of bone tunnels can be realized, which is highly consistent with the patient's skeletal anatomical structure and has high accuracy, providing doctors with reliable decision support during surgery.

[0006] In a first aspect, some embodiments of the present application provide a method for generating a bone tunnel, comprising: obtaining bone tunnel parameters of an object to be processed; wherein the object to be processed includes: the femur and tibia of the knee joint; the bone tunnel parameters include: a bone tunnel entry point, a bone tunnel exit point, and a bone tunnel diameter; generating bone tunnel data matching the bone tunnel parameters; wherein the bone tunnel data includes: femoral bone tunnel data corresponding to the femur and tibial bone tunnel data corresponding to the tibia; generating a three-dimensional bone tunnel image based on fusion data of the object to be processed and the bone tunnel data.

[0007] Some embodiments of the present application obtain bone tunnel parameters of the femur and tibia of the knee joint, generate matching bone tunnel data, and finally fuse the femur and tibia bone tunnel data to generate a corresponding three-dimensional bone tunnel image. Embodiments of the present application can efficiently and accurately generate three-dimensional bone tunnel images that closely match the skeletal anatomy of the patient's knee joint, providing real-time visual guidance during surgery and providing more reliable decision support for doctors.

[0008] In some embodiments, obtaining the bone tunnel parameters of the object to be processed includes: obtaining original scanning data of the knee joint; segmenting the object to be processed from the original scanning data; and planning the bone tunnel parameters for the object to be processed.

[0009] Some embodiments of the present application can segment the femur and tibia through the original scanning data of the knee joint, and then determine the bone tunnel parameters, providing accurate data support for the subsequent precise generation of the bone tunnel.

[0010] In some embodiments, the generating of bone tunnel data that matches the bone tunnel parameters includes: constructing a femoral cylinder corresponding to the femur, and constructing a tibial cylinder corresponding to the tibia; generating a femoral bounding box for the femoral cylinder and a tibial bounding box for the tibial cylinder; using the femoral bounding box and the tibial bounding box to respectively cut the femur and the tibia to obtain cut femoral data and cut tibial data; respectively solving the intersection of the cut femoral data and the femoral cylinder, and the cut tibial data and the tibial cylinder to obtain the femoral bone tunnel data and the tibial bone tunnel data.

[0011] Some embodiments of the present application construct a femoral cylinder and a tibial cylinder corresponding to the femur and tibia, respectively, and then generate a femoral bounding box and a tibial bounding box corresponding thereto; finally, the femoral bounding box and the tibial bounding box are used to cut the femur and tibia, respectively, and process the cut data to obtain bone tunnel data, thereby achieving accurate generation of bone tunnel data.

[0012] In some embodiments, constructing the femoral cylinder corresponding to the femur includes: obtaining femoral parameters corresponding to the femur, wherein the femoral parameters include: a femoral entry point, a femoral midpoint, a femoral exit point, a first segment of the bone tunnel radius from the femoral entry point to the femoral midpoint, and a second segment of the bone tunnel radius from the femoral midpoint to the femoral exit point; generating a first segment of the cylinder based on the femoral entry point, the femoral midpoint, and the first segment of the bone tunnel radius; generating a second segment of the cylinder based on the femoral midpoint, the femoral exit point, and the second segment of the bone tunnel radius; and merging the first segment of the cylinder and the second segment of the cylinder to obtain the femoral cylinder.

[0013] Some embodiments of the present application generate femoral related parts in segments and then merge them to obtain a femoral cylinder, thereby achieving simulated construction of the femur and providing accurate data support for subsequent femoral bone tunnel data generation.

[0014] In some embodiments, constructing the tibial cylinder corresponding to the tibia includes: obtaining tibial parameters corresponding to the tibia, wherein the tibial parameters include: tibial entry point, tibial exit point and tibial radius; generating the tibial cylinder matching the tibial parameters.

[0015] Some embodiments of the present application generate a tibial cylinder using tibial parameters, providing accurate data support for subsequent tibial bone tunnel data generation.

