Method and device for displaying position of acetabular cup in total hip arthroplasty and computer equipment

Abstract

The invention relates to a method and device for displaying the position of an acetabular cup in total hip replacement, computer equipment, a storage medium and a computer program product, relates to the technical field of medical equipment, and can improve the efficiency of determining the implantation state of the acetabular cup by an operator. The method comprises the steps that an acetabulum virtual image is constructed according to user image data, concave point marking points of an acetabular fossa in the acetabulum virtual image are determined, and the concave point marking points are used for marking concave point features of the acetabular fossa; real-time pose data of the acetabular cup implanted into the acetabular fossa is received, a salient point mark point of the acetabular cup is determined according to the real-time pose data, and the salient point mark point is used for identifying salient point features of the acetabular cup; and calculating the distance between the concave point marking point and the convex point marking point in real time, and carrying out visual display on the acetabular cup pose in the acetabular virtual image according to the distance.

Description

Technical Field

[0001] The present application relates to the field of medical equipment technology, and in particular to a method, device, computer equipment, storage medium and computer program product for displaying the position of an acetabular cup during total hip replacement surgery. Background Art

[0002] Total hip replacement is an important surgical procedure for treating hip joint disorders. It involves the replacement of both the femoral neck and acetabular cup. The success of the surgery hinges on the proper placement of the prosthetic femoral neck. Proper prosthetic placement improves the patient's range of motion and reduces the incidence of complications such as prosthetic impingement or dislocation.

[0003] At present, conventional total hip replacement surgery has the following shortcomings: First, the focus of clinical attention is whether the angle of the acetabulum (abduction angle, anteversion angle) is within the safe zone, but traditional manual operation can only determine the acetabulum angle by visual inspection, and the reference object is mostly the operating table or the ground, which cannot take into account the patient's own posture and personalized characteristics, resulting in a large error between the acetabulum angle placement and the planned angle. Second, current research has shown that there is a correlation between the position of the artificial femoral prosthesis and the position of the artificial acetabulum, that is, the final position of the femoral prosthesis affects the safe zone of the acetabulum angle. However, the importance of the femoral prosthesis position is currently ignored in clinical practice. The reason is that the position of the femoral prosthesis is poorly controllable, and its final position depends on the anatomical morphology and bone condition of the patient's own bone marrow cavity. Therefore, during the hip replacement surgery, the relevant parameters of the acetabulum implanted into the acetabulum will be provided to the operator in real time to avoid acetabular defects caused by abnormal acetabulum implantation operation. However, the current display method can only allow the operator to roughly perceive the difference between the acetabular cup implantation method during surgery and the acetabular cup implantation method planned before surgery. It is impossible to timely understand the current implantation status of the acetabular cup on the target object, and thus the doctor cannot accurately determine whether the acetabular cup is implanted in the correct position. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product for displaying the position of the acetabular cup during total hip replacement surgery, which can improve the operator's efficiency in determining the implantation status of the acetabular cup.

[0005] In a first aspect, the present application provides a method for displaying the position of an acetabular cup during total hip replacement surgery, comprising:

[0006] Constructing a virtual image of the acetabulum according to the user image data, and determining concave point marking points of the acetabulum fossa in the virtual image of the acetabulum, wherein the concave point marking points are used to identify concave point features of the acetabulum fossa;

[0007] receiving real-time posture data of the acetabular cup implanted in the acetabulum fossa, and determining convex point marking points of the acetabular cup according to the real-time posture data, wherein the convex point marking points are used to identify convex point features of the acetabular cup;

[0008] The distance between the concave mark point and the convex mark point is calculated in real time, and the acetabular cup position in the acetabulum virtual image is visualized according to the distance.

[0009] In one embodiment, the real-time calculation of the distance between the concave mark point and the convex mark point, and the visualization of the acetabular cup posture in the acetabulum virtual image according to the distance, includes:

[0010] The concave point marking point is used to mark a concave point on the concave surface of the acetabular fossa, and the convex point marking point is used to mark a convex point on the convex surface of the acetabular cup, and the distance between the concave point and the convex point is measured to determine a first distance between the acetabular cup and the acetabular fossa;

[0011] The acetabular cup position in the acetabulum virtual image is visualized according to the first distance.

[0012] In one embodiment, the virtual image of the acetabulum comprises a three-dimensional virtual image of the acetabulum;

[0013] The visually displaying the acetabular cup posture in the acetabulum virtual image according to the first distance includes:

[0014] determining a contact depth level between the acetabular cup and the acetabular socket according to the first distance;

[0015] adjusting the color of the contact area between the acetabulum fossa and the acetabular cup in the three-dimensional acetabulum virtual image according to the contact depth level, so that the color changes accordingly with the change of the contact depth level, thereby obtaining the contact area after color adjustment;

[0016] The contact area after color adjustment is displayed in an implantation direction perspective, where the implantation direction perspective is determined based on the axial direction of the acetabular cup.

[0017] In one embodiment, the virtual image of the acetabulum comprises a three-dimensional virtual image of the acetabulum;

[0018] The visually displaying the acetabular cup posture in the acetabulum virtual image according to the first distance includes:

[0019] determining a contact depth level between the acetabular cup and the acetabular socket according to the first distance;

[0020] adjusting the color of the contact area between the acetabulum fossa and the acetabular cup in the three-dimensional acetabulum virtual image according to the contact depth level, so that the color changes accordingly with the change of the contact depth level, thereby obtaining the contact area after color adjustment;

[0021] Projecting the color-adjusted contact area in the three-dimensional acetabulum virtual image in the axial direction of the acetabulum cup to obtain a contact area projection representing a contact condition between the acetabulum cup and the acetabular fossa;

[0022] Visual display is performed based on the contact area projection.

[0023] In one embodiment, the visual display based on the contact area projection includes:

[0024] displaying the contact area projection; and / or,

[0025] The area of ​​the region corresponding to the color region on the projection of the contact region is obtained, and coverage information of the acetabular cup is determined and displayed according to the ratio of the area of ​​the region to the projection area of ​​the projection of the contact region.

