Method and device for assisting osteotomy surgery

Abstract

The present invention discloses a method and device for assisting osteotomy surgery, which is used to assist a user in performing osteotomy surgery on a lesion site to avoid blood vessel tissue in the lesion site and improve the accuracy and safety of the osteotomy surgery. The method comprises: during the osteotomy surgery on the lesion site, obtaining a first posture of blood vessels in the lesion site and a second posture of a surgical instrument acting on the lesion site; and prompting a user whether to adjust the second posture according to the positional relationship between the first posture and the second posture, so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical navigation, and in particular to a method and a device for assisting osteotomy surgery. Background Art

[0002] Developmental dysplasia of the hip (DDH) is a common developmental disease in adolescents and young adults, which is caused by abnormal development of the hip joint, including abnormal bone morphology and structure, secondary soft tissue changes, and abnormal biomechanics and anatomical structures. Due to pathological joint load, joint wear and degeneration, DDH has become one of the common causes of secondary osteoarthritis of the hip joint. Currently, the best treatment for DDH is Bernese periacetabular osteotomy (PAO).

[0003] However, due to the complex anatomical structure of the pelvis and hip joints of DDH patients and the large individual differences, under the condition of limited vision, the surgeon mainly relies on his own experience and feel, and it is difficult to grasp the correct osteotomy path and direction. Once the osteotomy path or direction is chosen incorrectly, it is easy to damage the joint or cut off the posterior column, causing loss of pelvic stability. In addition, the surgical operation is close to important blood vessels and nerves, which may damage blood vessels and nerves. In the most serious cases, it may even cause massive bleeding. The surgical risk is high. Therefore, PAO has not been widely popularized. How to reduce the surgical risk of PAO and ensure the safety and accuracy of PAO has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a method and device for assisting osteotomy surgery, which are used to assist a user in performing osteotomy surgery on a lesion site, so as to avoid vascular tissue in the lesion site and improve the accuracy and safety of the osteotomy surgery.

[0005] In a first aspect, an embodiment of the present invention provides a method for assisting osteotomy surgery, comprising:

[0006] During an osteotomy operation at a lesion site, obtaining a first posture of a blood vessel in the lesion site and a second posture of a surgical instrument acting on the lesion site;

[0007] According to the positional relationship between the first posture and the second posture, the user is prompted whether to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

[0008] It is used to obtain the position information of surgical instruments and blood vessels in the lesion site in real time, and assist the user in performing osteotomy on the lesion site based on the position relationship between the second position of the surgical instrument and the first position of the blood vessels, so as to avoid the vascular tissue in the lesion site and improve the accuracy and safety of the osteotomy surgery.

[0009] As an optional implementation manner, the step of prompting the user whether to adjust the second posture according to the positional relationship between the first posture and the second posture includes:

[0010] If the distance between the first posture and the second posture is within a preset range, the user is prompted to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site avoids the vascular tissue in the lesion site.

[0011] As an optional implementation, the process of performing osteotomy at the lesion site further includes:

[0012] Acquiring a third posture of the bone joint in the lesion site;

[0013] According to the relative error between the third posture and the pre-planned bone joint posture, the user is prompted whether to adjust the third posture.

[0014] As an optional implementation manner, the step of prompting the user whether to adjust the third posture according to the relative error between the third posture and the pre-planned bone joint posture includes:

[0015] Determine the evaluation indexes corresponding to the various physiological characteristics of the bone and joints according to the pre-planned bone and joint positions;

[0016] Determining various physiological characteristic parameters of the bone joint according to the third posture;

[0017] If the determined physiological characteristic parameters exceed the corresponding evaluation index, the user is prompted to adjust the third posture.

[0018] As an optional embodiment, before performing osteotomy at the lesion site, the method further includes:

[0019] Constructing and displaying a three-dimensional anatomical model of the lesion site according to the medical image data of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of the bone joints and the blood vessels of the lesion site;

[0020] The pre-planned osteotomy surface is determined in response to the position and orientation of the osteotomy surface planned by the user based on the three-dimensional anatomical model.

[0021] As an optional implementation manner, constructing a three-dimensional anatomical model of the lesion site according to the medical image data of the lesion site includes:

[0022] Acquiring multiple medical images of the lesion site scanned before surgery;

[0023] The following process is performed for each medical image: performing a first segmentation process on the medical image to determine the bone data and blood vessel data in the medical image; performing a second segmentation process on the bone data to determine each bone joint data;

[0024] The three-dimensional anatomical model of the lesion site is constructed based on the bone joint data and the blood vessel data in the multiple medical images.

[0025] As an optional embodiment, the pre-planned osteotomy surface is multiple, and after determining the pre-planned osteotomy surface, the method further includes:

[0026] According to the pre-planned multiple osteotomy surfaces, generating an osteotomy closed area with the multiple osteotomy surfaces as boundaries in the three-dimensional anatomical model;

[0027] In response to the user's adjustment operation on the bone joint within the osteotomy closed area, a pre-planned bone joint posture is determined.

[0028] As an optional implementation, the process of performing osteotomy at the lesion site also includes:

[0029] Displaying a three-dimensional anatomical model of the lesion site, a three-dimensional virtual instrument of the surgical instrument, and displaying the pre-planned osteotomy surface in the three-dimensional anatomical model to assist the user in determining the second posture of the surgical instrument according to the pre-planned osteotomy surface;

[0030] Among them, the three-dimensional anatomical model is obtained by updating the three-dimensional anatomical model of the lesion site before the osteotomy surgery based on the first posture and the third posture of the bone joint in the lesion site acquired in real time; the three-dimensional virtual instrument is obtained by updating the three-dimensional virtual instrument before the osteotomy surgery based on the second posture acquired in real time.

[0031] In a second aspect, an embodiment of the present invention provides a device for assisting osteotomy surgery, comprising a processor and a memory, wherein the memory is used to store a program executable by the processor, and the processor is used to read the program in the memory and perform the following steps:

[0032] During an osteotomy operation at a lesion site, obtaining a first posture of a blood vessel in the lesion site and a second posture of a surgical instrument acting on the lesion site;

[0033] According to the positional relationship between the first posture and the second posture, the user is prompted whether to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

[0034] As an optional implementation, the processor is specifically configured to execute:

[0035] If the distance between the first posture and the second posture is within a preset range, the user is prompted to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site avoids the vascular tissue in the lesion site.

[0036] As an optional implementation, the processor is further configured to execute:

[0037] Acquiring a third posture of the bone joint in the lesion site;

[0038] According to the relative error between the third posture and the pre-planned bone joint posture, the user is prompted whether to adjust the third posture.

[0039] As an optional implementation, the processor is specifically configured to execute:

[0040] Determine the evaluation indexes corresponding to the various physiological characteristics of the bone and joints according to the pre-planned bone and joint positions;

[0041] Determining various physiological characteristic parameters of the bone joint according to the third posture;

[0042] If the determined physiological characteristic parameters exceed the corresponding evaluation index, the user is prompted to adjust the third posture.

[0043] As an optional implementation, before performing osteotomy at the lesion site, the processor is further configured to execute:

[0044] Constructing and displaying a three-dimensional anatomical model of the lesion site according to the medical image data of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of the bone joints and the blood vessels of the lesion site;

[0045] The pre-planned osteotomy surface is determined in response to the position and orientation of the osteotomy surface planned by the user based on the three-dimensional anatomical model.