[0016] In some embodiments, the generating of a three-dimensional bone tunnel image based on the fusion data of the object to be processed and the bone tunnel data includes: fusing the femur and the femoral bone tunnel data to generate a three-dimensional femoral bone tunnel image; fusing the tibia and the tibial bone tunnel data to generate a three-dimensional tibial bone tunnel image; wherein the three-dimensional bone tunnel image includes: the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image; or, the three-dimensional bone tunnel image is an image obtained by merging the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image.

[0017] Some embodiments of the present application determine a three-dimensional femoral bone tunnel image and a three-dimensional tibial bone tunnel image by data fusion, achieving precise matching of the bone tunnel data with the femur and tibia, so as to provide real-time visual guidance during surgery.

[0018] In some embodiments, after generating the three-dimensional bone tunnel image, the method further includes: separately displaying the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image; or, displaying the three-dimensional bone tunnel image after the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image are merged.

[0019] Some embodiments of the present application can provide real-time visual guidance during surgery by displaying three-dimensional bone tunnel images, thereby providing doctors with more reliable decision support.

[0020] In a second aspect, some embodiments of the present application provide a device for generating a bone tunnel, comprising: a data acquisition module for acquiring bone tunnel parameters of an object to be processed; wherein, the object to be processed includes: the femur and tibia of the knee joint; the bone tunnel parameters include: a bone tunnel entry point, a bone tunnel exit point and a bone tunnel diameter; a data generation module for generating bone tunnel data matching the bone tunnel parameters; wherein, the bone tunnel data includes: femoral bone tunnel data corresponding to the femur and tibial bone tunnel data corresponding to the tibia; an image generation module for generating a three-dimensional bone tunnel image based on fusion data of the object to be processed and the bone tunnel data.

[0021] In a third aspect, some embodiments of the present application provide a surgical robot, which can implement the method described in any embodiment of the first aspect.

[0022] In a fourth aspect, some embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the method described in any embodiment of the first aspect.

[0023] In a fifth aspect, some embodiments of the present application provide an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor can implement a method as described in any embodiment of the first aspect when executing the program.

[0024] In a sixth aspect, some embodiments of the present application provide a computer program product, comprising a computer program, wherein the computer program, when executed by a processor, can implement the method described in any embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of some embodiments of the present application, the following is a brief introduction to the drawings required for use in some embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A system diagram for generating bone tunnels provided for some embodiments of the present application;

[0027] Figure 2 One of the flow charts of the method for generating bone tunnels provided in some embodiments of the present application;

[0028] Figure 3 Schematic diagrams of the femur and tibia provided for some embodiments of the present application;

[0029] Figure 4 Schematic diagram of a femoral cylinder provided for some embodiments of the present application;

[0030] Figure 5 Schematic diagram of a tibial cylinder provided for some embodiments of the present application;

[0031] Figure 6 A schematic diagram of a femur bounding box provided for some embodiments of the present application;

[0032] Figure 7 A schematic diagram of a tibia bounding box provided for some embodiments of the present application;

[0033] Figure 8 A schematic diagram of the PDC of cropped data provided in some embodiments of the present application;

[0034] Figure 9 Schematic diagram of tibia data after cutting provided for some embodiments of the present application;

[0035] Figure 10 Schematic diagram of femoral bone tunnel data PDCU provided for some embodiments of the present application;

[0036] Figure 11 Schematic diagram of tibial bone tunnel data provided for some embodiments of the present application;

[0037] Figure 12 A schematic diagram of a three-dimensional femoral bone tunnel image provided for some embodiments of the present application;

[0038] Figure 13 A schematic diagram of a three-dimensional tibial bone tunnel image provided for some embodiments of the present application;

[0039] Figure 14 Schematic diagram of a three-dimensional bone tunnel image provided for some embodiments of the present application;

[0040] Figure 15 Flowchart 2 of the method for generating bone tunnels provided in some embodiments of the present application;

[0041] Figure 16 A block diagram of a device for generating a bone tunnel according to some embodiments of the present application;

[0042] Figure 17 A schematic diagram of an electronic device is provided for some embodiments of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in some embodiments of the present application will be described below in conjunction with the drawings in some embodiments of the present application.