[0026] In one embodiment, the virtual image of the acetabulum comprises a three-dimensional virtual image of the acetabulum;

[0027] The real-time calculation of the distance between the concave mark point and the convex mark point, and visual display of the acetabular cup posture in the acetabulum virtual image according to the distance, includes:

[0028] If the concave point marking point includes the most concave point of the acetabular fossa, and the convex point marking point includes the most convex point of the acetabular cup, then calculating in real time a second distance between the most concave point and the most convex point;

[0029] The second distance is displayed in a lateral viewing angle of the three-dimensional virtual image of the acetabulum; the lateral viewing angle is determined based on a direction perpendicular to the axis of the acetabulum.

[0030] In one embodiment, determining the concave marker point of the acetabulum fossa in the virtual image of the acetabulum comprises:

[0031] If the acetabular fossa trimming information is obtained, a projection of the acetabular fossa trimming tool on the axis of the acetabular cup planned before the operation is obtained, and the most concave point of the acetabular fossa is determined based on the point on the projection that is farthest from the center point of the acetabular cup planned before the operation, and a concave point marker point of the acetabular fossa in the acetabular virtual image is obtained;

[0032] If the acetabular fossa modification information is not obtained, the most concave point of the acetabular fossa is determined according to the apex of the acetabular cup planned before surgery, and the concave point marking point of the acetabular fossa in the acetabulum virtual image is obtained.

[0033] In a second aspect, the present application further provides a device for displaying the position of an acetabular cup during total hip replacement surgery, comprising:

[0034] a concave point marking point acquisition module, configured to construct a virtual image of the acetabulum according to user image data, and determine concave point marking points of the acetabulum fossa in the virtual image of the acetabulum, wherein the concave point marking points are used to identify concave point features of the acetabulum fossa;

[0035] a convex point marker acquisition module, configured to receive real-time posture data of the acetabular cup implanted in the acetabular fossa, and determine the convex point markers of the acetabular cup according to the real-time posture data, wherein the convex point markers are used to identify convex point features of the acetabular cup;

[0036] The distance display module is used to calculate the distance between the concave mark point and the convex mark point in real time, and to visualize the acetabular cup position in the acetabulum virtual image according to the distance.

[0037] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0038] Constructing a virtual image of the acetabulum according to the user image data, and determining concave point marking points of the acetabulum fossa in the virtual image of the acetabulum, wherein the concave point marking points are used to identify concave point features of the acetabulum fossa;

[0039] receiving real-time posture data of the acetabular cup implanted in the acetabulum fossa, and determining convex point marking points of the acetabular cup according to the real-time posture data, wherein the convex point marking points are used to identify convex point features of the acetabular cup;

[0040] The distance between the concave mark point and the convex mark point is calculated in real time, and the acetabular cup position in the acetabulum virtual image is visualized according to the distance.

[0041] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0042] Constructing a virtual image of the acetabulum according to the user image data, and determining concave point marking points of the acetabulum fossa in the virtual image of the acetabulum, wherein the concave point marking points are used to identify concave point features of the acetabulum fossa;

[0043] receiving real-time posture data of the acetabular cup implanted in the acetabulum fossa, and determining convex point marking points of the acetabular cup according to the real-time posture data, wherein the convex point marking points are used to identify convex point features of the acetabular cup;

[0044] The distance between the concave mark point and the convex mark point is calculated in real time, and the acetabular cup position in the acetabulum virtual image is visualized according to the distance.

[0045] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0046] Constructing a virtual image of the acetabulum according to the user image data, and determining concave point marking points of the acetabulum fossa in the virtual image of the acetabulum, wherein the concave point marking points are used to identify concave point features of the acetabulum fossa;

[0047] receiving real-time posture data of the acetabular cup implanted in the acetabulum fossa, and determining convex point marking points of the acetabular cup according to the real-time posture data, wherein the convex point marking points are used to identify convex point features of the acetabular cup;

[0048] The distance between the concave mark point and the convex mark point is calculated in real time, and the acetabular cup position in the acetabulum virtual image is visualized according to the distance.

[0049] The above-mentioned method, device, computer equipment, storage medium and computer program product for displaying the position of the acetabular cup in total hip arthroplasty, on the one hand, constructs a virtual image of the acetabulum according to the user image data, determines the concave mark points of the acetabular fossa in the virtual image of the acetabulum, and the concave mark points are used to identify the concave features of the acetabular fossa; on the other hand, receives the real-time posture data of the acetabular cup implanted in the acetabular fossa, determines the convex mark points of the acetabular cup according to the real-time posture data, and the convex mark points are used to identify the convex features of the acetabular cup; and then calculates the distance between the concave mark points and the convex mark points in real time, and visualizes the acetabular cup posture in the virtual image of the acetabulum according to the distance. In this embodiment, by determining the concave mark points of the acetabular fossa and the convex mark points of the acetabular cup, and calculating the distance between the concave mark points and the convex mark points in real time, and performing visual display, it is possible to intuitively and accurately reflect the posture change of the implanted acetabular cup relative to the acetabular fossa during the acetabular cup implantation process, which helps the operator to intuitively understand the implantation status of the acetabular cup on the target object and improves the operator's efficiency in distinguishing the implantation status of the acetabular cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 1 is a flow chart of a method for displaying the position of an acetabular cup during total hip replacement surgery according to an embodiment;

[0052] Figure 2 is a schematic diagram of a process for performing visual display using a first distance in one embodiment;

[0053] Figure 3 FIG1 is a schematic diagram of an implantation perspective of a three-dimensional virtual image of an acetabulum in one embodiment;

[0054] Figure 4 This is an architectural diagram for visually displaying an acetabular cup implantation status in one embodiment;

[0055] Figure 5 is a schematic diagram of a contact area projection in one embodiment;