[0046] As an optional implementation, the processor is specifically configured to execute:

[0047] Acquiring multiple medical images of the lesion site scanned before surgery;

[0048] The following process is performed for each medical image: performing a first segmentation process on the medical image to determine the bone data and blood vessel data in the medical image; performing a second segmentation process on the bone data to determine each bone joint data;

[0049] The three-dimensional anatomical model of the lesion site is constructed based on the bone joint data and the blood vessel data in the multiple medical images.

[0050] As an optional embodiment, the pre-planned osteotomy surface is multiple, and after determining the pre-planned osteotomy surface, the processor is specifically configured to execute:

[0051] According to the pre-planned multiple osteotomy surfaces, generating an osteotomy closed area with the multiple osteotomy surfaces as boundaries in the three-dimensional anatomical model;

[0052] In response to the user's adjustment operation on the bone joint within the osteotomy closed area, a pre-planned bone joint posture is determined.

[0053] As an optional implementation, the processor is further configured to execute:

[0054] Displaying a three-dimensional anatomical model of the lesion site, a three-dimensional virtual instrument of the surgical instrument, and displaying the pre-planned osteotomy surface in the three-dimensional anatomical model to assist the user in determining the second posture of the surgical instrument according to the pre-planned osteotomy surface;

[0055] Among them, the three-dimensional anatomical model is obtained by updating the three-dimensional anatomical model of the lesion site before the osteotomy surgery based on the first posture and the third posture of the bone joint in the lesion site acquired in real time; the three-dimensional virtual instrument is obtained by updating the three-dimensional virtual instrument before the osteotomy surgery based on the second posture acquired in real time.

[0056] In a third aspect, an embodiment of the present invention further provides a device for assisting osteotomy surgery, comprising:

[0057] A posture acquisition unit is used to acquire a first posture of a blood vessel in the lesion site and a second posture of a surgical instrument acting on the lesion site during an osteotomy operation at the lesion site;

[0058] The prompt adjustment unit is used to prompt the user whether to adjust the second posture according to the positional relationship between the first posture and the second posture, so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

[0059] As an optional implementation manner, the prompt adjustment unit is specifically used to:

[0060] If the distance between the first posture and the second posture is within a preset range, the user is prompted to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site avoids the vascular tissue in the lesion site.

[0061] As an optional implementation, the process of performing osteotomy at the lesion site further includes obtaining a prompt unit for:

[0062] Acquiring a third posture of the bone joint in the lesion site;

[0063] According to the relative error between the third posture and the pre-planned bone joint posture, the user is prompted whether to adjust the third posture.

[0064] As an optional implementation manner, the acquisition prompt unit is specifically used for:

[0065] Determine the evaluation indexes corresponding to the various physiological characteristics of the bone and joints according to the pre-planned bone and joint positions;

[0066] Determining various physiological characteristic parameters of the bone joint according to the third posture;

[0067] If the determined physiological characteristic parameters exceed the corresponding evaluation index, the user is prompted to adjust the third posture.

[0068] As an optional embodiment, before performing osteotomy at the lesion site, the method further includes a first planning unit for:

[0069] Constructing and displaying a three-dimensional anatomical model of the lesion site according to the medical image data of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of the bone joints and the blood vessels of the lesion site;

[0070] The pre-planned osteotomy surface is determined in response to the position and orientation of the osteotomy surface planned by the user based on the three-dimensional anatomical model.

[0071] As an optional implementation manner, the first planning unit is specifically used for:

[0072] Acquiring multiple medical images of the lesion site scanned before surgery;

[0073] The following process is performed for each medical image: performing a first segmentation process on the medical image to determine the bone data and blood vessel data in the medical image; performing a second segmentation process on the bone data to determine each bone joint data;

[0074] The three-dimensional anatomical model of the lesion site is constructed based on the bone joint data and the blood vessel data in the multiple medical images.

[0075] As an optional embodiment, the pre-planned osteotomy surface is multiple, and after determining the pre-planned osteotomy surface, a second planning unit is further included for:

[0076] According to the pre-planned multiple osteotomy surfaces, generating an osteotomy closed area with the multiple osteotomy surfaces as boundaries in the three-dimensional anatomical model;

[0077] In response to the user's adjustment operation on the bone joint within the osteotomy closed area, a pre-planned bone joint posture is determined.

[0078] As an optional embodiment, during the osteotomy operation at the lesion site, a display unit is further included for:

[0079] Displaying a three-dimensional anatomical model of the lesion site, a three-dimensional virtual instrument of the surgical instrument, and displaying the pre-planned osteotomy surface in the three-dimensional anatomical model to assist the user in determining the second posture of the surgical instrument according to the pre-planned osteotomy surface;

[0080] Among them, the three-dimensional anatomical model is obtained by updating the three-dimensional anatomical model of the lesion site before the osteotomy surgery based on the first posture and the third posture of the bone joint in the lesion site acquired in real time; the three-dimensional virtual instrument is obtained by updating the three-dimensional virtual instrument before the osteotomy surgery based on the second posture acquired in real time.

[0081] In a fourth aspect, an embodiment of the present invention further provides a computer storage medium on which a computer program is stored, and when the program is executed by a processor, it is used to implement the steps of the method described in the first aspect above.

[0082] These and other aspects of the present application will be more clearly understood in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0084] Figure 1 A flowchart of an implementation method of an auxiliary osteotomy surgery provided by an embodiment of the present invention;

[0085] Figure 2 A schematic diagram of a surgical instrument provided by an embodiment of the present invention;

[0086] Figure 3 A schematic diagram of an optical positioning device provided by an embodiment of the present invention;

[0087] Figure 4A schematic diagram of a system for assisting osteotomy surgery provided by an embodiment of the present invention;

[0088] Figure 5 A schematic diagram of the structure of a surgical navigation module provided by an embodiment of the present invention;

[0089] Figure 6 A schematic diagram of a surgical navigation module provided by an embodiment of the present invention;

[0090] Figure 7 A flowchart of an acetabular surgery navigation method implementation provided by an embodiment of the present invention;

[0091] Figure 8 A schematic diagram of a conversion relationship between coordinate systems provided by an embodiment of the present invention;

[0092] Fig. 9 A schematic diagram of a device for assisting osteotomy surgery provided by an embodiment of the present invention;

[0093] Fig.10 A schematic diagram of a device for assisting osteotomy surgery provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0094] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0095] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0096] The application scenarios described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. It is known to those skilled in the art that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0097] Embodiment 1, hip dysplasia (DDH) is a common group of developmental diseases in adolescents and young adults, such as abnormal joint bone morphology and secondary soft tissue changes caused by abnormal development of the hip joint, and abnormal biomechanics and anatomical structures. Due to pathological joint load, joint wear and degeneration, DDH has become one of the common causes of secondary osteoarthritis of the hip joint. It is reported that the incidence of DDH in the Chinese population is about 0.9‰-3.8‰. At present, the better method for treating DDH is Bernese periacetabular osteotomy PAO. This treatment method has a good orthopedic effect, can retain the integrity of the posterior column, the stability of the pelvis as a whole and the blood supply of the acetabulum, can delay joint replacement, reduce the number of revision surgeries, and even avoid joint replacement, which is very beneficial to patients. For young adult DDH patients, early detection and early surgical correction treatment change the acetabulum direction, effectively increase the inclusion and coverage of the acetabulum to the femoral head, and reduce the local stress and joint wear between the head and acetabulum to reduce the prevalence of osteoarthritis. In addition, for female patients who want to have children, this treatment method has no effect on the bony birth canal and will not affect the normal fertility of female patients. However, in the actual treatment process, PAO has not been widely popularized, mainly for the following reasons:

[0098] 1) High surgical risk: The pelvic and hip joint anatomy of DDH patients is complex and individual differences are large. The surgical operation is close to important blood vessels (crown of death, 17% of patients have it) and nerves (sciatic nerve), which may be damaged by carelessness. In the most serious cases, it may even cause heavy bleeding, and the surgical risk is high. Under the condition of limited vision, it is difficult for the surgeon to grasp the correct osteotomy path and direction. Once the osteotomy path or direction is selected incorrectly, it is easy to damage the joint or cut off the posterior column, causing the pelvic stability to lose;

[0099] 2) The surgery is highly dependent on experience: Improving the acetabular anteversion, abduction angle and coverage after surgery is the core purpose of this surgery, which is directly related to the patient's postoperative clinical effect. However, due to the small surgical incision and small field of view, the current acetabular adjustment process mainly relies on the doctor's feel and subjective experience, which is very difficult;

[0100] 3) Doctors are exposed to high radiation and have a long learning curve: Since the entire operation needs to be completed under fluoroscopic monitoring, the doctor needs to have rich experience. In order to ensure the safety of the operation, a longer operation time is required, which increases the radiation exposure of patients and medical staff.

[0101] In order to solve the current clinical problems such as the inability to accurately perform osteotomy and adjust the acetabulum posture during periacetabular osteotomy surgery, and the long radiation exposure time of patients and medical staff during the operation, the present embodiment provides a method for assisting osteotomy surgery. The core idea of ​​the method design is to plan the osteotomy surface for the patient's lesion site in advance, and obtain the first posture of the blood vessels in the lesion site and the second posture of the surgical instrument during the osteotomy surgery. During the osteotomy surgery, the surgical instrument is close to important blood vessels and is prone to damage the blood vessels and nerves. Because the present embodiment allows the surgical instrument to avoid the blood vessels based on the positional relationship between the first posture and the second posture, thereby ensuring the safety of the surgery. Since the user can be prompted whether to adjust the second posture of the surgical instrument during the osteotomy surgery, the medical staff can ensure the safety and accuracy of the surgery without rich experience during the operation of the surgical instrument.

[0102] It should be noted that the method of auxiliary osteotomy surgery in this embodiment can be applied to, but not limited to, periacetabular osteotomy surgery scenarios, and can also be applied to other osteotomy surgery scenarios. Osteotomy surgery scenarios based on the same principle all fall within the protection scope of the embodiments of the present invention.

[0103] like Figure 1 As shown, the implementation process of a method for assisting osteotomy surgery provided in this embodiment is as follows:

[0104] Step 100: during the osteotomy operation at the lesion site, obtaining a first posture of blood vessels in the lesion site and a second posture of a surgical instrument acting on the lesion site;

[0105] The lesion site in this embodiment is used to indicate the diseased part of the patient, and the lesion site includes but is not limited to the pelvis, hip joint, acetabulum, femur, blood vessels and other parts that require osteotomy. The lesion site includes not only the part that requires osteotomy, but also the blood vessels and other tissues around the osteotomy, which are specifically determined according to the physiological part, and this embodiment does not impose too many restrictions on this.

[0106] The surgical instruments in this embodiment include but are not limited to various instruments used in surgery such as scalpels and osteotomies, and this embodiment does not make too many restrictions on this. Figure 2 The figure shows a surgical instrument provided by an embodiment of the present invention. The surgical instrument in this embodiment meets the requirements of relevant medical equipment operation standards and biocompatibility, and at the same time, the appearance and materials need to strictly meet the operating room medical equipment specifications.

[0107] In some embodiments, the first pose and the second pose can be acquired in real time by an optical positioning device. Figure 3As shown, this embodiment also provides a schematic diagram of an optical positioning device. The optical positioning device is a positioning device that uses computer technology, stereo positioning technology, and image processing technology to enable surgeons to monitor the position and orientation of the lesion site and the relative position and orientation of the surgical instrument and the lesion site (i.e., the position and orientation of the surgical instrument) in real time, locate the path of the surgical instrument in real time, and improve surgical accuracy and safety.

[0108] Step 101: Based on the positional relationship between the first posture and the second posture, the user is prompted whether to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

[0109] In some embodiments, the optical positioning device can not only provide the relative position of the surgical instrument and the lesion in real time, acting as the doctor's eyes in minimally invasive surgery and expanding the doctor's field of vision, but also can calculate in real time the distance between the surgical instrument and the safety boundary set around the blood vessels and important tissues. Once the surgical instrument is about to enter the safety threshold, an alarm message is provided to improve the safety of the operation. In implementation, this embodiment can determine whether the surgical instrument needs to be adjusted based on the positional relationship between the surgical instrument and the blood vessel, so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the osteotomy surface pre-planned for the lesion site, further avoiding the surgical instrument from damaging vascular tissue and nerves.

[0110] In some embodiments, if the distance between the first posture and the second posture is within a preset range, the user is prompted to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site avoids the blood vessel tissue in the lesion site. That is, when it is detected that the surgical instrument is about to enter the safety boundary set around the blood vessel, the user is prompted to adjust the position and / or direction of the surgical instrument to avoid the surgical instrument from damaging the blood vessel.

[0111] In some embodiments, during the osteotomy operation at the lesion site, the third position of the bone joint is also adjusted. The specific implementation steps are as follows:

[0112] The third posture of the bone joint in the lesion site is obtained; according to the relative error between the third posture and the pre-planned bone joint posture, the user is prompted whether to adjust the third posture.

[0113] In some embodiments, the bone joints in this embodiment include but are not limited to the hip joints, and the bone joint postures include but are not limited to the posture of the acetabulum. In implementation, since the purpose of periacetabular osteotomy for DDH patients is to improve the posture of the acetabulum, the evaluation indicators for improving the posture include but are not limited to: the anteversion angle of the acetabulum, the abduction angle of the acetabulum, the LCE (center edge angle) angle of the acetabulum, the acetabulum coverage rate, etc. Therefore, this embodiment can also adjust the posture of the acetabulum after osteotomy, and adjust the posture of the acetabulum after osteotomy based on the pre-planned posture of the acetabulum, so that medical staff can more accurately and quickly adjust the hip joint of the patient at the lesion site, thereby accelerating the progress of the operation.

[0114] It should be noted that the bone joints at the lesion site in this embodiment can be determined according to the actual condition of the disease, and the bone joints based on the above-mentioned adjustment principle all fall within the protection scope of the present invention, and this embodiment does not impose too many restrictions on this.

[0115] In some embodiments, this embodiment specifically determines the relative error between the third posture and the pre-planned bone joint posture in the following manner:

[0116] The normal physiological characteristics of the bone joints are calculated through the pre-planned bone joint postures, and the physiological characteristics of the bone joints at the lesion site are calculated through the third posture. The relative error of the bone joint posture is determined according to the normal physiological characteristics and the physiological characteristics corresponding to the third posture. In implementation, the relative error of the bone joint posture can be obtained by comparing the calculated physiological characteristics of the bone joints with the physiological characteristics of the normal bone joints.