[0044] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0045] In the field of anterior cruciate ligament (ACL) reconstruction surgery, the introduction of computer-assisted surgical technology, combined with 3D imaging modeling, allows for precise preoperative planning, thereby improving surgical efficiency. However, for preoperative planning of the bone tunnel, the surgeon needs to visually observe the morphology of the bone tunnel and its spatial position within the bone in order to optimize the surgical plan and make the ligament reconstruction surgery more stable. However, the ultimate effect of the optimized surgical plan varies depending on the surgeon's personal experience, and its accuracy needs to be improved. In addition, manual optimization methods are inefficient.

[0046] From the above-mentioned related technologies, we can see that how to efficiently and accurately generate bone tunnels that are highly matched with the patient's skeletal anatomy, and provide real-time visual guidance during surgery to provide doctors with more reliable decision support, is the key to surgical robot-assisted ACL reconstruction systems.

[0047] In light of this, some embodiments of the present application provide a method for generating bone tunnels, which is performed by a surgical robot. The surgical robot can first obtain the bone tunnel parameters of the patient's knee bones (i.e., the femur and tibia); then generate corresponding bone tunnel data based on the bone tunnel parameters; and finally, fuse the bone and bone tunnel data to generate a three-dimensional bone tunnel image. Some embodiments of the present application can simulate the optimal angle, length, and diameter parameters of the bone tunnel in real time, achieving a precise match with the surface anatomy of the bone. The present application can quickly generate ideal bone tunnel data that conforms to individual anatomical characteristics in a relatively short period of time, significantly improving the efficiency and accuracy of surgical planning. Furthermore, through the display of three-dimensional bone tunnel images, real-time visual guidance can be provided during surgery, providing more reliable decision support for the surgeon.

[0048] The following is combined with Figure 1 The overall composition structure of the system for generating bone tunnels provided by some embodiments of the present application is exemplified.

[0049] like Figure 1 As shown, some embodiments of the present application provide a system diagram for generating bone tunnels. The system for generating bone tunnels may include a scanning device 100 and a surgical robot 200. The scanning device 100 may be a CT (Computed Tomography) device. The scanning device 100 may transmit CT data of the patient's knee joint obtained by scanning (as a specific example of raw scan data) to the surgical robot 200. The surgical robot 200 may analyze the CT data to obtain bone tunnel parameters of the bone to be planned; then, generate bone tunnel data that matches the bone tunnel parameters; and finally, fuse the bone tunnel data with the bone to generate a visualized three-dimensional bone tunnel image.

[0050] In other embodiments of the present application, if the surgical robot 200 itself has a scanning function and can directly obtain CT data, the scanning device 100 may not be required. Specifically, the structure of the bone tunnel generation system can be adjusted according to actual conditions, and the embodiments of the present application are not limited thereto.

[0051] The following is combined with Figure 2 The implementation process of generating a bone tunnel performed by the surgical robot 200 provided in some embodiments of the present application is exemplified.

[0052] Please see the attached Figure 2 , Figure 2 A flowchart of a method for generating a bone tunnel is provided for some embodiments of the present application. The method for generating a bone tunnel may include:

[0053] S210, obtaining bone tunnel parameters of the object to be processed; wherein the object to be processed includes: the femur and tibia of the knee joint; the bone tunnel parameters include: a bone tunnel entry point, a bone tunnel exit point, and a bone tunnel diameter.

[0054] For example, in a specific embodiment of the present application, the bone tunnel planning module within the surgical robot 200 can plan the bone tunnel entry point, bone tunnel exit point, and bone tunnel radius based on the femur and tibia of the patient's knee joint. It is understood that bone tunnel parameters can be expanded based on actual application scenarios (such as bone tunnel length), and this embodiment of the present application does not specifically limit them.

[0055] In some embodiments of the present application, S210 may include: acquiring original scanning data of the knee joint; segmenting the object to be processed from the original scanning data; and planning the bone tunnel parameters for the object to be processed.

