Glenoid fossa prosthesis and model generation method and device thereof, computing equipment and computer program product

Abstract

The embodiment of the invention provides a glenoid fossa prosthesis, a glenoid fossa prosthesis model generation method, a glenoid fossa prosthesis model generation device, computing equipment and a computer program product. The method comprises the following steps: acquiring mandibular movement data and skeleton image data of a test object; establishing a skeleton model of the test object according to the skeleton image data; carrying out motion loading on the skeleton model according to the mandibular motion data; performing motion simulation based on the skeleton model after motion loading to generate a mandibular motion envelope surface; determining parameters of a glenoid fossa prosthesis model according to the mandibular movement envelope surface, and generating the glenoid fossa prosthesis model, namely, constructing a kinematics model based on temporal-mandibular joint movement data of a normal person with extrawings attached, and determining the mandibular movement envelope surface based on a condylar process vertex; according to the articular fossa prosthesis model of the artificial temporomandibular joint prosthesis with the extrawing muscle attachment, the technical problem that the articular fossa prosthesis cannot adapt to the physiological movement range of the artificial mandibular branch prosthesis in the related technology is solved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of medical devices, and in particular to a joint socket prosthesis model generation method, a joint socket prosthesis, a joint socket prosthesis model generation device, a computing device, and a computer program product. BACKGROUND

[0002] Artificial temporomandibular joint replacement as the gold standard for the treatment of end-stage temporomandibular joint diseases (including advanced osteoarthritis, joint ankylosis and tumors, etc.), can effectively improve the patient's mouth opening, relieve pain and significantly improve the quality of life, but the postoperative recovery of mandibular movement function still has obvious limitations.

[0003] After artificial joint replacement, the attachment of the lateral pterygoid muscle is lost due to intraoperative resection of the condyle, so the postoperative prosthesis loses the sliding function. There are now prostheses designed to restore the attachment of the lateral pterygoid muscle after surgery, but there is a lack of corresponding structural design of the joint socket prosthesis. The joint socket prosthesis structure widely used in artificial temporomandibular joint replacement generally adopts a relatively shallow concave, fixed arc or single curved surface design form to adapt to the embedding and rotation of the mandibular prosthesis head. Although this type of structure design can achieve basic opening and closing movements, it imposes a relatively obvious geometric restriction on the movement path of the mandibular prosthesis, making the prosthesis mainly rotate around a single axis, and it is difficult to achieve the "rotary-sliding combined movement" mechanism possessed by the natural condyle in the joint socket. SUMMARY

[0004] Embodiments of the present application provide a joint socket prosthesis model generation method, a joint socket prosthesis, a joint socket prosthesis model generation device, a computing device, and a computer program product to solve the technical problem that the joint socket prosthesis cannot adapt to the physiological movement range of the artificial mandibular prosthesis in the related art.

[0005] In a first aspect, embodiments of the present application provide a joint socket prosthesis model generation method, comprising: obtaining mandibular movement data and skeletal image data of a test object, wherein the temporomandibular joint of the test object moves in a functional movement mode of a natural temporomandibular joint; establishing a skeletal model of the test object according to the skeletal image data; loading the skeletal model according to the mandibular movement data; performing motion simulation based on the motion-loaded skeletal model to generate a mandibular movement envelope surface; determining parameters of a joint socket prosthesis model according to the mandibular movement envelope surface to generate the joint socket prosthesis model.

[0006] In a second aspect, embodiments of the present application provide a joint socket prosthesis, which is generated according to a corresponding joint socket prosthesis model, wherein the joint socket prosthesis model is generated according to the joint socket prosthesis model generation method of any one of the above.

[0007] In a third aspect, an embodiment of the present application provides a joint socket prosthesis model generation device, comprising: an acquisition module configured to acquire mandibular movement data and skeletal image data of a test subject, wherein the temporomandibular joint of the test subject moves in a functional movement mode of a natural temporomandibular joint; a modeling module configured to establish a skeletal model of the test subject according to the skeletal image data; a first simulation module configured to load movement on the skeletal model according to the mandibular movement data; a second simulation module configured to perform movement simulation based on the movement-loaded skeletal model to generate a mandibular movement envelope surface; and a generation module configured to determine parameters of a joint socket prosthesis model according to the mandibular movement envelope surface, and generate the joint socket prosthesis model.

[0008] In a fourth aspect, an embodiment of the present application provides a computing device, comprising a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are configured to be invoked and executed by the processing component to implement the joint socket prosthesis model generation method according to any one of the above aspects.

[0009] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising computer programs / instructions, which, when executed by a processing component, implement the joint socket prosthesis model generation method according to any one of the above aspects.

[0010] In the embodiments of the present application, the mandibular movement data and skeletal image data of a test subject are acquired, wherein the temporomandibular joint of the test subject moves in a functional movement mode of a natural temporomandibular joint; a skeletal model of the test subject is established according to the skeletal image data; movement is loaded on the skeletal model according to the mandibular movement data; movement simulation is performed based on the movement-loaded skeletal model to generate a mandibular movement envelope surface; and parameters of a joint socket prosthesis model are determined according to the mandibular movement envelope surface, and the joint socket prosthesis model is generated. That is, the mandibular movement data and skeletal image data of a test subject in a functional movement mode of a natural temporomandibular joint are acquired first to ensure that the data truly reflect the natural movement state of the mandible of a healthy test subject, then movement loading and simulation are performed to generate a mandibular movement envelope surface, which accurately presents the compound movement path of a natural condyle in a joint socket, and finally parameters of a joint socket prosthesis model are determined according to the envelope surface to generate a prosthesis model, which can accurately grasp the movement law of a natural condyle, so that the prosthesis model parameters are more suitable for actual needs, thereby solving the technical problem in the related art that a joint socket prosthesis cannot adapt to the physiological movement range of an artificial mandibular stem prosthesis, and achieving the beneficial effects that the generated joint socket prosthesis can better adapt to the compound movement of an artificial mandibular stem prosthesis in a joint socket, effectively reduces the risk of prosthesis loosening and wear, improves the stability and comfort of the occlusion function of a patient, prolongs the service life of the prosthesis, and improves the postoperative life quality of the patient. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0012] Figure 1 A flow chart of a joint socket prosthesis model generation method provided by the present application is shown;

[0013] Figure 2 A schematic diagram of a joint socket prosthesis design idea provided by the present application is shown;

[0014] Figure 3 A flow chart of a kinematic model construction provided by the present application is shown;

[0015] Figure 4 A schematic diagram of an envelope surface solving process provided by the optional embodiments of the present application is shown;

[0016] Figure 5 A schematic diagram of a joint socket prosthesis design based on the envelope surface provided by the optional embodiments of the present application is shown;

[0017] Figure 6 A schematic diagram of a sagittal plane view and a horizontal plane view of a joint socket prosthesis provided by the optional embodiments of the present application is shown;

[0018] Figure 7 A structural schematic diagram of a joint socket prosthesis model generation device provided by the present application is shown. DETAILED DESCRIPTION

[0019] In order to enable the personnel in the technical field to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application.