[0117] In some embodiments, whether the position of the bone joint needs to be adjusted is determined by the following steps:

[0118] 1) According to the pre-planned bone and joint positions, determining the evaluation indicators corresponding to the various physiological characteristics of the bone and joint;

[0119] In some embodiments, various physiological characteristics of the bone joint include, but are not limited to: anteversion angle, abduction angle, LCE (center edge angle) angle, coverage rate, etc. In implementation, taking the bone joint posture as the acetabulum posture as an example, various physiological characteristics include the anteversion angle of the acetabulum, the abduction angle of the acetabulum, the LCE (center edge angle) angle of the acetabulum, the acetabulum coverage rate, etc.

[0120] In implementation, each physiological characteristic corresponds to an evaluation index. The evaluation indexes corresponding to different physiological characteristics may be the same or different. The definition of the evaluation index is based on different patients. The evaluation indexes corresponding to the various physiological characteristics of the bones and joints in different lesion sites may also be different. The evaluation index is used to evaluate the severity of the disease in the lesion site. Users can evaluate the condition of the bones and joints in the lesion site based on whether the various physiological characteristic parameters of the bones and joints in the current lesion site exceed the corresponding evaluation index.

[0121] 2) determining various physiological characteristic parameters of the bone joint according to the third posture;

[0122] In this embodiment, the third posture of the bone joint can be acquired in real time through the optical positioning device, so as to calculate various physiological characteristic parameters of the bone joint according to the third posture.

[0123] The physiological characteristic parameters in this embodiment include, but are not limited to, anteversion angle, abduction angle, LCE (center edge angle), coverage, etc. Taking the acetabulum posture as an example, the physiological characteristic parameters include the anteversion angle of the acetabulum, the abduction angle of the acetabulum, the LCE (center edge angle) angle of the acetabulum, the acetabulum coverage, etc.

[0124] It should be noted that the posture in this embodiment includes position and posture. Since the human body's bones, bone joints, blood vessels, etc. are all three-dimensional data, this embodiment needs to obtain three-dimensional data of blood vessels, bone joints, etc., such as posture information, so as to assist medical personnel in accurately performing osteotomy surgery.

[0125] 3) If the determined physiological characteristic parameters exceed the corresponding evaluation index, the user is prompted to adjust the third posture.

[0126] During implementation, in the process of adjusting the third posture, the various physiological characteristic parameters corresponding to the third posture after each adjustment are calculated in real time, and the third posture is adjusted based on the adjustment criteria that each physiological characteristic parameter is lower than or equal to the corresponding evaluation index, so that the various physiological characteristic parameters corresponding to the third posture after the final adjustment are lower than or equal to the corresponding evaluation index.

[0127] In some embodiments, the present invention also provides a method for pre-planning osteotomy surgery at different lesion sites, so that the user can use the pre-planned osteotomy surface as the osteotomy reference to perform osteotomy on the lesion site of the patient and determine the position of the surgical instrument during the osteotomy. This allows the osteotomy surgery to be performed more accurately and specifically.

[0128] In practice, before performing osteotomy at the lesion site, the osteotomy surface can be pre-planned through the following steps:

[0129] Step 1: construct and display a three-dimensional anatomical model of the lesion site based on the medical image data of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of bones, joints and blood vessels of the lesion site;

[0130] In some embodiments, the three-dimensional anatomical model of the lesion site is constructed by the following steps:

[0131] Step 1) obtaining multiple medical images of the lesion site scanned before surgery;

[0132] In practice, the medical images in this embodiment include, but are not limited to: DICOM (Digital Imaging and Communications in Medicine) images, CTA images, etc., wherein CTA is a radiographic image in medical imaging and is a cardiovascular imaging technique. Usually, multiple medical images are scanned continuously when scanning the lesion site. For example, a CTA (angiography) scan is performed on the acetabulum of a patient with poor development, specifically including scanning the patient's pelvis, femur, blood vessels, etc., to obtain data such as the shape and cross-sectional shape of the pelvis, femur, and blood vessels, and a three-dimensional bone and blood vessel model of the hip joint is reconstructed based on these medical image data to facilitate monitoring and diagnosis of the patient's affected area information, and to prepare for preoperative planning, intraoperative navigation, and surgical evaluation.

[0133] Step 2) performing the following process for each medical image: performing a first segmentation process on the medical image to determine the bone data and blood vessel data in the medical image; performing a second segmentation process on the bone data to determine the data of each bone joint;

[0134] In practice, a preoperative CTA scan is performed on the patient, and the following process is performed based on each of the multiple CTA images obtained by the scan:

[0135] First, according to preset CTA imaging information, CT image data of the acetabulum and femur and vascular CTA image data in the CTA image are acquired; wherein, for each CTA scanning device, the CTA imaging information corresponding to the CTA scanning device is known in advance.

[0136] Secondly, the CTA image is subjected to a first segmentation process to obtain target bone data, blood vessel data and other information, and the bone data is subjected to a second segmentation process to obtain data of each bone joint, wherein the second segmentation process specifically includes two steps. First, the bone data is roughly segmented by an AI deep learning method, and then the result of the rough segmentation is segmented again based on the maximum flow minimum cut principle to obtain data of each bone joint; wherein the segmentation process in this embodiment specifically includes segmentation processing for medical images.

[0137] Step 3) constructing a three-dimensional anatomical model of the lesion site based on the bone joint data and the blood vessel data in the multiple medical images.

[0138] In some embodiments, for example, after obtaining a segmented image corresponding to each CTA (including various bone joint data and blood vessel data), the three-dimensional anatomical information of the lesion site is reconstructed using the data information in the segmented images corresponding to multiple CTA images, and the reconstruction of the three-dimensional anatomical model of the bones and blood vessels is completed; finally, the properties of the reconstructed bone surface data and blood vessel surface data (i.e., rendering effect) can be mapped to the geometric data required for display (such as size, length, color, grayscale value, pixel value, etc.), and then the cross-sectional view of the bones and blood vessels can be displayed after rendering.

[0139] In an optional implementation, the volume rendering algorithm (a 3D surface reconstruction algorithm) in the public image processing library VTK (Visualization Toolkit) may also be used, but is not limited to, to implement the creation of a 3D anatomical model based on CTA images.

[0140] Step 2: Determine the pre-planned osteotomy surface in response to the position and direction of the osteotomy surface planned by the user based on the three-dimensional anatomical model.

[0141] In implementation, for example, the preoperative osteotomy surface design and planning can be performed based on the reconstructed three-dimensional anatomical model of the hip joint (including bones and blood vessels). Specifically, the user can design the osteotomy surface by selecting points or other methods. Taking the point selection method as an example, the user can select 3 points near the ischium of the pelvic model in the three-dimensional anatomical model to generate an osteotomy surface, wherein the shape of the osteotomy surface is a polygon with more than 3 sides. For example, after the user selects 3 points, an initial polygon will be generated first. The user can change the angle, size, position, shape, etc. of the initial polygon. After the user confirms, the ischium osteotomy surface planning is completed; similarly, according to the above operation, the pubic osteotomy surface planning, the iliac osteotomy surface planning and the posterior column osteotomy surface planning can be completed in turn; after the planning of each osteotomy surface is completed, the osteotomy closed area with each osteotomy surface as the boundary can be automatically formed according to each planned osteotomy surface, in preparation for the acetabulum posture adjustment plan. During this process, the user can also modify the osteotomy plan at any time to ensure the flexibility and safety of the osteotomy surgery.