[0056] For example, in a specific embodiment of the present application, the data acquisition module of the surgical robot 200 can acquire raw scan data obtained by CT scanning a knee joint using the scanning device 100. A segmentation algorithm is used to segment bones (as a specific example of an object to be processed) from the raw scan data, such as Figure 3 As shown, Figure 3 The left side of the image is the femur, and the right side is the tibia. The bone tunnel planning module plans the bone tunnel entry point, bone tunnel exit point, and bone tunnel diameter based on the segmented femur and tibia.

[0057] S220, generating bone tunnel data that matches the bone tunnel parameters; wherein the bone tunnel data includes: femoral bone tunnel data corresponding to the femur and tibial bone tunnel data corresponding to the tibia.

[0058] For example, in a specific embodiment of the present application, the surgical robot 200 can use a bone tunnel generation algorithm based on bone tunnel parameters to generate femoral bone tunnel data and tibial bone tunnel data that fit the skeletal structure.

[0059] In some embodiments of the present application, S220 may include:

[0060] S221, constructing a femoral cylinder corresponding to the femur, and constructing a tibial cylinder corresponding to the tibia.

[0061] For example, in the specific embodiment of the present application, the femur is first simulated and constructed. Figure 4 The femoral cylinder shown and the corresponding tibial cylinder as shown Figure 5 The tibial cylinder is shown.

[0062] Specifically, in some embodiments of the present application, S221 may include: obtaining femoral parameters corresponding to the femur, wherein the femoral parameters include: the femoral entry point, the femoral midpoint, the femoral exit point, the first bone canal radius from the femoral entry point to the femoral midpoint, and the second bone canal radius from the femoral midpoint to the femoral exit point; generating a first section of a cylinder based on the femoral entry point, the femoral midpoint and the first section of the bone canal radius; generating a second section of a cylinder based on the femoral midpoint, the femoral exit point and the second section of the bone canal radius; merging the first section of the cylinder and the second section of the cylinder to obtain the femoral cylinder.

[0063] For example, in the specific embodiment of the present application, the femoral entry point P (x1, y1, z1), the femoral midpoint C (x2, y2, z2), the femoral exit point Q (x3, y3, z3), and the first segment of the bone tunnel radius r1 from P to C and the second segment of the bone tunnel radius r2 from C to Q are obtained. If the number of edges is n, the arc size of each edge is , vector modulus , the unit vector is: . Choose one that does not Parallel unit vectors . According to the cross product formula of vector , we can find a unit vector on the circular surface , and then by the vector and , find the third unit vector perpendicular to the two , through the following formula:

[0064]

[0065] Find all points with P and C as the center and the radius of the bone channel as r1 (i.e. r=r1), that is, PR={p i , i=0,1,2...n}、CR={c i , i=0,1,2...n}, the cylinder CY1 (as a specific example of the first segment of the cylinder) is generated by PR and CR by constructing a triangular belt.

[0066] The method of constructing the triangle strip is as follows: Based on the point sets PR and CR, a cylindrical quadrilateral with point k is constructed. i , the order of connection points is p i →p i+1 →c j+1 →c j , (0≤i≤n-1, 0≤j≤m-1, i=j). Then add k to each quadrilateral. i Convert into two triangles t1 and t2, the connection order of the midpoints of t1 is p i →p i+1 →c j+1 , the connection order of the points in t2 is p i →c i+1 →c i , pass the points in PR through p i →p i+1 →p i+2 (0≤i≤n-2) to construct a triangle strip; pass the points in CR through c i →c i+1 →c i+2 (0 ≤ i ≤ m - 2) to construct a triangular strip; then, the PR circular triangular strip, the PRCR cylindrical triangular strip, and the CR circular triangular strip are sequentially arranged to form a cylindrical CY1 triangular strip. m and n are both constants and can be set according to the actual application scenario.

[0067] Similarly, according to the above method, all points with C and Q as the center and the radius of the bone channel as r2 are: CR'={c i , i=0,1,2...n}, QR={q i , i=0,1,2...n}. The cylinder CY2 is generated by constructing triangular strips from CR' and QR (as a specific example of the second segment of the cylinder). Finally, CY1 and CY2 are merged into Figure 4 The femoral cylinder CY is shown awaiting subsequent use.