[0020] In some of the processes described in the specification and claims of the present application and the above drawings, a plurality of operations appear in a specific order, but it should be clearly understood that these operations can be executed or performed in parallel, or in a sequence different from that in which they appear in the present text. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution sequence. In addition, these processes can include more or fewer operations, and the operations can be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in the present text are used to distinguish different messages, devices, modules, etc., and do not represent the sequence, nor do "first" and "second" represent different types.

[0021] For ease of reference, some terms used in the present description are defined as follows. The proposed terms and their respective definitions are not strictly limited to these definitions - the terms can be further defined by the use of the term in the present disclosure. The term "example" used herein means used as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as preferred over other aspects or designs. Rather, the word "exemplary" is used to present concepts in a concrete manner. In this application and the appended claims, the term "or" is intended to mean a non-exclusive "or". That is, unless specified otherwise, or clear from context, "X employs A or B" means any natural inclusion of the arrangement of A or B. That is, if X employs A; X employs B; or X employs both A and B, then "X employs A or B" is satisfied under any of the foregoing instances. As used herein, at least one of A or B means at least one of A, or at least one of B, or at least one of A and at least one of B. In other words, this phrase is disjunctive. The articles "a" and "an" as used in this application and the appended claims should generally be construed to mean "one or more" unless specified otherwise or clear from context to be directed to a singular form.

[0022] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0023] In the prior art, it is often difficult for the glenoid prosthesis to perfectly adapt to the complex compound motion of the artificial mandibular ramus prosthesis in the glenoid fossa. This is because the traditional design method lacks accurate grasp of the actual motion state of the temporomandibular joint with the winged external muscle attached, resulting in poor matching of the motion between the prosthesis and the condylar process, which in turn can cause a series of problems such as prosthesis loosening, accelerated wear and tear, and abnormal occlusion function of the patient.

[0024] Figure 1 A flowchart of a glenoid prosthesis model generation method provided by the present application is shown, as shown in Figure 1 The method can include the following steps:

[0025] S101, obtaining mandibular motion data and skeletal image data of a test object, wherein the temporomandibular joint of the test object moves in a functional motion mode of a natural temporomandibular joint.

[0026] The test object is the source of the mandibular movement data and the skeletal image data, and can be a healthy population with normal temporomandibular joint activity. The temporomandibular joint of the healthy population is attached with the lateral pterygoid muscle. The mandibular movement data refers to a data set recording various related information of the mandible of the test object during movement. These information can include the position change of the mandible (such as spatial coordinates at different time points), movement speed, movement acceleration, movement direction, movement amplitude, and relative movement relationship of different mandibular parts (such as condylar process and mandibular body), etc., for comprehensively describing the movement state of the mandible. The skeletal image data is image information about the skeletal structure of the test object obtained by medical imaging technology (such as CT, MRI, etc.). These images can clearly present the morphology, structure, density, and relative position relationship between bones, etc., providing basic data for subsequent establishment of the skeletal model. The functional movement mode of the natural temporomandibular joint refers to the movement way and law of the human body's own natural temporomandibular joint under normal physiological function state, which can meet the daily oral function needs such as mastication, swallowing, and speech, and contains various complex compound movements such as rotation and sliding.

[0027] In the embodiment of the present application, the temporomandibular joint of the test object is moved in the functional movement mode of the natural temporomandibular joint, which means that the collected mandibular movement data truly reflects various compound movements of the temporomandibular joint with the lateral pterygoid muscle attached in the glenoid fossa, including but not limited to complex actions such as rotation and sliding; the skeletal image data provides accurate information of the skeletal structure of the test object, laying a foundation for subsequent modeling. In this way, the movement law and skeletal morphological characteristics of the temporomandibular joint with the lateral pterygoid muscle attached are comprehensively mastered, providing original and key data support for designing a glenoid fossa prosthesis that better meets actual needs.

[0028] S102, establishing a skeletal model of the test object according to the skeletal image data.

[0029] The skeletal model is a virtual three-dimensional model constructed based on the skeletal image data through specific computer software and technical means. The model can accurately simulate the geometric shape, spatial position, and structural relationship of the actual skeleton of the test object, and can be operated and analyzed in a computer environment, such as movement simulation, mechanical analysis, etc.

[0030] In the embodiments of the present application, the bone model of the test object can be established according to the bone image data. The professional medical image processing software (such as Mimics, 3D Slicer, etc.) is used to import the obtained bone image data into the software. The software identifies, segments and extracts the bone structure in the image through specific algorithms and tools, removes irrelevant information such as surrounding soft tissues, and generates a geometric model describing the shape of the bone. Then, the generated geometric model can be optimized, such as smoothing the surface, repairing defects, etc., so as to make it more consistent with the actual bone shape. Finally, the optimized bone parts (such as skull, mandible, etc.) are integrated together to form a complete test object bone model.

[0031] S103, loading motion to the bone model according to the mandibular motion data.

[0032] S104, motion simulation based on the motion-loaded bone model to generate a mandibular motion envelope surface.

[0033] Wherein, the motion loading is a process of applying external force or torque to the human bone geometric model to simulate the muscle contraction force, joint reaction force, gravity and external environmental resistance that the human body experiences in actual motion. Through motion loading, the bone model can be driven to move according to the preset motion law, providing initial conditions and power input for subsequent motion simulation.

[0034] Wherein, the motion simulation is based on the human bone geometric model and the motion loading conditions, using computer software to simulate the motion process of the bone in three-dimensional space. It can calculate the position, posture, velocity and acceleration of the bone at different times, and generate visual motion animation to intuitively show the motion trajectory and dynamic characteristics of the bone.