[0142] In some embodiments, this embodiment can also pre-plan the bone joint posture of the lesion site, wherein there are multiple pre-planned osteotomy surfaces. After determining the pre-planned osteotomy surfaces, a osteotomy closed area with the multiple osteotomy surfaces as boundaries can be generated in the three-dimensional anatomical model according to the pre-planned multiple osteotomy surfaces; and the pre-planned bone joint posture is determined in response to the user's adjustment operation on the bone joint within the osteotomy closed area.

[0143] For example, there are 4 pre-planned osteotomy surfaces, namely, the sciatic osteotomy surface, the pubic osteotomy surface, the iliac osteotomy surface and the posterior column osteotomy surface, wherein the position, size, angle, shape and other posture information of the pre-planned osteotomy surfaces are all known. According to the 4 pre-planned osteotomy surfaces, an osteotomy closed area can be generated and displayed in the three-dimensional anatomical model of the lesion site. Specifically, the user can design the acetabulum adjustment scheme according to the osteotomy closed area generated by the above process. Taking the three-dimensional anatomical model of the acetabulum site as an example, the doctor can rotate the acetabulum osteotomy closed area in the visual frame of the three-dimensional anatomical model by interactive methods such as mouse and keyboard, and the current physiological characteristic parameters of the acetabulum (such as coverage) will be automatically calculated after each rotation, and the acetabulum is adjusted so that the anteversion angle, abduction angle, LCE angle and coverage of the acetabulum can meet the corresponding evaluation index.

[0144] In some embodiments, during the osteotomy operation at the lesion site, the present embodiment may further display a three-dimensional anatomical model of the lesion site, a three-dimensional virtual instrument of the surgical instrument, and the pre-planned osteotomy surface in the three-dimensional anatomical model to assist the user in determining the second posture of the surgical instrument according to the pre-planned osteotomy surface;

[0145] Among them, the three-dimensional anatomical model is obtained by updating the three-dimensional anatomical model of the lesion site before the osteotomy surgery based on the first posture obtained in real time and the third posture of the bone joints in the lesion site; the three-dimensional virtual instrument is obtained by updating the three-dimensional virtual instrument before the osteotomy surgery based on the second posture obtained in real time.

[0146] In some embodiments, the protection range of the blood vessel can also be determined based on the distance between the pre-planned osteotomy surface and the blood vessel, a virtual clamp of the blood vessel is generated based on the protection range, and the virtual clamp is displayed in the displayed three-dimensional anatomical model to remind the user to keep the surgical instrument away from the blood vessel during the surgical operation. The displayed virtual clamp can be regarded as adding a protection layer around the blood vessel in the three-dimensional anatomical model. When the surgical instrument is about to enter the protection layer, the user will be reminded that the posture of the surgical instrument needs to be adjusted to avoid the blood vessel.

[0147] In some embodiments, the pre-planned bone and joint postures can also be displayed in the three-dimensional anatomical model, thereby effectively prompting the user how to adjust the bone and joint postures of the current lesion site to improve the accuracy and safety of the operation.

[0148] like Figure 4 As shown, this embodiment also provides a system for assisting osteotomy surgery, including a surgical positioning module 400, a surgical navigation module 401, and a surgical instrument 402, wherein:

[0149] A surgical positioning module 400 is used to obtain a first position of blood vessels in the lesion site and a second position of a surgical instrument 402 acting on the lesion site during an osteotomy operation at the lesion site;

[0150] The surgical navigation module 401 is used to prompt the user whether to adjust the second posture according to the positional relationship between the first posture and the second posture so that the osteotomy surface formed by the surgical instrument 402 acting on the lesion site conforms to the pre-planned osteotomy surface.

[0151] In some embodiments, the surgical navigation module 401 is specifically used to:

[0152] If the distance between the first posture and the second posture is within a preset range, the user is prompted to adjust the second posture so that the osteotomy surface formed by the surgical instrument 402 acting on the lesion site avoids the vascular tissue in the lesion site.

[0153] In some embodiments, the surgical positioning module 400 is further configured to:

[0154] A third posture of the bone joint in the lesion site is obtained; and according to the relative error between the third posture and the pre-planned bone joint posture, a user is prompted whether to adjust the third posture.

[0155] In some embodiments, the surgical positioning module 400 is specifically used to:

[0156] Determine the evaluation indexes corresponding to the various physiological characteristics of the bone and joints according to the pre-planned bone and joint positions;

[0157] Determining various physiological characteristic parameters of the bone joint according to the third posture;

[0158] If the determined physiological characteristic parameters exceed the corresponding evaluation index, the user is prompted to adjust the third posture.

[0159] In some embodiments, before performing osteotomy at the lesion site, the surgical navigation module 401 is further used to:

[0160] Acquire medical image data of the lesion site, construct and display a three-dimensional anatomical model of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of the bone joints and the blood vessels of the lesion site;

[0161] The pre-planned osteotomy surface is determined in response to the position and orientation of the osteotomy surface planned by the user based on the three-dimensional anatomical model.

[0162] In some embodiments, before performing osteotomy at the lesion site, the surgical navigation module 401 is specifically used to:

[0163] Acquiring multiple medical images of the lesion site scanned before surgery;

[0164] The following process is performed for each medical image: performing a first segmentation process on the medical image to determine the bone data and blood vessel data in the medical image; performing a second segmentation process on the bone data to determine each bone joint data;

[0165] The three-dimensional anatomical model of the lesion site is constructed based on the bone joint data and the blood vessel data in the multiple medical images.

[0166] In some embodiments, there are multiple pre-planned osteotomy surfaces. After determining the pre-planned osteotomy surface, the surgical navigation module 401 is specifically used to:

[0167] According to the pre-planned multiple osteotomy surfaces, generating an osteotomy closed area with the multiple osteotomy surfaces as boundaries in the three-dimensional anatomical model;

[0168] In response to the user's adjustment operation on the bone joint within the osteotomy closed area, a pre-planned bone joint posture is determined.

[0169] In some embodiments, the surgical navigation module 401 is further used to:

[0170] Displaying the three-dimensional anatomical model of the lesion site, the three-dimensional virtual instrument of the surgical instrument 402, and the pre-planned osteotomy surface in the three-dimensional anatomical model to assist the user in determining the second posture of the surgical instrument 402 according to the pre-planned osteotomy surface;

[0171] Among them, the three-dimensional anatomical model is obtained by updating the three-dimensional anatomical model of the lesion site before the osteotomy surgery based on the first posture and the third posture of the bone joint in the lesion site acquired in real time; the three-dimensional virtual instrument is obtained by updating the three-dimensional virtual instrument before the osteotomy surgery based on the second posture acquired in real time.

[0172] like Figure 5 As shown, this embodiment also provides a structural schematic diagram of a surgical navigation module, wherein the surgical navigation module includes a navigation module 500, a display module 501, a vehicle body 502, and a movable bracket 503, wherein:

[0173] The navigation module 500 is electrically connected to the display module 501 , and the navigation module 500 is used to output the three-dimensional anatomical model to the display module 501 for display.

