Method, electronic device and medium for osteotomy planning based on visualized image

Abstract

The present application provides a method, electronic device and medium for osteotomy planning based on visualized images, the method comprising: obtaining a pelvic model and feature points reconstructed based on three-dimensional medical images; selecting a target osteotomy surface in the pelvic model according to the feature points; obtaining at least three selection points on the bone surface of the target osteotomy surface; generating an osteotomy plane according to at least three selection points; adjusting the osteotomy plane based on user operation instructions to plan an osteotomy surface in a suitable position. The present application can effectively allow doctors to perform visualized osteotomy planning on a reconstructed three-dimensional model. The present application allows doctors to find an optimal osteotomy route suitable for subsequent adjustment based on the position of the patient's pelvis and blood vessels before surgery and avoid high-risk areas with death crowns. The present application can effectively reduce the uncertainty of PAO surgery, lower the threshold for doctors to perform surgery, and improve controllability during surgery.

Description

Technical Field

[0001] The present application relates to the field of medical image processing, and in particular to a method, electronic equipment and medium for osteotomy planning of PAO (congenital hip dislocation) surgery based on visualized images. Background Art

[0002] PAO surgery loosens the acetabulum by osteotomy around the acetabulum, then rotates the acetabulum outward and forward, changes the direction of the acetabulum, and improves the coverage of the acetabulum on the femoral head, thereby reducing joint wear and delaying or even avoiding long-term joint replacement. However, when performing PAO surgery, one must be aware of the "crown of death". The "crown of death" refers to the thick communicating anastomotic branch between the external iliac artery or the inferior epigastric artery and the obturator artery, also known as the external obturator artery, or the accessory obturator artery. About 30% of people have this artery. Therefore, during the osteotomy process of PAO surgery, the "crown of death" and other blood vessels must be avoided.

[0003] The osteotomy part of conventional PAO surgery is divided into four steps: ischium, pubis, ilium and posterior column. Usually in PAO surgery, due to the obstruction of vision, it is difficult for doctors to confirm the location of blood vessels during surgery. If they are not careful, they may injure blood vessels during the osteotomy process. Therefore, medical imaging analysis of patients is performed before surgery and a corresponding osteotomy plan is formulated. At the same time, X-rays are used continuously during surgery to obtain the location of the osteotome to reduce surgical risks.

[0004] The current PAO surgery is difficult to replicate during the actual operation based on the doctor's rough planning of preoperative medical images. The doctor cannot directly see the effect of osteotomy during the planning process. In addition, the large amount of X-rays required during the operation will cause additional radiation dose. Therefore, this procedure is very demanding on the doctor's experience and on-the-spot adaptability, which also limits the application and promotion of PAO surgery. Summary of the invention

[0005] The main purpose of the present application is to provide a method, electronic device and medium for osteotomy planning based on visualized images, so as to improve the above-mentioned defects existing in the prior art.

[0006] This application solves the above technical problems through the following technical solutions:

[0007] As one aspect of the present application, a method for osteotomy planning based on visualized images is provided, comprising:

[0008] Obtain pelvic model and feature points reconstructed based on three-dimensional medical images;

[0009] Selecting a target osteotomy surface in the pelvic model according to the feature points;

[0010] Acquire at least three selected points on the bone surface of the target osteotomy surface;

[0011] generating an osteotomy plane according to the at least three selected points;

[0012] The osteotomy plane is adjusted based on the user's operation instruction to plan an osteotomy surface in a suitable position.

[0013] As an optional implementation manner, after acquiring the feature points, the method further includes:

[0014] The pelvic model is divided into left and right sides based on the acquired feature points, and the non-surgical side is semi-transparent.

[0015] As an optional embodiment, the step of generating an osteotomy plane according to the at least three selected points comprises:

[0016] generating at least two non-coincident vectors according to the at least three selected points;

[0017] Determining a plane normal vector based on at least two non-coincident vectors;

[0018] An osteotomy plane is generated based on the plane normal vector and an approximate midpoint calculated from at least three selected points.