[0035] Wherein, the mandibular motion envelope surface is a closed or semi-closed surface formed by the maximum space range occupied by the mandibular surface or specific points in three-dimensional space during motion simulation. It reflects all positions that the mandible can reach during motion. It presents the motion process of the mandible in a visual way, and can intuitively show the motion range, motion direction and motion mode of the mandible.

[0036] In the embodiments of the present application, the bone model can be imported into professional biomechanical analysis software or motion simulation software, and then the key parts related to mandibular motion in the bone model (such as skull object fixed, mandibular object movable) are defined in the software. The mandibular motion data is input to drive the mandibular object to move according to the actual motion mode. During the simulation process, the software records the position and attitude information of the mandibular object at different time points in real time, and connects these position and attitude information to generate the mandibular motion envelope surface.

[0037] S105, determining parameters of the glenoid fossa prosthesis model according to the mandibular movement trajectory, and generating the glenoid fossa prosthesis model.

[0038] The glenoid fossa prosthesis model is a virtual three-dimensional model for manufacturing a glenoid fossa prosthesis. It is designed by computer software based on the analysis of the movement rules and bone structure of the natural temporomandibular joint with winged external muscle attachment. The parameters determine the shape, size and other characteristics of the prosthesis, aiming to simulate the function of the corresponding glenoid fossa to adapt to the movement of the condylar process. In the glenoid fossa prosthesis model, parameters refer to specific numerical values used to define the shape, size, curvature and other geometric characteristics of the model. For example, the depth, width and radius of curvature of the glenoid fossa, which directly affect the matching degree and movement adaptability of the prosthesis and the condylar process.

[0039] In the embodiments of the present application, by analyzing the mandibular movement envelope, the complex movement rules of the natural condylar process in the glenoid fossa can be understood in depth. Based on these rules, the parameters of the glenoid fossa prosthesis model are determined, which can make the generated prosthesis model better adapt to the movement of the condylar process, reduce the mismatching problem between the prosthesis and the condylar process, and improve the adaptability of the prosthesis. The precisely fitted glenoid fossa prosthesis can reduce abnormal friction and wear of the prosthesis during use, reduce the risk of complications such as prosthesis loosening and displacement, prolong the service life of the prosthesis, and improve the surgical effect and quality of life of patients.

[0040] Through the above steps, the mandibular movement data and bone image data of the test object are obtained, wherein the temporomandibular joint of the test object moves in a functional movement mode of the natural temporomandibular joint; a bone model of the test object is established according to the bone image data; the bone model is loaded with movement according to the mandibular movement data; motion simulation is performed based on the bone model after movement loading, and a mandibular movement envelope is generated; parameters of the glenoid fossa prosthesis model are determined according to the mandibular movement envelope, and a glenoid fossa prosthesis model is generated. That is, the mandibular movement data and bone image data of the test object in the functional movement mode of the natural temporomandibular joint are first obtained to ensure that the data truly reflect the natural movement state of the mandible of a healthy test subject, then motion loading and simulation are performed to generate a mandibular movement envelope, which precisely presents the complex movement path of the natural condylar process in the glenoid fossa, and finally the parameters of the glenoid fossa prosthesis model are determined according to the envelope to generate a prosthesis model, which can accurately grasp the movement rules of the natural condylar process, make the prosthesis model parameters more suitable for actual needs, and thus solve the technical problem in the related art that the glenoid fossa prosthesis cannot adapt to the physiological movement range of the artificial mandibular ramus prosthesis, achieving the beneficial effects that the generated glenoid fossa prosthesis can better adapt to the complex movement of the artificial mandibular ramus prosthesis in the glenoid fossa, effectively reducing the risk of prosthesis loosening and wear, improving the stability and comfort of the occlusion function of patients, prolonging the service life of the prosthesis, and improving the postoperative life quality of patients.

[0041] As an optional embodiment, the step of "establishing a bone model of the test subject according to the bone image data" is further refined to include: using a medical image processing application to establish a geometric model for describing the shape of the bone of the test subject according to the bone image data; segmenting the geometric model into a skull model and a mandible model; and establishing the bone model according to the skull model and the mandible model.

[0042] This optional embodiment further refines the step of "establishing a bone model of the test subject according to the bone image data", which can accurately construct a bone model that conforms to the actual situation, providing a reliable basis for subsequent motion simulation and acetabular prosthesis model generation.

[0043] First, a medical image processing application, such as Mimics Research 21.0 software, is used to establish a geometric model based on the collected bone image data. The bone image data is usually obtained through cone beam CT panoramic scanning or 64-slice dual-source CT scanning, and the images are saved in DICOM format. The reason for using a medical image processing application is that it can efficiently and accurately process these complex medical image data, converting two-dimensional image information into a three-dimensional geometric model, and visually displaying the shape and structure of the bone. The purpose is to obtain a preliminary model that can reflect the overall shape of the test subject's bone, providing a basis for subsequent segmentation and model construction.

[0044] Next, the established geometric model is segmented into a skull model and a mandible model. The purpose of segmentation is to separately analyze and process the skull and mandible, as they have different characteristics in terms of motion and function. In subsequent motion simulation and acetabular prosthesis model generation, the motion relationship and interaction of the skull and mandible need to be considered separately, so it is necessary to separate them.

[0045] Finally, a complete bone model is established according to the segmented skull model and mandible model. The skull model and mandible model can be imported into a biomechanics analysis application to provide an accurate model basis for subsequent motion simulation.

[0046] By establishing the bone model through the above steps, the model can accurately reflect the shape and structure of the test subject's bone, providing a reliable basis for subsequent motion simulation. In the motion simulation process, an accurate bone model can more realistically simulate the motion trajectory of the mandible, resulting in more accurate motion data. Ultimately, the acetabular prosthesis model generated based on these accurate motion data can better adapt to the situation after the lateral pterygoid muscle grows, improve the functional recovery after temporomandibular joint replacement, and improve the patient's quality of life.

[0047] As an optional embodiment, the method further comprises: importing the skull model and the mandible model into a biomechanics analysis application; defining the skull object and the mandible object in the biomechanics analysis application to obtain the bone model.

[0048] The optional embodiment is a further limitation of the step of "establishing the bone model of the test object according to the skull model and the mandible model". In the specific implementation process, in order to more accurately and comprehensively simulate the mandibular movement and generate the glenoid prosthesis model, the bone model needs to be established by means of a professional biomechanics analysis application.

[0049] Firstly, the skull model and the mandible model obtained through the previous processing are imported into the biomechanics analysis application. The biomechanics analysis application used here has powerful modeling and simulation capabilities, such as Anybody 7.0 software, which can handle complex biomechanics problems and provide a reliable model basis for subsequent motion simulation.