[0056] Figure 6 is a schematic diagram showing an acetabular cup implantation state in a related art according to an embodiment;

[0057] Figure 7 A schematic diagram of the implantation depth of the acetabular cup in the acetabulum fossa in a two-dimensional image according to an embodiment;

[0058] Figure 8 A flowchart of an acetabular cup implantation step according to an embodiment;

[0059] Figure 9 This is a structural block diagram of a device for displaying the position of an acetabular cup during total hip replacement surgery according to one embodiment;

[0060] Figure 10 is a diagram of the internal structure of a computer device in one embodiment;

[0061] Figure 11 FIG. 1 is a diagram showing the internal structure of another computer device in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0063] In one embodiment, Figure 1 As shown, a method for displaying the position of an acetabular cup during total hip replacement surgery is provided. This embodiment takes the application of this method to a terminal (such as a medical device that displays operation information and / or operation status during surgery) as an example; it can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. The server can be implemented as an independent server or a server cluster composed of multiple servers.

[0064] In this embodiment, the following steps S101 to S103 are included.

[0065] S101, constructing a virtual image of the acetabulum according to user image data, and determining concave point marking points of the acetabulum fossa in the virtual image of the acetabulum, where the concave point marking points are used to identify concave point features of the acetabulum fossa.

[0066] In practical applications, the target object can be scanned and photographed using medical imaging equipment during the operation to obtain user image data. In one embodiment, the target object's lower limbs can be scanned using CT (Computed Tomography) imaging equipment to obtain a CT image of the relevant lower limb tissues. This CT image can then be used as user image data to construct a virtual image of the acetabulum.

[0067] In some embodiments, in the process of constructing a virtual image of the acetabulum based on user image data, after obtaining the user image data (such as CT image data of the lower limbs), the user image data can be processed by relevant segmentation algorithms, such as a bone tissue segmentation model, and the bone tissue of the hip joint in the user image data can be segmented and extracted. Thereafter, the three-dimensional structure of the acetabulum can be fitted using the CT image through image processing software.

[0068] After obtaining the three-dimensional structure of the acetabulum, the coordinate information of the three-dimensional structure of the acetabulum can be obtained and converted to a preset coordinate system. Specifically, for example, the conversion matrix from the CT coordinate system to the array coordinate system can be obtained, and then the three-dimensional structure of the acetabulum obtained by fitting is converted according to the conversion matrix. Based on the conversion result, a virtual image of the acetabulum is obtained, thereby ensuring that the subsequent operation of the acetabulum on the terminal display screen is consistent with the operation result in the real environment. For example, the conversion matrix between the various coordinate systems during the operation can be obtained through an interactive registration method or an X-ray registration method, and the obtained three-dimensional structure of the acetabulum is converted according to the conversion matrix to obtain the three-dimensional structure of the acetabulum in the preset coordinate system (also called the unified coordinate system), thereby ensuring that the position of the acetabulum grinding on the display screen of the augmented reality system is consistent with that in the real environment.

[0069] After acquiring the virtual image of the acetabulum, the concave point marking points of the acetabulum fossa in the virtual image of the acetabulum can be determined, wherein the concave point marking points can characterize the concave point features corresponding to the concave points of the concave surface of the acetabulum fossa. The virtual image of the acetabulum can be a three-dimensional virtual image of the acetabulum, which can stereoscopically characterize the acetabulum structure. For ease of distinction, the points on the concave surface of the acetabulum fossa are referred to as concave points in this application. In some examples, the concave point marking points can include multiple concave points on the concave surface of the acetabulum fossa, for example, the individual concave points constituting the concave surface of the acetabulum fossa or the multiple concave points obtained after preprocessing such as denoising or screening. In other examples, the concave point marking points can also be feature points among the multiple concave points that can reflect the concave surface of the acetabulum fossa, such as the most concave point of the acetabulum fossa.

[0070] S102, receiving real-time posture data of the acetabular cup implanted in the acetabulum, and determining convex point marking points of the acetabular cup according to the real-time posture data, wherein the convex point marking points are used to identify convex point features of the acetabular cup.

[0071] In this step, real-time position data of the acetabular cup during implantation into the acetabulum can be received. For example, when a surgical robot is used for implantation, the real-time position data of the acetabular cup during implantation into the acetabulum can be calculated based on the real-time position data of the robotic arm on the surgical robot and the conversion relationship between the robotic arm position and the acetabular cup position. After obtaining the real-time position data of the acetabular cup during implantation, the real-time position data can be converted to obtain the real-time position data of the acetabular cup in a preset coordinate system, and the convex point marking points of the acetabular cup can be determined based on the real-time position data obtained after the conversion.

[0072] Among them, the convex point marking point can represent the convex point features corresponding to the points on the surface of the acetabular cup. For the sake of distinction, the points on the convex surface of the acetabular cup are referred to as convex points in this application. In some examples, the convex point marking point can include multiple convex points on the convex surface of the acetabular cup, for example, they can be the individual convex points that constitute the convex surface of the acetabular cup, or they can be multiple convex points obtained after pre-processing such as denoising or screening. In other examples, the convex point marking point can also be a feature point among multiple convex points that can reflect the convex surface of the acetabular cup, such as the most convex point of the convex points.

[0073] S103, calculating the distance between the concave mark point and the convex mark point in real time, and visually displaying the acetabular cup position in the acetabulum virtual image according to the distance.

[0074] After obtaining the concave marker points and the convex marker points, the distance calculation can be performed in real time based on the respective position information of the concave marker points and the convex marker points to obtain the distance between the concave marker points and the convex marker points. Then, in the virtual image of the acetabulum, the acetabular cup position in the figure can be visualized according to the calculated distance, thereby intuitively displaying the implantation status of the acetabular cup in the acetabular fossa in the virtual image of the acetabulum.