[0068] Specifically, when two space cylinders are merged, the cylinder CY1=(V,F), V={v i , i=0,1,2...n},F={f i , i=0,1,2...n}; cylinder CY2=(W,E),W={w i , i=0,1,2...n}, E={e i , i=0,1,2...n}; Merge the points V and W of the two cylinders and rearrange the triangles according to the spatial position of the points, CY=(VW,EF),VW={vw i, i=0,1,2...n+t}, EF={ef i , i=0,1,2...m+k}. Here, t is a constant. Since VW is composed of points in V and points in W, and the number of points in V and W is n, n+t is used here to represent the number of points in VW. k is a constant. Since EF is generated by triangles in F and triangles in F, and the number of triangles in E and F is n, m+k is used here to represent the number of triangles in EF.

[0069] In some embodiments of the present application, S221 may include: obtaining tibial parameters corresponding to the tibia, wherein the tibial parameters include: tibial entry point, tibial exit point and tibial radius; generating the tibial cylinder matching the tibial parameters.

[0070] It is understandable that the tibia is composed of only one cylindrical section, which can be generated according to the principle of generating CY1 above. Figure 5 To avoid repetition, the tibial cylinder is not described here.

[0071] S222, generating a femoral bounding box of the femoral cylinder and a tibial bounding box of the tibial cylinder.

[0072] For example, in the specific embodiment of the present application, P and Q can be used to obtain Figure 6 The femoral bounding box CYP of the femoral cylinder with PQ as two points is shown, and its 8 vertices are:

[0073]

[0074] The six sides are:

[0075]

[0076] 、 、 As the direction of the bounding box, with extent = (r1, v1 / 2, r1) as the radius of the femoral bounding box, and center = (P+Q) / 2, we can get the points and faces of the femoral bounding box CYP. Similarly, we can get Figure 7 The tibia bounding box, as well as the points and faces of the tibia bounding box are shown.

[0077] S223 , using the femur bounding box and the tibia bounding box to crop the femur and the tibia respectively, to obtain cropped femur data and cropped tibia data.

[0078] For example, in a specific embodiment of the present application, after the femur PD is segmented as described above, the femur data set PD = {x1, x2, ..., xn} corresponding to the femur can be obtained, and PD is clipped using CYP to obtain the clipped data PDC (as a specific example of clipped femur data). For example, PD is clipped using the six planes of CYP in sequence, and the points within the plane are retained, and the points outside the plane are removed, and the following can be obtained: Figure 8 The cropped data PDC. The cropped data is an uneven rectangle and is composed of triangular facets. Similarly, the tibia bounding box can be used to crop the tibia dataset to obtain the following: Figure 9 Tibia data after cropping are shown.

[0079] S224, respectively solving the intersection of the cut femur data and the femoral cylinder, and the intersection of the cut tibia data and the tibial cylinder to obtain the femoral bone tunnel data and the tibial bone tunnel data.

[0080] For example, in a specific embodiment of the present application, the data after cutting the femoral surface is PDC, and the femoral bone tunnel data (i.e., the femoral cylinder) is CY. The intersection of the two is obtained as follows: Figure 10 The femoral bone tunnel data PDCU is shown as follows. Similarly, by finding the intersection, we can get Figure 11 Tibial tunnel data shown.

[0081] S230: Generate a three-dimensional bone tract image based on the fusion data of the object to be processed and the bone tract data.

[0082] For example, in a specific example of the present application, the femur, tibia and the corresponding femoral bone tunnel data PDCU and tibial bone tunnel data are fused to generate a corresponding three-dimensional bone tunnel image.

[0083] Specifically, in some embodiments of the present application, S230 may include: fusing the femur and the femoral bone tunnel data to generate a three-dimensional femoral bone tunnel image; fusing the tibia and the tibial bone tunnel data to generate a three-dimensional tibial bone tunnel image; wherein the three-dimensional bone tunnel image includes: the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image; or, the three-dimensional bone tunnel image is an image obtained by merging the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image.