[0050] In the biomechanics analysis application, the skull object and the mandible object need to be defined. The process of defining the skull object and the mandible object is actually a step of further refining and standardizing the model. After the definition of the skull object and the mandible object is completed, the complete bone model is obtained. This bone model contains the geometric shape information of the skull and the mandible, and provides a solid foundation for subsequent motion simulation according to the mandibular movement data. By defining the skull object and the mandible object in the motion analysis application, the real movement of the human mandible can be more accurately simulated, the generated mandibular movement trajectory is more consistent with the physiological reality, and more reliable data support is provided for determining the parameters of the glenoid prosthesis model. The final generated glenoid prosthesis model can better adapt to the movement requirements of the human mandible, improve the functional recovery effect after temporomandibular joint replacement, and improve the quality of life of patients.

[0051] As an optional embodiment, the method further comprises: fixing the skull object defined according to the bone model in a global coordinate system; determining that the mandible object defined according to the bone model remains unconstrained; registering the mandibular movement data to the same three-dimensional coordinate system as the bone model; and applying forces and moments to the mandible object according to the mandibular movement data for motion loading.

[0052] The optional embodiment describes in detail the process of loading the bone model with mandibular movement data. In specific implementation, first, the skull object defined according to the bone model needs to be fixed in the global coordinate system. This step is crucial because the global coordinate system provides a unified reference frame for the entire motion simulation, ensuring that all subsequent processing and analysis of movement data are based on the same stable benchmark. Fixing the skull object means that during simulation, the position and posture of the skull remain unchanged, which is consistent with the common sense of human anatomy, that is, the skull is relatively stable in normal physiological activities and will not undergo large displacement or rotation.

[0053] Next, it is determined that the mandible object defined according to the bone model remains unconstrained. The mandible is one of the bones with the highest degree of activity in the human body, and it participates in various oral function activities such as chewing and speaking. When simulating mandibular movement, the mandible object must be allowed to move freely in three-dimensional space to accurately reflect its movement state in actual physiological activities. If the mandible object is unnecessarily constrained, it will lead to distorted simulation results and cannot accurately reflect the true mandibular movement.

[0054] Then, the mandibular movement data is registered to the same three-dimensional coordinate system as the bone model. Mandibular movement data is usually obtained through specific motion capture devices such as the Zebris mandibular movement analysis system, which records the position and posture information of the mandible in different movement states. However, these raw data may not directly match the three-dimensional coordinate system of the bone model, so registration is required. The purpose of registration is to accurately map the mandibular movement data onto the bone model, so that subsequent motion simulation can be based on real and accurate movement data.

[0055] Finally, according to the registered mandibular movement data, the size and direction of the forces and moments acting on the mandible at different times are determined, and then these forces and moments are applied to the mandible object, so that the mandible object can move according to the real mandibular movement data, completing the motion loading of the mandible. Further, the powerful functions of biomechanical analysis applications such as Anybody 7.0 software can be used to perform motion simulation based on the motion-loaded mandible object, accurately simulate the movement of the mandible in three-dimensional space, and generate a visual mandibular movement envelope. Not only does it visually demonstrate the movement state of the mandible, but it also provides an important reference for the design of subsequent glenoid prosthesis models.

[0056] As an optional embodiment, registering the mandibular movement data to the same three-dimensional coordinate system as the bone model includes: determining a dentition model in the bone model; and registering a maxillary fork model containing movement marker point information to the dentition model to achieve registration of the mandibular movement data to the same three-dimensional coordinate system as the bone model.

[0057] In this optional embodiment, the registration of the maxillary fork model containing motion marker point information with the dentition model is a key step to realize the accurate registration of the mandibular motion data into the same three-dimensional coordinate system as the bone model. In actual operation, the dentition model, which reflects the arrangement of teeth, needs to be identified in the established bone model first, providing a reference position for subsequent registration operations. The motion marker points on the maxillary fork model containing motion marker point information record the key position information in the mandibular motion process, which is crucial for simulating the mandibular motion trajectory.

[0058] The purpose of registering the maxillary fork model with the dentition model is to accurately correspond the motion marker point information carried by the maxillary fork model to the three-dimensional coordinate system in which the bone model is located. This is because the mandibular motion data is collected based on the motion marker points on the maxillary fork model. Only by accurately registering the maxillary fork model to the dentition model can we ensure that the mandibular motion data has the correct position and direction in the three-dimensional coordinate system of the bone model, thereby providing an accurate basis for subsequent motion simulation of the bone model based on these data.

[0059] As an optional embodiment, the registration of the maxillary fork model containing motion marker point information with the dentition model to realize the registration of the mandibular motion data into the same three-dimensional coordinate system as the bone model includes: respectively constructing a point cloud set of the dentition model and a point cloud set of the maxillary fork model; using a three-dimensional point cloud registration algorithm to register the point cloud set of the dentition model and the point cloud set of the maxillary fork model until the predetermined convergence condition is met, to determine that the registration of the maxillary fork model with the dentition model is completed.

[0060] In the process of loading motion to the bone model according to the mandibular motion data, the core is to realize the accurate registration of the maxillary fork model containing motion marker point information with the dentition model in the three-dimensional coordinate system, which is crucial for subsequent accurate simulation of the mandibular motion envelope and generation of the glenoid prosthesis model.

[0061] First, respectively construct a point cloud set of the dentition model and a point cloud set of the maxillary fork model. The point cloud set is a data set composed of a large number of discrete three-dimensional space points, which can accurately describe the surface shape and geometric features of the model. The point cloud sets of the dentition model and the maxillary fork model are constructed to convert these two models from complex three-dimensional geometric shapes into data forms convenient for mathematical calculation and registration operations. By sampling and feature extraction of the model, the point coordinate information of the model surface is obtained, forming a point cloud set, which provides basic data for subsequent registration algorithms.