[0075] In some optional embodiments, the calculated distance can be directly displayed in the virtual image of the acetabulum, and the position of the acetabulum cup in the virtual image of the acetabulum can be adjusted according to the distance; or, the visual elements in the virtual image of the acetabulum can be adjusted according to the calculated distance, so that the visual elements change accordingly with the change of the distance between the concave mark point and the convex mark point. For example, one or more visual elements such as the color, style, etc. of the corresponding display area or position in the virtual image of the acetabulum can be adjusted according to the distance calculated in real time.

[0076] In the above-mentioned method for displaying the position of the acetabular cup during total hip arthroplasty, on the one hand, a virtual image of the acetabulum is constructed according to the user image data, and the concave mark points of the acetabular fossa in the virtual image of the acetabulum are determined, and the concave mark points are used to identify the concave features of the acetabular fossa; on the other hand, real-time posture data of the acetabular cup implanted in the acetabular fossa are received, and the convex mark points of the acetabular cup are determined according to the real-time posture data, and the convex mark points are used to identify the convex features of the acetabular cup; and then the distance between the concave mark points and the convex mark points is calculated in real time, and the acetabular cup posture in the virtual image of the acetabulum is visualized according to the distance. In this embodiment, by determining the concave mark points of the acetabular fossa and the convex mark points of the acetabular cup, and calculating the distance between the concave mark points and the convex mark points in real time, and performing visual display, the posture change of the implanted acetabular cup relative to the acetabular fossa can be intuitively and accurately reflected during the acetabular cup implantation process, which helps the operator to intuitively understand the implantation status of the acetabular cup on the target object and improves the operator's efficiency in distinguishing the implantation status of the acetabular cup.

[0077] In one embodiment, Figure 2 As shown, in step S103, the distance between the concave mark point and the convex mark point is calculated in real time, and the acetabular cup position in the acetabulum virtual image is visualized according to the distance, which may include the following steps:

[0078] S201, the concave point marking point is used to mark the concave point of the concave surface of the acetabular fossa, and the convex point marking point is used to mark the convex point of the convex surface of the acetabular cup, and the distance between the concave point and the convex point is measured to determine a first distance between the acetabular cup and the acetabular fossa.

[0079] In practical applications, the concave point marking points can be used to mark points on the concave surface of the acetabulum, that is, to mark the concave points of the acetabulum concave surface, and the convex point marking points can be used to mark points on the convex surface of the acetabulum cup, that is, to mark the convex points of the convex surface of the acetabulum cup. In this case, the concave points marked by the concave point marking points and the convex points marked by the convex point marking points can reflect the structure of the concave surface of the acetabulum fossa, and the convex point marking points can reflect the structure of the convex surface of the acetabulum cup. By measuring the distance between the concave points and the convex points, the distance reflecting the contact condition between the acetabulum cup and the acetabulum fossa (such as the contact thickness) can be calculated. For ease of distinction, this distance between the acetabulum cup and the acetabulum fossa is also referred to as the first distance.

[0080] Specifically, when collecting the concave marking points of the acetabulum fossa and the convex marking points of the acetabulum cup, multiple points of the acetabulum fossa and the acetabulum cup can be collected to obtain multiple concave points on the concave surface of the acetabulum fossa and multiple convex points on the convex surface of the acetabulum cup. Then, the thickness of the contact between the acetabulum cup and the acetabulum fossa can be determined based on the multiple concave points and the multiple convex points.

[0081] In some embodiments, the contact thickness between the acetabular cup and the acetabular fossa can be characterized by the thickness of the acetabular cup in contact with the acetabular fossa in various directions, which can be approximately equivalent to the distance between each convex point on the acetabular cup and the surface of the acetabular fossa in the corresponding direction. Based on this, in this step, the first distance between the acetabular cup surface and the acetabular fossa in various directions can be determined based on the multiple concave points and the multiple convex points.

[0082] In an optional embodiment, for multiple points in three-dimensional space, when determining the first distance between the acetabular cup and the acetabular fossa in various directions based on multiple concave points and multiple convex points, the first distance of the acetabular cup in various directions can be determined by fitting a Signed Distance Function (SDF). The SDF function can be used to determine the distance between a certain point and the surface of an object, wherein the distance from a point outside the object to the surface of the object is a positive number, and the distance from a point inside the object to the surface of the object is a negative number.

[0083] S202: Visually display the acetabular cup position in the acetabulum virtual image according to the first distance.

[0084] After obtaining the first distance between the acetabulum and the acetabulum fossa, the position of the acetabulum can be visualized on the acetabulum virtual image according to the first distance. For example, the position of the acetabulum as a whole in the acetabulum virtual image can be adjusted accordingly based on the calculated first distance between the convex surface of the acetabulum and the acetabulum fossa in each direction to display the contact status of the acetabulum with the acetabulum fossa in each direction.

[0085] In this embodiment, the first distance between the acetabulum and the acetabular fossa is determined by measuring the distance between the convex point and the concave point, and the acetabulum position in the acetabulum virtual image is visualized according to the first distance. This can intuitively reflect the contact situation between the acetabulum and the acetabular fossa in all directions during the acetabulum implantation process, so that the operator can timely understand the actual contact situation between the acetabulum and the acetabular fossa around the acetabulum, facilitate timely corresponding adjustments, and help improve the safety and accuracy of the surgical operation.

[0086] In one embodiment, the acetabulum virtual image includes a three-dimensional acetabulum virtual image; in step S202, visually displaying the acetabular cup position in the acetabulum virtual image according to the first distance may include the following steps:

[0087] Determine the contact depth level between the acetabular cup and the acetabular fossa based on the first distance; adjust the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional acetabulum virtual image based on the contact depth level, so that the color changes accordingly with the change of the contact depth level, and obtain the contact area with adjusted color; display the contact area with adjusted color under the implantation direction perspective, and the implantation direction perspective is determined based on the axial direction of the acetabular cup.