[0019] As an optional implementation, the step of adjusting the osteotomy plane based on the user operation instruction includes:

[0020] The osteotomy plane is dragged based on the drag point in the user operation instruction.

[0021] As an optional implementation, the step of adjusting the osteotomy plane based on the user operation instruction includes:

[0022] The entire osteotomy plane is dragged along the up, down, left, and right directions based on the dragging instruction in the user operation instruction.

[0023] As an optional implementation, the step of obtaining a pelvic model reconstructed based on a three-dimensional medical image includes:

[0024] Obtain pelvic and vascular models reconstructed from 3D medical images.

[0025] As an optional implementation, after the step of adjusting the osteotomy plane based on the user operation instruction, the method further includes:

[0026] Divide the area within a preset radius with the center point of the osteotomy plane as the center of the circle as a dangerous area;

[0027] Acquiring blood vessel point cloud data within the dangerous area;

[0028] Fitting the blood vessel point cloud data into a cylinder to obtain the center line point of the cylinder;

[0029] Obtaining the shortest distance between the osteotomy contour and the blood vessel according to the point coordinates of the center line of the cylinder and the point coordinates of the edge of the osteotomy contour;

[0030] When it is detected that the shortest distance is less than the preset distance, an alarm prompt message is output.

[0031] As an optional implementation, it also includes:

[0032] The osteotomy planning result of the pelvic model reconstructed based on the three-dimensional medical image is generated according to the planning result of the osteotomy surface, wherein for the pelvic model, the osteotomy retention part in the osteotomy planning result is judged by whether the boundary of the two parts after cutting contains feature points.

[0033] As another aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for osteotomy planning based on visualized images as described above is implemented.

[0034] As another aspect of the present application, a computer-readable medium is provided, on which computer instructions are stored. When the computer instructions are executed by a processor, the method for osteotomy planning based on visualized images as described above is implemented.

[0035] Based on the content of this application, those skilled in the art can understand other aspects of the content of this application.

[0036] The positive effects of this application are:

[0037] The method, electronic device and medium for osteotomy planning based on visual imaging provided by the present application can effectively allow doctors to perform visual osteotomy planning on a reconstructed three-dimensional model. Doctors can establish osteotomy planes based on sciatic osteotomy, pubic osteotomy, pubic osteotomy and posterior column osteotomy, respectively, and generate a separate model of the final adjustable part after adjustment and confirmation. Through this application, doctors can find an optimal osteotomy route suitable for subsequent adjustments based on the position of the patient's pelvis and blood vessels before surgery and avoid high-risk areas with death crowns. The present application can also provide visual osteotomy trajectory guidance for subsequent surgical navigation. The present application can effectively reduce the uncertainty of PAO surgery, lower the threshold for doctors to perform surgery, and improve controllability during surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The features and advantages of the present application can be better understood after reading the detailed description of the embodiments of the present application in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0039] Figure 1It is a flowchart of a method for osteotomy planning based on visualized images according to an embodiment of the present application.

[0040] Figure 2 Schematic diagram of the operation flow of the method for applying osteotomy planning based on visualization images.

[0041] Figure 3A A schematic diagram of a three-dimensional model showing blood vessels during osteotomy surface design.

[0042] Figure 3B A schematic diagram of the three-dimensional model showing hidden blood vessels during osteotomy surface design.

[0043] Figure 4 A schematic diagram showing the operation interface for osteotomy surface design.

[0044] Figure 5 A schematic diagram of the three-dimensional model showing the generation of the osteotomy plane.

[0045] Figure 6 A schematic diagram of a three-dimensional model showing the point dragging of the osteotomy plane.

[0046] Figure 7 This is a schematic diagram showing the results of osteotomy planning based on CT (computed tomography) data.