[0062] Then, the point cloud set of the dentition model and the point cloud set of the maxillary fork model are registered by using a three-dimensional point cloud registration algorithm. The three-dimensional point cloud registration algorithm is a technology for aligning and matching two or more point cloud sets in space, and the purpose is to find an optimal transformation (including rotation and translation) that minimizes the distance difference between the corresponding points of the two point cloud sets. In this scheme, the Iterative Closest Point (ICP) algorithm is used to realize point cloud registration. The basic principle of the ICP algorithm is to continuously reduce the distance difference between the two point cloud sets in the iteration process, so as to realize optimal registration. The algorithm first identifies the closest point pairs between the two point sets (source point set and target point set), and then calculates a rigid transformation (including rotation and translation) that makes the source point set closest to the corresponding points of the target point set after transformation. This rigid transformation can be solved by minimizing the objective function, and in the iteration process, the algorithm will continuously update the rotation matrix and translation vector until the convergence condition is met, such as the change of transformation being less than a certain threshold or reaching the preset number of iterations.

[0063] By inputting the point cloud set of the dentition model as the source point set and the point cloud set of the maxillary fork model as the target point set into the ICP algorithm for registration, the mean square error between the source point set and the target point set can be gradually reduced, and finally the accurate registration of the maxillary fork model and the dentition model can be realized. The purpose of this step is to accurately register the mandibular movement data into the same three-dimensional coordinate system as the bone model, so that the mandibular movement data can be effectively associated and fused with the bone model, thereby providing accurate data basis for determining the parameters of the glenoid fossa prosthesis model according to the mandibular movement trajectory, ensuring that the generated glenoid fossa prosthesis model can better adapt to the situation after the lateral pterygoid muscle grows, improving the functional recovery after temporomandibular joint replacement, and improving the quality of life of patients.

[0064] As an optional embodiment, according to the mandibular movement trajectory, determining the parameters of the glenoid fossa prosthesis model and generating the glenoid fossa prosthesis model include: taking a specific reference point of the condylar process and the prosthesis head of the mandibular branch included in the bone model as a reference, making a planar section to obtain a movement function surface; converting the curved surface obtained in different mandibular movements into a point set; generating a mandibular movement envelope surface according to the point set; determining the parameters of the glenoid fossa prosthesis model according to the mandibular movement envelope surface, and generating the glenoid fossa prosthesis model.

[0065] The embodiment of the present application is a key link in the generation process of the glenoid prosthesis model, which further determines the parameters of the glenoid prosthesis model and generates the final model based on the previously obtained mandibular movement trajectory. Specifically, first, with specific reference points of the condylar process and the prosthesis head of the mandibular ramus in the bone model as the reference, the movement function surface is obtained by means of planar section. These specific reference points include the inner and outer extreme points of the condylar process, the forward and backward most points, and the inner and outer sides and the forward and backward most points of the prosthesis head of the mandibular ramus. The reason for selecting these reference points is that they can accurately reflect the key positions in the mandibular movement process, thereby ensuring that the movement function surface obtained by sectioning can truly reflect the physiological movement characteristics of the mandible. The purpose of this step is to obtain the functional area of the mandible directly related to the glenoid prosthesis during the movement process, thereby providing a basis for the generation of the envelope surface in the subsequent process.

[0066] Next, the curved surface obtained in different mandibular movements (such as mouth opening, forward extension and lateral movement) is converted into a point set. This conversion process is realized by discretizing the curved surface into a series of discrete points, which can effectively control the data volume while ensuring the calculation accuracy, thereby facilitating the subsequent processing. The purpose of this step is to convert the continuous curved surface movement information into discrete point data, so as to facilitate digital processing and analysis.

[0067] Subsequently, the mandibular movement envelope surface is generated according to the point set. The generation process is realized by importing the coordinate values of the point set into the Geomagic software in TXT format for encapsulation and fusion, and finally fitting the outer contour line of the envelope surface. The purpose of this step is to recombine the discrete point data into a continuous curved surface, which can intuitively show the spatial range of the mandible during the entire movement process, thereby providing a direct geometric reference for the design of the glenoid prosthesis.

[0068] Finally, the parameters of the glenoid prosthesis model are determined based on the generated mandibular movement envelope surface, and the glenoid prosthesis model is generated. The specific parameters include the overall size of the glenoid prosthesis (such as the sagittal length of 31 mm, the height of 20.5 mm, and the horizontal plane width of 20 mm). The determination of these parameters is based on the shape of the movement envelope surface, which aims to ensure that the glenoid prosthesis can fully accommodate the maximum movement range of the prosthesis after the attachment of the lateral pterygoid muscle, thereby eliminating the limitation of the traditional glenoid prosthesis on the movement of the mandibular ramus prosthesis. By using materials such as ultra-high molecular polyethylene, the friction and wear between the prosthesis and the joint surface are further reduced, the service life of the prosthesis is prolonged, and the long-term stable movement function is ensured. The finally generated glenoid prosthesis model can effectively improve the functional recovery after temporomandibular joint replacement, especially the adaptability and movement range after the reattachment of the lateral pterygoid muscle, thereby significantly improving the quality of life of the patient.

[0069] Based on the above embodiment and optional embodiment, an optional implementation is provided, which is described in detail as follows.

[0070] In optional embodiments of the present application, Figure 2 A schematic diagram illustrating a design concept of a glenoid prosthesis provided by the present application is shown in FIG. 1. Figure 2 As shown, a design process of a glenoid prosthesis is provided.

[0071] Firstly, the method acquires mandibular movement data and skeletal image data of a test subject. The test subject is selected as an individual with a temporomandibular joint moving in a natural functional movement pattern to ensure that the data collected can truly reflect the physiological movement characteristics of the mandible. The mandibular movement data is collected by a Zebris JMA system, including mouth opening, protrusion and lateral movement trajectories, which are crucial for subsequent movement simulation. The skeletal image data is acquired by CT scanning, covering the entire maxilla and mandible area, providing a basis for establishing an accurate skeletal model.

[0072] Next, a skeletal model of the test subject is established according to the collected skeletal image data. Figure 3 A flowchart of the construction of a kinematic model provided by the present application, i.e., a flowchart of the construction of a skeletal model, is shown in FIG. 2. This step uses a medical image processing application, such as Mimics Research 21.0 software, to process the skeletal image data and establish a geometric model for describing the shape of the skeleton. Subsequently, the geometric model is divided into a skull model and a mandible model for separate processing in subsequent movement simulation. The skull model and the mandible model are imported into a biomechanics analysis application, such as Anybody 7.0 software, to define a skull object and a mandible object, obtaining a complete skeletal model.