[0088] In a specific implementation, a plurality of contact depth levels can be pre-set, each of which can correspond to a different distance range, and each of which can correspond to a different color. Furthermore, after obtaining each first distance, for each first distance, the contact depth level of the first distance can be determined based on the first distance and the distance range corresponding to each contact depth level. Then, on the one hand, the acetabular cup position corresponding to the acetabular cup in the acetabular virtual image can be adjusted based on the first distance, such as adjusting the position and posture of the acetabular cup in the acetabular virtual image. On the other hand, for the contact depth level of the acetabular cup with the acetabular fossa in each direction, the color of the contact area between the acetabular fossa and the acetabular cup in the acetabular virtual image can be adjusted accordingly based on the contact depth level, so that the color of the contact area can change accordingly with the change of the contact depth level, thereby obtaining a color-adjusted contact area.

[0089] For a three-dimensional acetabulum virtual image, the contact between the acetabulum and the acetabular cup can be observed from multiple different perspectives. In this embodiment, after obtaining the color-adjusted base area, the color-adjusted contact area can be displayed under the implantation direction perspective, wherein the implantation direction perspective can also be called the acetabular cup axis perspective, which is determined based on the acetabular cup axis direction. Figure 3 FIG. 1 shows a base area in a three-dimensional acetabulum virtual image from an implantation direction perspective.

[0090] In this embodiment, on the one hand, the color of the contact area between the acetabulum and the acetabular cup in the three-dimensional acetabulum virtual image can be adjusted according to the contact depth level, so that the operator can see the thickness of the contact between the acetabular cup and the acetabular socket in each direction in real time, and quickly and intuitively understand the degree of contact between the acetabular cup and the acetabular socket in different directions around the acetabular cup based on the color of the contact area. On the other hand, by displaying the color-adjusted contact area from the implantation direction perspective, the operator can intuitively perceive it from a visual perspective that conforms to the actual implantation operation, thereby improving the efficiency of information perception.

[0091] Of course, in other embodiments, after obtaining the color-adjusted contact area, the operator may also observe the contact area at other viewing angles according to actual conditions, for example, Figure 4As shown, in addition to observing from the implantation direction, it is also possible to observe from the side perspective. During the acetabular cup implantation process, the user sends a perspective switching instruction or performs a specified action (such as switching the perspective by touching a button or pedaling).

[0092] In one embodiment, in step S202, visually displaying the acetabular cup position in the acetabulum virtual image according to the first distance may include the following steps:

[0093] The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance; based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional acetabular virtual image is adjusted so that the color changes accordingly with the change of the contact depth level, thereby obtaining a color-adjusted contact area; the color-adjusted contact area in the three-dimensional acetabular virtual image is projected in the axial direction of the acetabular cup to obtain a contact area projection representing the contact situation between the acetabular cup and the acetabular fossa; and visualization is performed based on the contact area projection.

[0094] In a specific implementation, on the one hand, the acetabular cup position corresponding to the acetabular cup in the virtual image of the acetabulum can be adjusted according to the first distance. On the other hand, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum can be adjusted according to each first distance. The specific color adjustment method can be referred to above and will not be repeated here. After obtaining the color-adjusted contact area, the three-dimensional contact area in the three-dimensional space can be projected along the axis of the acetabular cup to obtain a two-dimensional contact area projection that represents the contact between the acetabular cup and the acetabular fossa.

[0095] Then, a visual display can be performed based on the contact area projection. For example, the contact area projection can be directly displayed on a display page, or the contact area projection can be subjected to corresponding image analysis and the analysis results can be displayed on the display page.

[0096] In this embodiment, the color-adjusted contact area in the three-dimensional acetabulum virtual image is projected in the axial direction of the acetabulum to obtain a projection of the contact area and visualize it. This allows the three-dimensional spatial information of the contact area in the image to be further filtered, allowing the user to intuitively understand the contact conditions of the acetabulum at different positions last week, and providing more auxiliary information during the surgical operation to determine the current extent of acetabulum implantation.

[0097] In one embodiment, performing visualization based on contact area projection may include the following steps:

[0098] Displaying the contact area projection; and / or obtaining the area of ​​the region corresponding to the color region on the contact area projection, and determining and displaying the coverage information of the acetabular cup based on the ratio of the area of ​​the region to the projection area of ​​the contact area projection.

[0099] In practical applications, after obtaining the contact area projection, the contact area projection can be directly displayed on the display page, such as Figure 5 As shown, Figure 5 An example of a contact area projection on a display page is shown. By displaying the contact area projection, the operator can intuitively and comprehensively perceive the degree of contact between the entire surface of the acetabular cup and the acetabulum in different areas without adjusting the viewing angle.

[0100] Of course, after obtaining the contact area projection, for one or more color areas of different colors on the projection, Figure 5 For example, there are five color areas of different colors. The area of ​​one or more color areas can be determined, and then the ratio between the area of ​​the area and the projection area of ​​the entire contact area can be obtained. The coverage information of the acetabular cup surface can be obtained based on the ratio. Figure 5 The area of ​​each color region in contact with the acetabular fossa is indicated, and the ratio of the area of ​​the region to the projected area is determined as the coverage of the acetabular fossa on the acetabular cup and displayed. Of course, those skilled in the art can also calculate the ratio of the area of ​​one or more color regions to the projected area based on actual conditions to obtain coverage information of the acetabular cup at different contact thicknesses. Thus, by obtaining and displaying coverage information based on the contact area projection, the coverage situation can be represented by specific text or data, thereby improving the precision of the information representing the implantation status of the acetabular cup in the acetabular fossa.

[0101] In one embodiment, the acetabulum virtual image includes a three-dimensional acetabulum virtual image; in step S103, the distance between the concave mark point and the convex mark point is calculated in real time, and visualized in the acetabulum virtual image according to the distance, including:

[0102] If the concave point marking point includes the most concave point of the acetabulum, and the convex point marking point includes the most convex point of the acetabulum cup, the second distance between the most concave point and the most convex point is calculated in real time; the second distance is displayed under the lateral perspective of the three-dimensional acetabulum virtual image; the lateral perspective is determined based on the direction perpendicular to the axis of the acetabulum.