[0084] For example, in a specific embodiment of the present application, by integrating PD and PDCU, the following is obtained: Figure 12 The three-dimensional femoral bone tunnel image shown in FIG; By fusing the tibia and tibial bone tunnel data, the following Figure 13 The three-dimensional image of the tibial bone tunnel is shown. Figure 12 and 13The transparency of the image can be adjusted so that the part that penetrates the bone is not visible and only the cross section of the exit can be seen. Alternatively, the entire knee joint consisting of the femoral and tibial tunnels can be displayed in one image. Figure 14 The three-dimensional bone tunnel image shown; Figure 14 The orange part in the middle is the entry and exit points of the planned bone channel.

[0085] In some embodiments of the present application, after executing S230, the method for generating a bone tunnel may further include: separately displaying the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image; or, displaying the three-dimensional bone tunnel image after the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image are merged.

[0086] For example, display Figure 12 and Figure 13 ; or directly display Figure 14 The specific display method can be adjusted according to the actual application scenario, and the embodiments of the present application are not limited thereto.

[0087] The following is combined with Figure 15 The specific process of generating bone tunnels provided by some embodiments of the present application is exemplified.

[0088] Please see the attached Figure 15 , Figure 15 A flow chart of a method for generating a bone tunnel is provided for some embodiments of the present application.

[0089] The above process is described below as an example.

[0090] S510: Acquire original scanning data of the patient's knee joint.

[0091] S520, using a machine learning algorithm to segment the femur and tibia from the raw scan data.

[0092] S530: Plan bone tunnel parameters based on the femur and tibia.

[0093] S540: Generate femoral bone tunnel data and tibial bone tunnel data that match the bone tunnel parameters.

[0094] S550: Fusing the femur and tibia and the corresponding femoral bone tunnel data and tibial bone tunnel data to generate a three-dimensional femoral bone tunnel image and a three-dimensional tibial bone tunnel image.

[0095] S560: Display the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image.

[0096] It is understandable that the specific implementation process of S510 to S560 can refer to the method embodiment provided above. To avoid repetition, detailed description is appropriately omitted here.

[0097] Please refer to Figure 16 , Figure 16 A block diagram of the components of a bone tunnel generating apparatus provided in some embodiments of the present application is shown. It should be understood that the bone tunnel generating apparatus corresponds to the aforementioned method embodiments and is capable of performing each of the steps involved in the aforementioned method embodiments. The specific functions of the bone tunnel generating apparatus can be found in the description above, and a detailed description is omitted here to avoid repetition.

[0098] Figure 16 The device for generating a bone tunnel includes at least one software functional module that can be stored in a memory in the form of software or firmware or fixed in the device for generating a bone tunnel. The device for generating a bone tunnel includes: a data acquisition module 1610, used to obtain bone tunnel parameters of an object to be processed; wherein the object to be processed includes: a femur and a tibia of a knee joint; the bone tunnel parameters include: a bone tunnel entry point, a bone tunnel exit point, and a bone tunnel diameter; a data generation module 1620, used to generate bone tunnel data matching the bone tunnel parameters; wherein the bone tunnel data includes: femoral bone tunnel data corresponding to the femur and tibial bone tunnel data corresponding to the tibia; and an image generation module 1630, used to generate a three-dimensional bone tunnel image based on fusion data of the object to be processed and the bone tunnel data.

[0099] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method, and will not be described in detail here.

[0100] Some embodiments of the present application further provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the operations corresponding to any of the above methods provided in the above embodiments.

[0101] Some embodiments of the present application further provide a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can implement the operations corresponding to any of the above methods provided in the above embodiments.

[0102] like Figure 17 As shown, some embodiments of the present application provide an electronic device 600, which includes: a memory 610, a processor 620, and a computer program stored in the memory 610 and executable on the processor 620, wherein the processor 620 can implement a method as described in any of the above embodiments when reading the program from the memory 610 through the bus 630 and executing the program.