[0073] After establishing the skeletal model, the skeletal model is subjected to movement loading according to the mandibular movement data, and movement simulation is performed according to the skeletal model after movement loading to generate a mandibular movement envelope. In this step, the skull object defined according to the skeletal model is first fixed in a global coordinate system to constrain the position of the maxilla. The mandible object remains unconstrained to simulate its true movement state. The mandibular movement data is registered to the same three-dimensional coordinate system as the skeletal model, which is achieved by registering the maxillary fork model containing the movement marker point information with the dentition model. During the registration process, a three-dimensional point cloud configuration algorithm, such as the Iterative Closest Point (ICP) algorithm, is used to register the point cloud set of the dentition model with the point cloud set of the maxillary fork model until the predetermined convergence condition is met. After registration is completed, the mandible object is subjected to movement loading according to the mandibular movement data, and corresponding forces and moments are applied to the mandible object to simulate the movement process of the mandible object and generate a mandibular movement envelope.

[0074] Specifically, the mandibular kinematic model of the temporomandibular joint was constructed in Anybody 7.0 software. Based on the CT reconstruction results of each subject, the individualized jawbone geometric model was imported. The model contains two rigid bodies: the skull and the mandible.

[0075] In the global coordinate system, two rigid bodies were established for the skull and the mandible, respectively, in which the coordinate origin node was assigned to the skull structure and fixed in the global coordinate system to constrain the maxillary bone position. The mandible remained unconstrained. Three motion markers (Mark_1, Mark_2, and Mark_3) were defined as nodes on the mandible structure and bound to the structure through rigid connections. Motion data was imported into the model, and the mandible was driven to achieve six degrees of freedom motion based on the three-point motion.

[0076] The specific settings in Anybody software are as follows:

[0077] Segment objects: Two segment objects were established to define the mandible and skull objects, respectively, and model visualization was achieved through the "AnyDrawSTL" attribute. Nodes were assigned to the maxillary and mandibular segments through the "AnyRefNode" attribute, and the segments and nodes were set to rigid connections. The Mark1, Mark2, and Mark3 nodes were assigned to the mandibular segment, and the global coordinate origin node "SkullOrigin" was assigned to the skull segment to facilitate the driving of the model later.

[0078] Global reference system object: The global reference system object is a coordinate system fixed at a certain place in the global space, which can be regarded as a "segment object" with zero degrees of freedom. The global reference system object was assigned the global coordinate origin node "GlobalRefOrigin".

[0079] Joint object: The joint object is used to connect two or more segments, and the joint can be understood as a constraint on motion. In this study, the joint was fixed to connect "SkullOrigin" and "GlobalRefOrigin", achieving the fixation of the skull model.

[0080] Kinematic dimension object: The motion data output by Zerbris is the position coordinates of the three Mark points over time, i.e., the spatial vector of the three Marks relative to the origin of the global coordinate system. In the kinematic dimension object, the origin of the spatial vector was defined through the "Ref" attribute, i.e., the global reference system origin "GlobalRefOrigin", and the endpoint was the three Mark points in the mandibular segment. The "AnyKinLinear" attribute in the kinematic dimension object was used to achieve accurate measurement of the spatial vector between the two nodes.

[0081] Driver object: The mandible is driven to realize rigid body motion combined with the Mark point motion data output by Zebris. The pointer points to the pre-defined kinematic dimension as the driving object, and the pointer points to the pre-processed motion data file as the driving data. Between the data points at specific time intervals, B-spline interpolation is used to simulate the coordinate position outside the motion time.

[0082] Motion solver object: The object to be studied is pointed to by the pointer. The start and end times are specified by "tStart" and "tEnd", which are adjusted according to the motion data, and a subset of the time of continuous motion is selected as "tStart" and "tEnd", and finally the motion is solved.

[0083] Specifically, the accurate registration of the dentition STL model and the maxillary fork STL model is realized by the Iterative Closest Point (ICP) algorithm. The ICP algorithm is a method widely used in three-dimensional shape registration, and its basic principle is to continuously reduce the distance difference between two point clouds in the iterative process, so as to realize optimal registration. The ICP algorithm first identifies the closest point pair between two point sets (source point set S = {s1, s2, …, sn} and target point set T = {t1, t2, …, tn}). Then, a rigid transformation (including rotation R and translation t) is calculated, so that the source point set is closest to the corresponding points of the target point set after transformation. This rigid transformation can be solved by minimizing the following objective function:

[0084]

[0085] In the formula: R is the rotation matrix, t is the translation vector, si and ti are the corresponding points in the source point set and the target point set respectively. In the iterative process, the algorithm will continuously update R and t until the convergence condition is met, such as the change of transformation is less than a certain threshold or the preset number of iterations is reached. Based on Python language, first use py3DViewer library to read the STL model of dentition and maxillary fork, and extract vertex data from it to construct point cloud. Then, the point cloud of the dentition model is taken as the source point set, and the point cloud of the maxillary fork model is taken as the target point set, which is input into the ICP algorithm for registration. In the registration process, the ICP algorithm iteratively updates the rigid transformation parameters, gradually reducing the mean square error between the source point set and the target point set. After completing the registration, the final transformation calculated is applied to the original dentition model to generate a new model after registration.

[0086] Finally, according to the generated mandibular motion envelope surface, the parameters of the glenoid prosthesis model are determined, and the glenoid prosthesis model is generated. Figure 4 is a schematic diagram of the envelope surface solving process provided by the optional embodiment of the present application, as Figure 4As shown, in this step, the specific reference points of the condylar process and the prosthesis head of the mandibular ramus included in the bone model are taken as the reference to obtain the functional surface of movement by planar sectioning. The curved surface obtained in different mandibular movements is converted into a point set, and the mandibular movement envelope surface is generated according to the point set. The envelope surface accurately represents the physiological movement range of the condylar process of the mandible in the three-dimensional space, and provides an important reference for the design of the glenoid fossa prosthesis model. According to the mandibular movement envelope surface, the curved surface geometric parameters of the glenoid fossa prosthesis are optimized, and the glenoid fossa prosthesis model capable of adapting to the maximum movement range after the attachment of the lateral pterygoid muscle is designed.