[0103] During the acetabular cup implantation process, the existing technology will be Figure 6 The method shown displays the position of the acetabular cup, that is, the distance between the calculated acetabular cup center and the preoperatively planned acetabular cup center. However, this method only allows the operator to understand the difference between the current acetabular cup placement method and the preoperatively planned placement method, but cannot timely perceive the current placement of the acetabular cup in the target patient's acetabulum, nor the depth of the acetabular cup implantation in the acetabulum.

[0104] In this regard, in this embodiment, when the concave point marking point includes the most concave point of the acetabulum fossa, and the convex point marking point includes the most convex point of the acetabulum cup, the implantation depth of the acetabulum cup in the acetabulum fossa can be determined based on the most concave point and the most convex point, and the implantation depth of the acetabulum cup in the acetabulum fossa can be visualized from a lateral perspective. The most concave point can be the lowest point of the concave surface of the acetabulum fossa or a point adjacent to the lowest point, and the most convex point can be the highest point of the convex surface of the acetabulum cup or a point adjacent to the highest point.

[0105] Specifically, the distance between the most concave point and the most convex point can be calculated in real time, for example, the distance difference between the most concave point and the most convex point is calculated, for ease of distinguishing, this distance is also referred to as the second distance, and the second distance can reflect the implantation depth of acetabular cup in acetabular fossa. And then, the second distance can be demonstrated under the lateral viewing angle of three-dimensional acetabular virtual image, wherein, the lateral viewing angle can also be referred to as acetabular fossa side viewing angle, and this viewing angle can be the direction perpendicular to the axis of acetabular fossa. By calculating the second distance between the most concave point and the most convex point in real time, and demonstrating the second distance under the lateral viewing angle of three-dimensional acetabular virtual image, the user can, from the lateral viewing angle, based on the distance between acetabular fossa and the acetabular cup, efficiently and clearly perceive the implantation depth of acetabular cup in acetabular fossa, promote the efficiency that the operator understands acetabular cup implantation state.

[0106] Of course, in other embodiments, the lateral perspective of the three-dimensional acetabulum virtual image can be projected to display the implantation depth of the acetabulum cup in the acetabulum fossa through a two-dimensional image. Figure 7 A schematic diagram of the implantation depth of the acetabular cup in the acetabulum socket in a two-dimensional image is shown.

[0107] It can be understood that the different display modes of the acetabular cup implantation status mentioned in the aforementioned embodiments can be selected for display according to actual conditions, or multiple display modes can be arbitrarily combined. For example, the relevant information mentioned in the aforementioned embodiments can be displayed in the implantation direction perspective or the lateral perspective, and the contact area projection related information (such as the contact area projection itself or other information obtained based on the contact area projection analysis) can be displayed in the display page at the same time, so that the operator can perceive the acetabular cup implantation status from the overall perspective through three-dimensional space on the one hand, and can obtain condensed and abstract analysis results based on the contact area projection related information on the other hand; for example, the three-dimensional acetabulum virtual image in the implantation direction perspective and the lateral perspective can be displayed in the display page at the same time.

[0108] In one embodiment, in step S101, determining the concave marking points of the acetabulum fossa in the acetabulum virtual image may include the following steps:

[0109] If the acetabular fossa trimming information is obtained, the projection of the acetabular fossa trimming tool on the axis of the acetabular cup planned before the operation is obtained, and the most concave point of the acetabular fossa is determined based on the point on the projection that is farthest from the center point of the acetabular cup planned before the operation, and the concave point marking point of the acetabular fossa in the virtual image of the acetabulum is obtained; if the acetabular fossa trimming information is not obtained, the most concave point of the acetabular fossa is determined based on the apex of the acetabular cup planned before the operation, and the concave point marking point of the acetabular fossa in the virtual image of the acetabulum is obtained.

[0110] In some embodiments, as Figure 8 As shown in the figure, after a CT scan of the lower limb, segmentation and display of the hip joint tissue, and image registration, the doctor will use an acetabular fossa reshaping tool, such as an acetabular rasp, to refine the acetabulum to adjust the shape and depth of the acetabular fossa to accommodate the acetabular cup implant. In this case, the use of the acetabular fossa reshaping tool can assist in determining the acetabular fossa concave markers.

[0111] Specifically, when the acetabular fossa trimming tool is used, acetabular fossa trimming information can be input into the terminal to instruct the acetabular fossa structure to be trimmed by the acetabular fossa trimming tool before the acetabular cup is implanted. In response to receiving the acetabular fossa trimming information, the position and direction of the acetabular fossa trimming tool in a preset coordinate system and the projection of the acetabular fossa trimming tool on the acetabular cup axis planned before the operation can be obtained in real time, wherein the acetabular cup axis planned before the operation can be determined based on the acetabular cup placement position planned before the operation, and the actual acetabular cup axis can be determined based on the real-time position of the acetabular cup during the actual acetabular cup implantation process.

[0112] In one embodiment, all acquired position data, such as the coordinate data of the acetabular fossa trimming tool, can be converted into coordinate data in a preset coordinate system for calculation. Specifically, on the one hand, the conversion matrix between the CT coordinate system and the array coordinate system can be acquired through a pre-set robot alignment step, and on the other hand, the conversion matrix between the CT coordinate system and the world coordinate system can be acquired through a CT image sequence. The position data of the acetabular fossa trimming tool acquired in real time is the position data in the array coordinate system. By combining the above-acquired conversion matrix, the position data of the acetabular fossa trimming tool can be converted into the world coordinate system to determine the projection of the acetabular fossa trimming tool on the axis of the acetabular cup.