[0103] Processor 620 can process digital signals and can include various computing architectures, such as a complex instruction set computer architecture, a reduced instruction set computer architecture, or an architecture that implements a combination of multiple instruction sets. In some examples, processor 620 can be a microprocessor.

[0104] The memory 610 can be used to store instructions executed by the processor 620 or data related to the execution of instructions. These instructions and / or data may include code for implementing some or all functions of one or more modules described in the embodiments of this application. The processor 620 of the embodiment of the present disclosure can be used to execute the instructions in the memory 610 to implement the method shown above. The memory 610 includes dynamic random access memory, static random access memory, flash memory, optical storage, or other memory known to those skilled in the art.

[0105] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0106] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0107] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. A method for generating a bone tunnel, characterized in that: include: Obtaining bone tunnel parameters of the object to be processed; wherein the object to be processed includes: the femur and tibia of the knee joint; the bone tunnel parameters include: bone tunnel entry point, bone tunnel exit point and bone tunnel diameter; Generate bone tunnel data that matches the bone tunnel parameters; wherein the bone tunnel data includes: femoral bone tunnel data corresponding to the femur and tibial bone tunnel data corresponding to the tibia; generating a three-dimensional bone tract image based on the fusion data of the object to be processed and the bone tract data; The generating of bone tunnel data matching the bone tunnel parameters includes: Constructing a femoral cylinder corresponding to the femur and a tibial cylinder corresponding to the tibia; wherein the femoral cylinder is formed by merging two cylinders with different bone channel radii; generating a femoral bounding box of the femoral cylinder and a tibial bounding box of the tibial cylinder; Using the six faces of the femur bounding box and the tibia bounding box to crop the femur and the tibia respectively, to obtain cropped femur data and cropped tibia data; The intersection of the cut femur data and the femoral cylinder, and the intersection of the cut tibia data and the tibial cylinder are respectively solved to obtain the femoral bone tunnel data and the tibial bone tunnel data.

2. The method according to claim 1, wherein The step of obtaining bone channel parameters of the object to be processed includes: Acquiring original scanning data of the knee joint; Segmenting the object to be processed from the original scan data; The bone tunnel parameters are planned for the object to be treated.

3. The method according to claim 1, wherein The step of constructing a femoral cylinder corresponding to the femur comprises: Obtain femoral parameters corresponding to the femur, wherein the femoral parameters include: a femoral entry point, a femoral midpoint, a femoral exit point, a first bone tunnel radius from the femoral entry point to the femoral midpoint, and a second bone tunnel radius from the femoral midpoint to the femoral exit point; Generate a first cylindrical section based on the femoral entry point, the femoral midpoint, and the first bone tunnel radius; generate a second cylindrical section based on the femoral midpoint, the femoral exit point, and the second bone tunnel radius; The first cylindrical section and the second cylindrical section are combined to obtain the femoral cylindrical section.

4. The method according to claim 1, wherein The step of constructing a tibial cylinder corresponding to the tibia comprises: Acquire tibial parameters corresponding to the tibia, wherein the tibial parameters include: tibial entry point, tibial exit point and tibial radius; The tibial cylinder is generated to match the tibial parameters.

5. The method according to claim 1 or 2, wherein: The generating of a three-dimensional bone tract image based on the fusion data of the object to be processed and the bone tract data includes: fusing the femur and the femoral bone tunnel data to generate a three-dimensional femoral bone tunnel image; fusing the tibia and the tibial bone tunnel data to generate a three-dimensional tibial bone tunnel image; The three-dimensional bone tunnel image includes: the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image; or, the three-dimensional bone tunnel image is a merged image of the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image.

6. The method according to claim 5, wherein After generating the three-dimensional bone tunnel image, the method further includes: displaying the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image separately; or, The three-dimensional bone tunnel image obtained by merging the three-dimensional femoral bone tunnel image and the three-dimensional tibial bone tunnel image is displayed.

7. A surgical robot, characterized in that: The surgical robot is used to perform the method according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program is executed by a processor to perform the method according to any one of claims 1 to 6.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program executes the method according to any one of claims 1 to 6 when being run by the processor.

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