[0087] Specifically, as shown in the drawings, Figure 4 the functional surface of movement of the condylar process is obtained by planar sectioning taking the inner and outer extreme points and the forward and backward extreme points of the condylar process as the reference points; the functional surface of movement of the prosthesis head of the mandibular ramus is obtained by planar sectioning taking the inner and outer extreme points and the forward and backward extreme points of the prosthesis head of the mandibular ramus as the reference points; the curved surface obtained in the opening and protruding, lateral movement of the condylar process and the prosthesis head of the mandibular ramus is converted into a point set. The point spacing is set to 1 mm, the coordinate values of the point set are read, the movement of the point set is compiled and output, and the mandibular movement envelope surface is generated by importing the TXT format into Geomagic for encapsulation and fusion, and the outer contour line of the envelope surface is fitted. The total movement envelope surface of the prosthesis head of the mandibular ramus in the functional state of the lateral pterygoid muscle is calculated by fusing the opening, protruding and lateral movement trajectories. The envelope surface has a size of 20.3 mm in length, 8.1 mm in height and 13.67 mm in width, and accurately represents the physiological movement range of the condylar process of the mandible in the three-dimensional space. Figure 5 is a schematic diagram of the glenoid fossa prosthesis design based on the envelope surface provided by the optional embodiments of the present application, Figure 6 is a schematic diagram of the sagittal view and the horizontal view of the glenoid fossa prosthesis, as shown in the drawings, Figure 5 and Figure 6 According to the envelope surface morphology, the curved surface geometric parameters of the glenoid fossa prosthesis are optimized, and the movement reconstruction type artificial temporomandibular joint replacement glenoid fossa prosthesis is designed.

[0088] The average movement range of the prosthesis head of the mandibular ramus attached with the lateral pterygoid muscle is 336.0±39.8mm 2 , the envelope surface has a size of 19.9±1.9mm in length, 12.5±0.9mm in width and 11.1±0.9mm in height. Therefore, the new condylar process functional surface of the glenoid fossa prosthesis is optimized according to the action of the lateral pterygoid muscle force, and can provide a larger movement range when the lateral pterygoid muscle is attached. In particular, under the new glenoid fossa design, the contact functional surface of the prosthesis is increased, which significantly eliminates the limitation of the traditional glenoid fossa prosthesis on the movement of the prosthesis head of the mandibular ramus.

[0089] The overall size of the designed glenoid prosthesis is: 31mm in sagittal length, 20.5mm in height, 17.5mm in horizontal width, the horizontal length of the glenoid functional surface movement guide is 20.3mm, the height is 8.1mm, the width is 15mm, the arc length of the sagittal section is 24mm, and the maximum movement range of the prosthesis after the attachment of the pterygoid muscle can be fully accommodated. The material used is ultra-high molecular weight polyethylene, which effectively reduces the friction and wear between the prosthesis and the articular surface, prolongs the service life of the prosthesis, and ensures long-term stable movement function.

[0090] The glenoid prosthesis is composed of a wing plate and a mandibular prosthesis support area, wherein the wing plate has seven pin hole positions, the length of the wing plate is 31mm, the thickness is 1.5mm, and the width is 8mm; the thickness of the mandibular prosthesis support area is 4mm.

[0091] The glenoid prosthesis model generated by the method is carefully designed in overall size and functional surface parameters to ensure that the prosthesis can fully accommodate the maximum movement range of the prosthesis after the attachment of the pterygoid muscle, effectively reduce the friction and wear between the prosthesis and the articular surface, prolong the service life of the prosthesis, and ensure long-term stable movement function.

[0092] It should be noted that the specific numbers of the above parameters are obtained according to actual simulation experiments, and are only specific example numbers, and do not mean that the specific numbers of the above parameters are limited to the above examples. Those skilled in the art can know that the data obtained by fine tuning the above numbers can also achieve the same technical effects.

[0093] According to the embodiments of the present application, a glenoid prosthesis is provided, which is generated according to a corresponding glenoid prosthesis model, wherein the glenoid prosthesis model is generated according to the glenoid prosthesis model generation method of any one of the above.

[0094] As an optional embodiment, the above glenoid prosthesis is designed according to the movement of the temporomandibular joint with pterygoid muscle attachment. The glenoid prosthesis is designed based on the movement of the normal human temporomandibular joint with pterygoid muscle attachment. The glenoid prosthesis is an artificial temporomandibular joint prosthesis with pterygoid muscle attachment. In the process of generating the glenoid prosthesis model, a kinematic model is constructed, and the movement envelope surface 10mm below the condylar apex is optimized as the reference for prosthesis design.

[0095] The glenoid fossa prosthesis designed according to the method is an artificial temporomandibular joint replacement component, which fully considers the recovery of the lateral pterygoid muscle function and the physiological movement characteristics of the mandible, and provides a larger movement range by enlarging the size of the functional surface of the glenoid fossa (such as the horizontal length, height and width), effectively eliminating the limitation of the traditional glenoid fossa prosthesis on the movement of the mandibular prosthesis, and promoting the recovery of the lateral pterygoid muscle function; and by accurately matching the movement characteristics of the patient's mandible and the functional requirements of the lateral pterygoid muscle, the glenoid fossa prosthesis can significantly improve the functional recovery after temporomandibular joint replacement, especially in the adaptability and movement range after the reattachment of the lateral pterygoid muscle, which helps to improve the quality of life of the patient.

[0096] According to the embodiment of the present application, a glenoid fossa prosthesis model generation device is provided, Figure 7 The structure diagram of the glenoid fossa prosthesis model generation device provided by the present application is shown, as Figure 7 As shown, it comprises an acquisition module 701, a modeling module 702, a first simulation module 703, a second simulation module 704 and a generation module 705, which will be described below.

[0097] The acquisition module 701 is used to acquire the mandibular movement data and the bone image data of the test object, wherein the temporomandibular joint of the test object moves in the functional movement mode of the natural temporomandibular joint.

[0098] The modeling module 702 is linked with the acquisition module 701, and is used to establish a bone model of the test object according to the bone image data.

[0099] The first simulation module 703 is linked with the modeling module 702, and is used to load the bone model with movement according to the mandibular movement data.

[0100] The second simulation module 704 is linked with the first simulation module 703, and is used to perform movement simulation based on the bone model loaded with movement to generate a mandibular movement envelope surface.

[0101] The generation module 705 is linked with the second simulation module 704, and is used to determine the parameters of the glenoid fossa prosthesis model according to the mandibular movement envelope surface, and generate the glenoid fossa prosthesis model.

[0102] It should be noted here that the above acquisition module 701, modeling module 702, first simulation module 703, second simulation module 704 and generation module 705 correspond to steps S101 to S105 in the embodiment, and the multiple modules have the same instances and application scenarios as the steps they implement, and the implementation principles and technical effects will not be described again. The specific manner in which each module, unit in the above embodiment performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.