[0113] Then, the point on the projection that is farthest from the center point of the acetabulum planned before surgery can be determined to obtain the most concave point of the acetabulum, and the most concave point can be used as the concave point marking point of the acetabulum in the virtual image of the acetabulum. By determining the concave point marking point based on the farthest point projected by the acetabulum trimming tool on the axis of the acetabulum planned before surgery, on the one hand, a concave point marking point that matches the actual trimming situation of the acetabulum can be obtained, and on the other hand, it can be ensured that the identified most concave point is on the planned axis of the acetabulum, and the distance between subsequent concave point marking points and convex point marking points can be determined based on the preoperative planning information, thereby improving the accuracy of subsequent surgical operations performed according to the preoperative plan and reducing the risk of actual operations deviating from the preoperative planning plan.

[0114] In other embodiments, the acetabular cup can be implanted directly during the procedure, without the need to trim the acetabular socket using the acetabular socket trimming tool. In this case, if the acetabular socket trimming information is not available, the pre-planned apex of the acetabular cup can be determined and used as the most concave point of the acetabular socket. The distance between the acetabular socket and the acetabular cup can be calculated based on the pre-planned information, thereby improving the accuracy of the surgical procedure according to the pre-planned information.

[0115] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0116] Based on the same inventive concept, embodiments of the present application also provide a device for displaying the position of an acetabular cup during total hip arthroplasty, which is used to implement the aforementioned method for displaying the position of an acetabular cup during total hip arthroplasty. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the device for displaying the position of an acetabular cup during total hip arthroplasty provided below can be found in the aforementioned method for displaying the position of an acetabular cup during total hip arthroplasty, and will not be repeated here.

[0117] In an exemplary embodiment, Figure 9 As shown, a device for displaying the position of an acetabular cup during total hip replacement surgery is provided, comprising:

[0118] A concave point marker acquisition module 901 is used to construct a virtual image of the acetabulum according to user image data, and determine concave point markers of the acetabulum fossa in the virtual image of the acetabulum, wherein the concave point markers are used to identify concave point features of the acetabulum fossa;

[0119] a salient marker acquisition module 902, configured to receive real-time posture data of the acetabular cup implanted in the acetabulum, and determine salient markers of the acetabular cup based on the real-time posture data, wherein the salient markers are used to identify salient features of the acetabular cup;

[0120] The distance display module 903 is used to calculate the distance between the concave mark point and the convex mark point in real time, and to visualize the acetabular cup position in the acetabulum virtual image according to the distance.

[0121] In one embodiment, the distance display module 903 is used to:

[0122] The concave point marking point is used to mark a concave point on the concave surface of the acetabular fossa, and the convex point marking point is used to mark a convex point on the convex surface of the acetabular cup, and the distance between the concave point and the convex point is measured to determine a first distance between the acetabular cup and the acetabular fossa;

[0123] The acetabular cup position in the acetabulum virtual image is visualized according to the first distance.

[0124] In one embodiment, the virtual image of the acetabulum comprises a three-dimensional virtual image of the acetabulum;

[0125] The distance display module 903 is used to:

[0126] determining a contact depth level between the acetabular cup and the acetabular socket according to the first distance;

[0127] adjusting the color of the contact area between the acetabulum fossa and the acetabular cup in the three-dimensional acetabulum virtual image according to the contact depth level, so that the color changes accordingly with the change of the contact depth level, thereby obtaining the contact area after color adjustment;

[0128] The contact area after color adjustment is displayed in an implantation direction perspective, where the implantation direction perspective is determined based on the axial direction of the acetabular cup.

[0129] In one embodiment, the virtual image of the acetabulum comprises a three-dimensional virtual image of the acetabulum;

[0130] The distance display module 903 is used to:

[0131] determining a contact depth level between the acetabular cup and the acetabular socket according to the first distance;

[0132] adjusting the color of the contact area between the acetabulum fossa and the acetabular cup in the three-dimensional acetabulum virtual image according to the contact depth level, so that the color changes accordingly with the change of the contact depth level, thereby obtaining the contact area after color adjustment;

[0133] Projecting the color-adjusted contact area in the three-dimensional acetabulum virtual image in the axial direction of the acetabulum cup to obtain a contact area projection representing a contact condition between the acetabulum cup and the acetabular fossa;

[0134] Visual display is performed based on the contact area projection.

[0135] In one embodiment, the distance display module 903 is used to:

[0136] displaying the contact area projection; and / or,

[0137] The area of ​​the region corresponding to the color region on the projection of the contact region is obtained, and coverage information of the acetabular cup is determined and displayed according to the ratio of the area of ​​the region to the projection area of ​​the projection of the contact region.

[0138] In one embodiment, the virtual image of the acetabulum comprises a three-dimensional virtual image of the acetabulum;

[0139] The distance display module 903 is used to:

[0140] If the concave point marking point includes the most concave point of the acetabular fossa, and the convex point marking point includes the most convex point of the acetabular cup, then calculating in real time a second distance between the most concave point and the most convex point;

[0141] The second distance is displayed in a lateral viewing angle of the three-dimensional virtual image of the acetabulum; the lateral viewing angle is determined based on a direction perpendicular to the axis of the acetabulum.

[0142] In one embodiment, the concave mark point acquisition module 901 is used to:

[0143] If the acetabular fossa trimming information is obtained, a projection of the acetabular fossa trimming tool on the axis of the acetabular cup planned before the operation is obtained, and the most concave point of the acetabular fossa is determined based on the point on the projection that is farthest from the center point of the acetabular cup planned before the operation, and a concave point marker point of the acetabular fossa in the acetabular virtual image is obtained;

[0144] If the acetabular fossa modification information is not obtained, the most concave point of the acetabular fossa is determined according to the apex of the acetabular cup planned before surgery, and the concave point marking point of the acetabular fossa in the acetabulum virtual image is obtained.