[0174] In an optional embodiment, if Figure 6 As shown, the vehicle body 502 is fixed on the movable bracket 503, the navigation module 500 is fixed in the vehicle body 502, and the display module 501 is fixedly connected to the vehicle body 502. The movable bracket 503 includes a bracket body and a roller disposed below the bracket body to facilitate the user to move the surgical navigation module.

[0175] The surgical navigation module in this embodiment is the user's "brain" and "eyes", which interacts directly with the user. The surgical navigation module mainly involves three functions, preoperative planning, intraoperative navigation and postoperative evaluation. Preoperative planning includes 1) three-dimensional reconstruction and display technology of bones, joints and blood vessels based on DICOM data, so that doctors can have a full understanding of the patient's physiological and anatomical characteristics before surgery and formulate appropriate surgical plans; 2) calculation and evaluation technology of physiological characteristic parameters, so that doctors can quantitatively analyze the surgical effect and correct the surgical plan in real time during the operation; 3) osteotomy surface planning technology, which helps doctors determine the osteotomy surface posture around the acetabulum to ensure the selection of a safe osteotomy plane, thereby avoiding dangerous nerves and vascular tissues; 4) real-time adjustment of the third posture of the acetabulum during surgery, that is, rotating the relative position of the acetabulum and the femur, and measuring the physiological characteristic parameters of the acetabulum such as anteversion angle, abduction angle, LCE angle, and coverage, and on this basis, judging whether the acetabulum adjustment is in place. The postoperative evaluation module compares and evaluates the patient's preoperative acetabular geometric parameters, preoperative planned acetabular geometric parameters and postoperative actual acetabular geometric parameters; in addition, the surgical navigation module uses VTK (visualization toolkit, an open source free software system mainly used for 3D computer graphics, image processing and visualization) voxel data (volume element, Volume Pixel) processing technology and surface rapid reconstruction technology to reconstruct the 3D anatomical model of bones, joints and blood vessels, and monitors and displays the second posture of surgical instruments in real time during the operation, so that doctors can understand and grasp the progress of the operation in real time.

[0176] The surgical instrument 402 in this embodiment needs to cooperate with the surgical navigation module 401 and the surgical positioning module 400 in terms of structure, function and interface.

[0177] The surgical positioning module 400 in this embodiment establishes a communication connection with the surgical navigation module 401. When performing an osteotomy, the surgical positioning module 400 is used to locate the position information of the acetabulum, blood vessels and surgical instruments 402 in real time, and send the position information to the surgical navigation module 401 in real time; specifically, the surgical positioning module 400 is connected to the surgical navigation module 401 and the surgical instruments 402 through a network cable. The surgical positioning module 400 is used to locate the position information of the acetabulum, blood vessels, and surgical instruments 402 in real time, and upload it to the surgical navigation module 401 through the communication interface to realize data interactive transmission and command transmission and execution.

[0178] During the osteotomy, the surgical positioning module 400 is used for the position information of the acetabulum, blood vessels, and surgical instruments 402. The user performs osteotomy according to the preoperatively planned osteotomy surface; when the position of the surgical instrument 402 deviates from the preset osteotomy surface design and enters the set safety threshold range, an alarm is taken. In addition, the user can manually re-adjust the osteotomy path at any time during the osteotomy process to ensure the safety of the osteotomy; the preoperative osteotomy planning provides a virtual fixture for the intraoperative surgical operation, and the edge of the part that enters the safety threshold range will immediately alarm; the surgical navigation module 401 will display the corresponding surgical osteotomy virtual scene in real time, providing the user with real-time osteotomy image navigation.

[0179] In this embodiment, a three-dimensional anatomical model of the three-dimensional bones and blood vessels of the hip joint is established through the surgical navigation module 401, which can accurately plan the osteotomy surface. The surgical positioning module 400 is used to real-time locate the position information of the acetabulum, blood vessels, and surgical instruments 402, and then provide real-time osteotomy image navigation during the operation, thereby ensuring the accuracy and safety of osteotomy surgery around the acetabulum.

[0180] It should be noted that the users in this embodiment include but are not limited to system administrators of the hospital and operating doctors with training certificates, etc.

[0181] like Figure 7 As shown, the embodiment of the present invention also provides an implementation process of an acetabular surgery navigation method, which is specifically as follows:

[0182] Step 700: construct and display a three-dimensional anatomical model of the lesion site based on the medical image data of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of bones, joints and blood vessels of the lesion site;

[0183] Step 701, in response to the position and direction of the osteotomy surface planned by the user based on the three-dimensional anatomical model, determining the pre-planned osteotomy surface;

[0184] During the implementation, the user logs in to view and load the patient's corresponding basic information, diagnostic information and CTA data information through the display interface of the surgical navigation module; starts the three-dimensional anatomical model of the patient's hip joint, including bones and blood vessels, obtained by three-dimensional reconstruction based on the CTA data information; selects feature points on the three-dimensional anatomical model of the hip joint, automatically detects the acetabular socket ball center, acetabular edge and acetabular normal based on the feature points, calculates the physiological characteristic parameters of the acetabulum, and prepares for the subsequent acetabular adjustment planning plan;

[0185] Start acetabular osteotomy planning, and the acetabular osteotomy area and pelvic blood vessels will be automatically displayed. Users can interactively design the osteotomy surface. Taking the point selection method as an example, users can select 3 points near the ischium of the pelvic model to generate the osteotomy surface. The osteotomy surface can be manually dragged and rotated, and the ischium osteotomy surface planning is completed after the user confirms. According to the above operations, the pubic osteotomy surface planning, iliac osteotomy surface planning and posterior column osteotomy surface planning are completed in turn.

[0186] Step 702: generating an osteotomy closed area with the multiple osteotomy surfaces as boundaries in the three-dimensional anatomical model according to the multiple osteotomy surfaces planned in advance;

[0187] Step 703: In response to the user's adjustment operation on the bone joint within the osteotomy closed area, determine the pre-planned bone joint posture.

[0188] During implementation, the acetabulum adjustment plan is started, and the LCE angle, anteversion angle, abduction angle and acetabulum coverage parameters are calculated and evaluated in real time. Steps 701 and 703 are repeated until the physiological characteristic parameters of the acetabulum meet the surgical requirements. The acetabulum adjustment plan is determined, the third posture of the acetabulum planned preoperatively is saved, and the preoperative planning stage is ended.