[0047] Figure 8 A schematic diagram showing the result of three-dimensional model data after osteotomy planning.

[0048] Fig. 9 It is a schematic diagram showing the effect of translation in the X and Y axis directions in a three-dimensional coordinate system established with the current camera lens direction as the Z axis and the camera pointing upward as the Y axis.

[0049] Fig.10 A schematic diagram of the osteotomy navigation operation interface showing the position of the pelvis and osteotome.

[0050] Fig.11 It is a schematic structural diagram of an electronic device for implementing a method for osteotomy planning based on visualized images according to another embodiment of the present application. DETAILED DESCRIPTION

[0051] The present application is further described below by way of examples, but the present application is not limited to the scope of the examples.

[0052] It should be noted that references in the specification to "an embodiment," "an alternative embodiment," "another embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or characteristic, but each embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, whether or not explicitly described, it is within the knowledge of a person skilled in the relevant art to implement such feature, structure, or characteristic in conjunction with other embodiments.

[0053] In the description of the content of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the content of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the content of the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the content of the present application, unless otherwise specified, the meaning of "multiple" is two or more. In addition, the term "including" and any variation thereof are intended to cover non-exclusive inclusions.

[0054] In the description of the content of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the content of this application can be understood according to specific circumstances.

[0055] The terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms "one", "one" and "item" used herein are also intended to include plural numbers. It should also be understood that the terms "include" and / or "comprise" used herein specify the existence of stated features, integers, steps, operations, units and / or components, without excluding the existence or addition of one or more other features, integers, steps, operations, units, components and / or combinations thereof.

[0056] In order to overcome the above-mentioned defects that currently exist, the present embodiment provides a method for osteotomy planning based on visualized images, including: obtaining a pelvic model and feature points reconstructed based on three-dimensional medical images; selecting a target osteotomy surface in the pelvic model according to the feature points; obtaining at least three selection points on the bone surface of the target osteotomy surface; generating an osteotomy plane according to the at least three selection points; and adjusting the osteotomy plane based on user operation instructions to plan an osteotomy surface in a suitable position.

[0057] In this embodiment, by using the above-mentioned method of osteotomy planning based on visualized images, a highly operational and visualized PAO surgical osteotomy planning function can be implemented, so that doctors can plan the surgical osteotomy plan in advance and see the results of the osteotomy plan, and can provide a guidance path for subsequent intraoperative osteotomy navigation.

[0058] Specifically, as an embodiment, Figure 1 As shown, the method for osteotomy planning based on visualized images provided in this embodiment mainly includes the following steps:

[0059] Step 101: Obtain a pelvic model and a blood vessel model reconstructed based on three-dimensional medical images and feature points according to user requirements.

[0060] In this step, the pelvic model is also divided into left and right sides based on the acquired feature points, and the non-surgical side is made semi-transparent. That is, after the segmented image is 3D reconstructed, the pelvic model is divided into left and right sides based on the acquired feature points, and the non-surgical side is made semi-transparent to reduce the visual obstruction during the osteotomy planning process.

[0061] In this step, refer to Figure 3A and Figure 3B As shown, the display and hiding of the blood vessel model can be controlled. Figure 3A The 3D model showing blood vessels during osteotomy surface design is shown. Figure 3B A 3D model showing hidden blood vessels during osteotomy surface design.

[0062] Step 102: Select a target osteotomy surface in the pelvic model according to the acquired feature points.

[0063] In this embodiment, the PAO surgery is generally divided into four steps in the osteotomy stage: sciatic osteotomy, pubic osteotomy, iliac osteotomy and posterior column osteotomy, but it is not limited to this and can be adjusted and selected accordingly according to actual needs.

[0064] In this step, the osteotomy surface design with high degree of operational freedom can be provided. Figure 4 ,After selecting the target osteotomy surface in the pelvic model according to the acquired feature points, the ,operator can individually select a target osteotomy surface for design, modification, hiding, cancellation and modification of cross-section color and other operations.