[0103] The embodiment of the present application further provides a computer device, which can comprise a storage component and a processing component; the storage component comprises one or more computer instructions, wherein the one or more computer instructions are called and executed by the processing component to implement the joint socket prosthesis model generation method.

[0104] Of course, the computer device can further comprise other components, for example, an input / output interface, a display component, a communication component, etc.

[0105] The processing component can comprise one or more processors to execute the computer instructions to complete all or part of the steps in the above method.

[0106] The storage component is configured to store various types of data to support the operation of the terminal.

[0107] It should be noted that the above computing device implementation method or processing method can be a physical device or an elastic computing host provided by a cloud computing platform. It can be implemented as a distributed cluster composed of multiple servers or terminal devices, or as a single server or single terminal device.

[0108] The above computing device implementing the above method can be specifically implemented as an electronic device, which can be a device used by a user and having the functions of computing, networking, communication and the like required by the user, for example, a mobile phone, a tablet computer, a personal computer, a wearable device, etc.

[0109] It should be noted that the above computing device can be a physical device or an elastic computing host provided by a cloud computing platform. It can be implemented as a distributed cluster composed of multiple servers or terminal devices, or as a single server or single terminal device.

[0110] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program can implement the above method when executed by a computer. The computer readable medium can be included in the electronic device described in the above embodiment; or can exist separately and not be assembled into the electronic device.

[0111] The embodiment of the present application further provides a computer program product, which comprises a computer program carried on a computer readable storage medium, and the computer program can implement the above method when executed by a computer. In such an embodiment, the computer program can be downloaded and installed from a network, and / or installed from a detachable medium. When the computer program is executed by a processor, various functions defined in the system of the present application are executed.

[0112] It should be noted that the embodiments of the present application can involve the use of user data. In actual applications, user-specific personal data can be used in the schemes described herein in a manner that complies with applicable laws and regulations of the country (for example, with the explicit consent of the user, with the actual notification of the user, etc.) and within the scope permitted by applicable laws and regulations.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0114] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0115] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software and the necessary general hardware platform, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0116] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for generating a glenoid prosthesis model, characterized in that: include: Acquiring mandibular motion data and skeletal image data of a test subject, wherein the temporomandibular joint of the test subject moves in a functional motion pattern of a natural temporomandibular joint; Establishing a skeleton model of the test object according to the skeleton image data; Performing motion loading on the skeletal model according to the mandibular motion data; Perform motion simulation based on the skeleton model after motion loading to generate the mandibular motion envelope surface; The parameters of the glenoid fossa prosthesis model are determined according to the mandibular motion envelope surface, and the glenoid fossa prosthesis model is generated.

2. The method according to claim 1, characterized in that The step of establishing a skeleton model of the test object according to the skeleton image data comprises: Using a medical image processing application, a geometric model is established to describe the skeletal shape of the test subject based on the skeletal image data; dividing the geometric model into a skull model and a mandibular model; The skeleton model is established based on the skull model and the mandibular model.

3. The method according to claim 2, characterized in that The step of establishing a skeletal model of the test subject based on the skull model and the mandibular model includes: importing the skull model and the mandibular model into a biomechanical analysis application; In the biomechanical analysis application, a skull object and a mandibular object are defined to obtain the bone model.

4. The method according to claim 1, wherein The performing motion loading on the skeleton model according to the mandibular motion data comprises: Fixing the skull object defined according to the skeleton model in the global coordinate system; determining that a mandibular object defined according to the skeletal model remains unconstrained; registering the mandibular motion data to the same three-dimensional coordinate system as the skeletal model; According to the mandibular motion data, forces and moments are applied to the mandibular object to perform motion loading.

5. The method according to claim 4, characterized in that The registering the mandibular motion data to the same three-dimensional coordinate system as the skeletal model comprises: determining a dental cast within the skeletal model; The maxillary fork model containing motion marker information is registered with the dentition model to achieve registration of the mandibular motion data into the same three-dimensional coordinate system as the skeletal model.

6. The method according to claim 5, characterized in that The registering the maxillary fork model containing the motion marker information with the dentition model to register the mandibular motion data to the same three-dimensional coordinate system as the skeletal model includes: constructing a point cloud set of the dentition model and a point cloud set of the maxillary fork model respectively; A three-dimensional point cloud configuration algorithm is used to align the point cloud set of the dental arch model and the point cloud set of the maxillary fork model until a predetermined convergence condition is met, thereby determining that the maxillary fork model and the dental arch model are completely aligned.

7. The method according to claim 1, characterized in that Determining parameters of the glenoid fossa prosthesis model according to the mandibular movement trajectory to generate the glenoid fossa prosthesis model includes: Taking the specific reference points of the condyle and the mandibular ramus prosthesis head included in the bone model as references, plane interception is performed to obtain the motion functional surface; converting the curved surface of the motion functional surface obtained in different mandibular movements into a set of points; generating a mandibular motion envelope surface according to the set of points; The parameters of the glenoid fossa prosthesis model are determined according to the mandibular motion envelope surface, and the glenoid fossa prosthesis model is generated.

8. A glenoid prosthesis, characterized in that: The glenoid prosthesis is generated according to a corresponding glenoid prosthesis model, wherein the glenoid prosthesis model is generated according to the glenoid prosthesis model generation method according to any one of claims 1 to 8.

9. The glenoid fossa prosthesis according to claim 8, characterized in that The glenoid fossa prosthesis is designed according to the movement of the temporomandibular joint with the attachment of the lateral pterygoid muscle.

10. A device for generating a glenoid prosthesis model, characterized in that: include: an acquisition module, configured to acquire mandibular motion data and skeletal image data of a test subject, wherein the temporomandibular joint of the test subject moves in a functional motion pattern of a natural temporomandibular joint; A modeling module, configured to establish a skeleton model of the test object based on the skeleton image data; A first simulation module, configured to perform motion loading on the skeletal model according to the mandibular motion data; The second simulation module is used to perform motion simulation based on the skeleton model after motion loading to generate the mandibular motion envelope surface; A generation module is used to determine the parameters of the glenoid fossa prosthesis model according to the mandibular movement envelope surface and generate the glenoid fossa prosthesis model.

11. A computing device, characterized in that including processing components and storage components; The storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to implement the method for generating a glenoid prosthesis model as described in any one of claims 1 to 7.

12. A computer program product, characterized in that The method comprises a computer program / instruction, which, when executed by a processing component, implements the method for generating a glenoid prosthesis model according to any one of claims 1 to 7.

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