[0189] After steps 700 to 703 are completed, before the operation is performed, it is necessary to enter the preoperative equipment confirmation stage and the intraoperative registration stage. Among them, in the preoperative equipment confirmation stage, the user enters the operation interface of the surgical navigation module, operates the connection and checks the working status of each module (surgical positioning module, surgical navigation module, surgical instrument); after confirming that the working status is normal, install the reference target ball on the surgical instrument and start the equipment calibration; verify the comprehensive positioning accuracy of the assisted osteotomy surgery system, if it does not meet the expectations, repeat this step until it meets the preset comprehensive positioning accuracy indicators; end this stage after completing the confirmation; in the intraoperative registration stage, after the user pushes the periacetabular osteotomy surgery system into the designated position of the operating room and the patient lies down, the user checks whether the preoperative planning and preoperative equipment confirmation have been completed. If not, After completion, the above steps 700 to 703 and the preoperative equipment confirmation stage can be repeated until the surgical requirements are met; the probe connection is confirmed, and after confirmation, the reference target ball is installed at the patient's acetabulum to achieve dynamic tracking of the patient's pelvic and acetabulum positions; feature points are selected on the patient's acetabulum and CTA three-dimensional model for matching; the position information of the feature points selected by the probe is read based on the optical positioning system to complete bone registration and generate the reference coordinate system of the patient's acetabulum; the accuracy of bone registration is verified, and if it does not meet expectations, the preoperative equipment confirmation stage and this step are repeated until the preset registration accuracy is met; after the bone registration accuracy is confirmed to be correct, the above confirmation is completed and this stage is ended. Among them, if Figure 8As shown, this embodiment also provides a schematic diagram of the conversion relationship between coordinate systems, wherein the surgical instrument can be converted to the coordinate system of the patient coordinates (i.e., the lesion site coordinates), and the relative position between the surgical instrument and the lesion site in the actual operation is displayed.

[0190] Step 704: during the osteotomy operation at the lesion site, a first posture of blood vessels in the lesion site, a second posture of surgical instruments acting on the lesion site, and a third posture of bone joints in the lesion site are obtained; a three-dimensional anatomical model of the lesion site, a three-dimensional virtual instrument of the surgical instrument, and a pre-planned osteotomy surface are displayed in the three-dimensional anatomical model;

[0191] Step 705: prompt the user whether to adjust the second posture according to the positional relationship between the first posture and the second posture, and prompt the user whether to adjust the third posture according to the relative error between the third posture and the pre-planned bone joint posture.

[0192] During implementation, in the intraoperative navigation stage, after the user checks that the aforementioned preoperative planning, preoperative equipment confirmation, and intraoperative registration have been completed, the user begins to export the model information, vascular position information, and osteotomy surface planning information during preoperative planning, and starts intraoperative navigation after confirmation; based on the pre-alignment of the preoperative plan and the three-dimensional alignment results of the intraoperative registration, the relative positions of the patient's acetabulum, blood vessels, and surgical instruments are displayed, and the osteotomy surface information of the preoperative plan is converted to the patient coordinate system of the patient's acetabulum to obtain the actual osteotomy surface planning design; an optical positioning device is used to capture the second posture of the surgical instrument in real time and convert it to the patient coordinate system of the patient's acetabulum; after the user confirms that the second posture of the surgical instrument is correct relative to the position of the patient's bone joint, the user holds the surgical instrument to perform osteotomy; after the osteotomy is completed, the acetabulum is adjusted in real time to meet the preoperative plan, and the LCE angle, anteversion angle, abduction angle, and acetabular coverage parameters of the acetabulum before and after adjustment are calculated in real time during the operation, and the surgical navigation module displays the corresponding surgical osteotomy virtual scene in real time to provide the user with real-time osteotomy image navigation. After the operation, the patient's preoperative status, intraoperative planning status and postoperative status are evaluated.

[0193] In this embodiment, a three-dimensional anatomical model of the three-dimensional bones and blood vessels of the hip joint is established through the surgical navigation module, the osteotomy surface is accurately planned, and the position information of the acetabulum, blood vessels, and surgical instruments is located in real time based on the surgical positioning module, and real-time osteotomy image navigation is provided to the doctor during the operation, thereby ensuring the accuracy and safety of periacetabular osteotomy surgery.

[0194] Example 2: Based on the same inventive concept, the embodiment of the present invention also provides a device for assisting osteotomy surgery. Since the device is the device in the method in the embodiment of the present invention, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0195] like Fig. 9 As shown, the device includes a processor 900 and a memory 901, wherein the memory 901 is used to store a program executable by the processor 900, and the processor 900 is used to read the program in the memory 901 and perform the following steps:

[0196] During an osteotomy operation at a lesion site, obtaining a first posture of a blood vessel in the lesion site and a second posture of a surgical instrument acting on the lesion site;

[0197] According to the positional relationship between the first posture and the second posture, the user is prompted whether to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

[0198] As an optional implementation manner, the processor 900 is specifically configured to execute:

[0199] If the distance between the first posture and the second posture is within a preset range, the user is prompted to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site avoids the vascular tissue in the lesion site.

[0200] As an optional implementation manner, the processor 900 is further configured to execute:

[0201] Acquiring a third posture of the bone joint in the lesion site;

[0202] According to the relative error between the third posture and the pre-planned bone joint posture, the user is prompted whether to adjust the third posture.

[0203] As an optional implementation manner, the processor 900 is specifically configured to execute:

[0204] Determine the evaluation indexes corresponding to the various physiological characteristics of the bone and joints according to the pre-planned bone and joint positions;

[0205] Determining various physiological characteristic parameters of the bone joint according to the third posture;

[0206] If the determined physiological characteristic parameters exceed the corresponding evaluation index, the user is prompted to adjust the third posture.

[0207] As an optional implementation, before performing osteotomy at the lesion site, the processor 900 is further configured to execute:

[0208] Constructing and displaying a three-dimensional anatomical model of the lesion site according to the medical image data of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of the bone joints and the blood vessels of the lesion site;

[0209] The pre-planned osteotomy surface is determined in response to the position and orientation of the osteotomy surface planned by the user based on the three-dimensional anatomical model.

[0210] As an optional implementation manner, the processor 900 is specifically configured to execute:

[0211] Acquiring multiple medical images of the lesion site scanned before surgery;

[0212] The following process is performed for each medical image: performing a first segmentation process on the medical image to determine the bone data and blood vessel data in the medical image; performing a second segmentation process on the bone data to determine each bone joint data;

[0213] The three-dimensional anatomical model of the lesion site is constructed based on the bone joint data and the blood vessel data in the multiple medical images.

[0214] As an optional implementation, the pre-planned osteotomy surface is multiple, and after determining the pre-planned osteotomy surface, the processor 900 is further configured to execute:

[0215] According to the pre-planned multiple osteotomy surfaces, generating an osteotomy closed area with the multiple osteotomy surfaces as boundaries in the three-dimensional anatomical model;

[0216] In response to the user's adjustment operation on the bone joint within the osteotomy closed area, a pre-planned bone joint posture is determined.

[0217] As an optional implementation manner, the processor 900 is further configured to execute:

[0218] Displaying a three-dimensional anatomical model of the lesion site, a three-dimensional virtual instrument of the surgical instrument, and displaying the pre-planned osteotomy surface in the three-dimensional anatomical model to assist the user in determining the second posture of the surgical instrument according to the pre-planned osteotomy surface;

[0219] Among them, the three-dimensional anatomical model is obtained by updating the three-dimensional anatomical model of the lesion site before the osteotomy surgery based on the first posture and the third posture of the bone joint in the lesion site acquired in real time; the three-dimensional virtual instrument is obtained by updating the three-dimensional virtual instrument before the osteotomy surgery based on the second posture acquired in real time.

[0220] Example 3: Based on the same inventive concept, the embodiment of the present invention also provides a device for assisting osteotomy surgery. Since the device is the device in the method in the embodiment of the present invention, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0221] like Fig.10 As shown, the device comprises:

[0222] A posture acquisition unit 1000 is used to acquire a first posture of a blood vessel in the lesion site and a second posture of a surgical instrument acting on the lesion site during an osteotomy operation at the lesion site;

[0223] The prompt adjustment unit 1001 is used to prompt the user whether to adjust the second posture according to the positional relationship between the first posture and the second posture, so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

[0224] As an optional implementation manner, the prompt adjustment unit 1001 is specifically configured to:

[0225] If the distance between the first posture and the second posture is within a preset range, the user is prompted to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site avoids the vascular tissue in the lesion site.