[0065] Step 103: Acquire three selected points on the bone surface of the target osteotomy surface.

[0066] In this embodiment, the starting component osteotomy plane requires obtaining at least three selection points p1 (x1, y1, z1), p2 (x2, y2, z2), and p3 (x3, y3, z3) on the bone surface of the target osteotomy surface.

[0067] Step 104: Generate an osteotomy plane according to the three selected points.

[0068] In this step, two non-overlapping vectors are generated according to the three selected points, a plane normal vector is determined according to the two non-overlapping vectors, and an osteotomy plane is generated based on the plane normal vector and an approximate midpoint calculated according to the three selected points.

[0069] Specifically, two groups are randomly selected from the three selected points to form two non-overlapping vectors, such as p1p2(x2-x1, y2-y1, z2-z1), p1p3(x3-x1, y3-y1, z3-z1). The plane normal vector is perpendicular to any vector on the plane, so the vector perpendicular to the two planes, i.e. the plane normal vector, can be obtained by vector cross product.

[0070] That is, use the following calculation formula to get the plane normal vector:

[0071]

[0072] a=(y2-y1)×(z3-z1)-(y3-y1)×(z2-z1)

[0073] b=(z2-z1)×(x3-x1)-(z3-z1)×(x2-x1)

[0074] c=(x2-x1)×(y3-y1)-(x3-x1)×(y2-y1)

[0075] To ensure that the center of the generated osteotomy plane is as close as possible to the center of the osteotomy cross section, calculate the approximate midpoints of the three selected points. According to the plane normal vector And a little p on the plane o The plane equation is a(xx o )+b(yy o )+c(zz o )=0. refer to Figure 5 As shown, the selected points represent the selected three points p1, p2, and p3.

[0076] Step 105: Adjust the osteotomy plane based on the user operation instruction to plan an osteotomy plane in a suitable position.

[0077] As an optional implementation, in this step, the osteotomy plane is dragged based on the drag point in the user operation instruction.

[0078] As another optional implementation, the entire osteotomy plane is dragged along the up, down, left, and right directions based on a drag instruction in the user operation instruction.

[0079] Specifically, after executing steps 103 and 104, the osteotomy plane can be adjusted as required. The main adjustment function is divided into two parts: point dragging and surface translation.

[0080] Point dragging: First, determine whether the user command position (for example, the mouse position on the operation interface) coincides with the selected selection point position. The coordinates of the three selection points need to be converted from the world reference system to the pixel reference system. Fig. 9 As shown, p1(x1,y1,z1), the focal length f of the camera, the rotation matrix R of the camera, and the displacement T of the camera are known. Assume that the camera is facing upward as the y-axis and the camera lens is facing inward as the z-axis. Assume that the coordinate point of the point in the camera coordinate system is (x c ,y c ,z c ). Through the three-dimensional coordinate transformation formula From similar triangles we can get: Finally, we can get the pixel coordinates u, v: d x and d y The x- and y-direction pixels are the length units respectively. u0 and v0 represent the horizontal and vertical pixel numbers that differ between the image center pixel coordinates and the image origin pixel coordinates. m ,v m ). Since the radius of the selected point is 3. Figure 6 As shown, when the distance between the user instruction and the point is less than 3, that is: The selected point turns from blue to yellow. At this time, hold down the left mouse button to drag the point and the plane at the same time.

[0081] Surface translation: When the user's command position is on the edge of the plane or on the line connecting the three selected points, the entire plane can be dragged up, down, left, and right by confirming the command. First, use the same method as above to convert the two endpoints of the line segment to pixel coordinates (u1, v1) and (u2, v2). To determine whether the user's command position is on a straight line, it is necessary to find the distance between the user's command position and the straight line. Assume that the user's command pixel position (u m ,v m ), the straight line vector is The vector from the mouse position to any point on the line is According to the formula: Available Then we can find the distance When d<5 and the user command position is within the line segment but not on the extension line, that is, when θ<90° and sinθ>0, the user command position is determined to be on the line segment. When a confirmation command is received and the command position is dragged, the number of pixels in the x and y directions each time is moved is converted into a displacement value on the camera projection plane multiplied by the unit vector of the camera's upward direction and the unit vector of the camera's right direction, respectively.