[0145] Each module in the aforementioned device for displaying the position of an acetabular cup during total hip arthroplasty can be implemented in whole or in part through software, hardware, or a combination thereof. Each module 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 the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0146] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. 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 acetabular cup data and acetabular fossa data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication 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 method for displaying the position of the acetabular cup during total hip arthroplasty is implemented.

[0147] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 11As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. 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 internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless communication, and the wireless communication can be achieved via Wi-Fi, mobile cellular networks, NFC (near-field communication), or other technologies. When executed by the processor, the computer program implements a method for displaying the position of an acetabular cup during total hip arthroplasty. The display unit of the computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0148] Those skilled in the art will understand that Figure 10 and Figure 11 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 shown in the figure, or combine certain components, or have a different component arrangement.

[0149] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0150] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0151] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0152] 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, and the collection, use and processing of relevant data must comply with relevant regulations.

[0153] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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 above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0154] The technical features of the above embodiments can 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.

[0155] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for displaying the position of an acetabular cup during total hip replacement surgery, characterized in that: The method comprises: Constructing a virtual image of the acetabulum according to the user image data, and determining concave point marking points of the acetabulum fossa in the virtual image of the acetabulum, wherein the concave point marking points are used to identify concave point features of the acetabulum fossa; receiving real-time posture data of the acetabular cup implanted in the acetabulum fossa, and determining convex point marking points of the acetabular cup according to the real-time posture data, wherein the convex point marking points are used to identify convex point features of the acetabular cup; The distance between the concave mark point and the convex mark point is calculated in real time, and the acetabular cup position in the acetabulum virtual image is visualized according to the distance.

2. The method according to claim 1, characterized in that The real-time calculation of the distance between the concave mark point and the convex mark point, and visual display of the acetabular cup posture in the acetabulum virtual image according to the distance, includes: The concave point marking point is used to mark the concave point of the concave surface of the acetabular fossa, and the convex point marking point is used to mark the convex point of the convex surface of the acetabular cup, and the distance between the concave point and the convex point is measured to determine a first distance between the acetabular cup and the acetabular fossa; The acetabular cup position in the acetabulum virtual image is visualized according to the first distance.

3. The method according to claim 2, characterized in that The acetabulum virtual image includes a three-dimensional acetabulum virtual image; The visually displaying the acetabular cup posture in the acetabulum virtual image according to the first distance includes: determining a contact depth level between the acetabular cup and the acetabular socket according to the first distance; adjusting the color of the contact area between the acetabulum fossa and the acetabular cup in the three-dimensional acetabulum virtual image according to the contact depth level, so that the color changes accordingly with the change of the contact depth level, thereby obtaining the contact area after color adjustment; The contact area after color adjustment is displayed in an implantation direction perspective, where the implantation direction perspective is determined based on the axial direction of the acetabular cup.

4. The method according to claim 2, characterized in that The acetabulum virtual image includes a three-dimensional acetabulum virtual image; The visually displaying the acetabular cup posture in the acetabulum virtual image according to the first distance includes: determining a contact depth level between the acetabular cup and the acetabular socket according to the first distance; adjusting the color of the contact area between the acetabulum fossa and the acetabular cup in the three-dimensional acetabulum virtual image according to the contact depth level, so that the color changes accordingly with the change of the contact depth level, thereby obtaining the contact area after color adjustment; Projecting the color-adjusted contact area in the three-dimensional acetabulum virtual image in the axial direction of the acetabulum cup to obtain a contact area projection representing a contact condition between the acetabulum cup and the acetabular fossa; Visual display is performed based on the contact area projection.

5. The method according to claim 4, characterized in that The visual display based on the contact area projection includes: displaying the contact area projection; and / or, The area of ​​the region corresponding to the color region on the projection of the contact region is obtained, and coverage information of the acetabular cup is determined and displayed according to the ratio of the area of ​​the region to the projection area of ​​the projection of the contact region.

6. The method according to any one of claims 1 to 5, characterized in that The acetabulum virtual image includes a three-dimensional acetabulum virtual image; The real-time calculation of the distance between the concave mark point and the convex mark point, and visual display of the acetabular cup posture in the acetabulum virtual image according to the distance, includes: If the concave point marking point includes the most concave point of the acetabular fossa, and the convex point marking point includes the most convex point of the acetabular cup, then calculating in real time a second distance between the most concave point and the most convex point; The second distance is displayed in a lateral viewing angle of the three-dimensional virtual image of the acetabulum; the lateral viewing angle is determined based on a direction perpendicular to the axis of the acetabulum.

7. The method according to claim 6, characterized in that Determining the concave mark points of the acetabulum fossa in the acetabulum virtual image includes: If the acetabular fossa trimming information is obtained, a projection of the acetabular fossa trimming tool on the axis of the acetabular cup planned before the operation is obtained, and the most concave point of the acetabular fossa is determined based on the point on the projection that is farthest from the center point of the acetabular cup planned before the operation, and a concave point marker point of the acetabular fossa in the acetabular virtual image is obtained; If the acetabular fossa modification information is not obtained, the most concave point of the acetabular fossa is determined according to the apex of the acetabular cup planned before surgery, and the concave point marking point of the acetabular fossa in the acetabulum virtual image is obtained.

8. A device for displaying the position of an acetabular cup during total hip replacement surgery, characterized in that: The device comprises: a concave point marking point acquisition module, configured to construct a virtual image of the acetabulum according to user image data, and determine concave point marking points of the acetabulum fossa in the virtual image of the acetabulum, wherein the concave point marking points are used to identify concave point features of the acetabulum fossa; a convex point marker acquisition module, configured to receive real-time posture data of the acetabular cup implanted in the acetabular fossa, and determine the convex point markers of the acetabular cup according to the real-time posture data, wherein the convex point markers are used to identify convex point features of the acetabular cup; The distance display module is used to calculate the distance between the concave mark point and the convex mark point in real time, and to visualize the acetabular cup position in the acetabulum virtual image according to the distance.

9. 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 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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