[0226] As an optional implementation, the process of performing osteotomy at the lesion site further includes obtaining a prompt unit for:

[0227] Acquiring a third posture of the bone joint in the lesion site;

[0228] According to the relative error between the third posture and the pre-planned bone joint posture, the user is prompted whether to adjust the third posture.

[0229] As an optional implementation manner, the acquisition prompt unit is specifically used for:

[0230] Determine the evaluation indexes corresponding to the various physiological characteristics of the bone and joints according to the pre-planned bone and joint positions;

[0231] Determining various physiological characteristic parameters of the bone joint according to the third posture;

[0232] If the determined physiological characteristic parameters exceed the corresponding evaluation index, the user is prompted to adjust the third posture.

[0233] As an optional embodiment, before performing osteotomy at the lesion site, the method further includes a first planning unit for:

[0234] Constructing and displaying a three-dimensional anatomical model of the lesion site according to the medical image data of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of the bone joints and the blood vessels of the lesion site;

[0235] The pre-planned osteotomy surface is determined in response to the position and orientation of the osteotomy surface planned by the user based on the three-dimensional anatomical model.

[0236] As an optional implementation manner, the first planning unit is specifically used for:

[0237] Acquiring multiple medical images of the lesion site scanned before surgery;

[0238] The following process is performed for each medical image: performing a first segmentation process on the medical image to determine the bone data and blood vessel data in the medical image; performing a second segmentation process on the bone data to determine each bone joint data;

[0239] The three-dimensional anatomical model of the lesion site is constructed based on the bone joint data and the blood vessel data in the multiple medical images.

[0240] As an optional embodiment, the pre-planned osteotomy surface is multiple, and after determining the pre-planned osteotomy surface, a second planning unit is further included for:

[0241] According to the pre-planned multiple osteotomy surfaces, generating an osteotomy closed area with the multiple osteotomy surfaces as boundaries in the three-dimensional anatomical model;

[0242] In response to the user's adjustment operation on the bone joint within the osteotomy closed area, a pre-planned bone joint posture is determined.

[0243] As an optional embodiment, during the osteotomy operation at the lesion site, a display unit is further included for:

[0244] Displaying a three-dimensional anatomical model of the lesion site, a three-dimensional virtual instrument of the surgical instrument, and displaying the pre-planned osteotomy surface in the three-dimensional anatomical model to assist the user in determining the second posture of the surgical instrument according to the pre-planned osteotomy surface;

[0245] Among them, the three-dimensional anatomical model is obtained by updating the three-dimensional anatomical model of the lesion site before the osteotomy surgery based on the first posture and the third posture of the bone joint in the lesion site acquired in real time; the three-dimensional virtual instrument is obtained by updating the three-dimensional virtual instrument before the osteotomy surgery based on the second posture acquired in real time.

[0246] Based on the same inventive concept, an embodiment of the present invention further provides a computer storage medium on which a computer program is stored. When the program is executed by a processor, the following steps are implemented:

[0247] During an osteotomy operation at a lesion site, obtaining a first posture of a blood vessel in the lesion site and a second posture of a surgical instrument acting on the lesion site;

[0248] According to the positional relationship between the first posture and the second posture, the user is prompted whether to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

[0249] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0250] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that has the functions specified in one or more boxes.

[0251] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0252] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0253] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A device for assisting osteotomy surgery, characterized in that: The device includes a processor and a memory, wherein the memory is used to store a program executable by the processor, and the processor is used to read the program in the memory and perform the following steps: During an osteotomy operation at a lesion site, a first posture of blood vessels in the lesion site and a second posture of a surgical instrument acting on the lesion site are obtained; a third posture of a bone joint in the lesion site is obtained; based on a relative error between the third posture and a pre-planned bone joint posture, a user is prompted whether to adjust the third posture; the relative error between the third posture and the pre-planned bone joint posture is determined in the following manner: various normal physiological characteristics of the bone joint are calculated through the pre-planned bone joint posture, and various physiological characteristics of the bone joint at the lesion site are calculated through the third posture, and the relative error of the bone joint posture is determined based on various normal physiological characteristics and various physiological characteristics corresponding to the third posture; According to the positional relationship between the first posture and the second posture, the user is prompted whether to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site conforms to the pre-planned osteotomy surface.

2. The device according to claim 1, characterized in that The processor is specifically configured to execute: If the distance between the first posture and the second posture is within a preset range, the user is prompted to adjust the second posture so that the osteotomy surface formed by the surgical instrument acting on the lesion site avoids the vascular tissue in the lesion site.

3. The device according to claim 1, characterized in that The processor is specifically configured to execute: Determine the evaluation indexes corresponding to the various physiological characteristics of the bone and joints according to the pre-planned bone and joint positions; Determining various physiological characteristic parameters of the bone joint according to the third posture; If the determined physiological characteristic parameters exceed the corresponding evaluation index, the user is prompted to adjust the third posture.

4. The device according to claim 1, characterized in that Before performing osteotomy at the lesion site, the processor is further configured to execute: Constructing and displaying a three-dimensional anatomical model of the lesion site according to the medical image data of the lesion site, wherein the three-dimensional anatomical model includes three-dimensional anatomical information of the bone joints and the blood vessels of the lesion site; The pre-planned osteotomy surface is determined in response to the position and orientation of the osteotomy surface planned by the user based on the three-dimensional anatomical model.

5. The device according to claim 4, characterized in that The processor is specifically configured to execute: Acquiring multiple medical images of the lesion site scanned before surgery; The following process is performed for each medical image: performing a first segmentation process on the medical image to determine the bone data and blood vessel data in the medical image; performing a second segmentation process on the bone data to determine each bone joint data; The three-dimensional anatomical model of the lesion site is constructed based on the bone joint data and the blood vessel data in the multiple medical images.

6. The device according to claim 4, characterized in that There are multiple pre-planned osteotomy surfaces. After determining the pre-planned osteotomy surface, the processor is further configured to execute: According to the pre-planned multiple osteotomy surfaces, generating an osteotomy closed area with the multiple osteotomy surfaces as boundaries in the three-dimensional anatomical model; In response to the user's adjustment operation on the bone joint within the osteotomy closed area, a pre-planned bone joint posture is determined.

7. The device according to any one of claims 1 to 6, characterized in that: During the osteotomy operation at the lesion site, the processor is further configured to execute: Displaying a three-dimensional anatomical model of the lesion site, a three-dimensional virtual instrument of the surgical instrument, and displaying the pre-planned osteotomy surface in the three-dimensional anatomical model to assist the user in determining the second posture of the surgical instrument according to the pre-planned osteotomy surface; Among them, the three-dimensional anatomical model is obtained by updating the three-dimensional anatomical model of the lesion site before the osteotomy surgery based on the first posture and the third posture of the bone joint in the lesion site acquired in real time; the three-dimensional virtual instrument is obtained by updating the three-dimensional virtual instrument before the osteotomy surgery based on the second posture acquired in real time.

Images