[0082] In this step, after the step of adjusting the osteotomy plane based on the user's operating instructions, the area within the preset radius with the center point of the osteotomy plane as the center of the circle is divided into a dangerous area; the blood vessel point cloud data in the dangerous area is obtained; the blood vessel point cloud data is fitted into a cylinder to obtain the point of the center line of the cylinder; the shortest distance between the osteotomy contour and the blood vessel is obtained based on the point coordinates of the center line of the cylinder and the point coordinates of the edge of the osteotomy contour; when it is detected that the shortest distance is less than the preset distance, an alarm prompt message is output.

[0083] Specifically, the second pubic osteotomy is the most likely to cause the crown of death during PAO surgery. The planning of the pubic osteotomy surface provides doctors with distance displays and warnings. Given the normal vector of the current section and a point on the plane, the contour edge data of the plane and the pelvic model are obtained through vtkcutter (visual tool cutting). In this way, the location cloud position information of the outer edge site of the osteotomy position can be obtained. The vascular point cloud data is obtained through automatic segmentation. In order to reduce the amount of calculation of the shortest distance algorithm, the vascular point cloud data is reduced as much as possible. The center point of the osteotomy surface is used as the center of the circle, and the area with a radius of 50 mm is divided into a dangerous area. The vascular point cloud data in this area is obtained through Boolean operations. Since the shape of the blood vessel is a cylinder, you and the point cloud data are a cylinder. The center line of the fitted cylinder is obtained as follows: The line vector is A point passing through the straight line is (x0, y0, z0). Given the coordinates of a point on the edge of the osteotomy contour (x1, y1, z1), the vector from this point to the point passing through the straight line is Vector on a line Assume the shortest distance is L, through vector operation Available At the same time, calculate the distance L from the point to the center of the upper and lower sides of the blood vessel top and L bottom By comparing the shortest distance min{L,L up ,L bottom}. After traversal, the distance of the closest point minus the cylinder radius r is approximately equal to the shortest distance between the osteotomy contour and the blood vessel. When the distance is less than 20 mm, the blood vessel will be highlighted to prompt the planner.

[0084] Step 106: Generate osteotomy planning results of the pelvic model reconstructed based on the three-dimensional medical image according to the planning results of the osteotomy surface.

[0085] In this step, for the pelvic model, the osteotomy retention part in the osteotomy planning result is determined by checking whether the boundary of the two parts after cutting contains feature points.

[0086] Specifically, the feature points selected in the acetabulum are used as the basis for determining whether it is a cut area. For medical images, that is, the coordinates of all points on the same side of the CT data plane are substituted into the plane, and the values ​​obtained have the same sign. By traversing, the grayscale values ​​of all points on one side of a plane with different signs from the feature points are set to zero. The processed data is traversed in the same way on the other three planes. The final CT data is the part cut off by the osteotomy planning. For the three-dimensional model part, the osteotomy retention part is determined by whether the three-dimensional boundary of the two parts after cutting contains the feature points. Reference Figure 7 and Figure 8 As shown, Figure 7 The results of osteotomy planning based on CT data are shown. Figure 8 The figure shows the result of osteotomy planning based on the 3D model data.

[0087] refer to Figure 2 As shown, the following specifically describes the operational process of planning the osteotomy route using the osteotomy planning method based on visualized images as in the above embodiment.

[0088] 1. The operator, i.e. the doctor, uses a computer to reconstruct a pelvic femur and blood vessel model based on the patient's preoperative CT three-dimensional medical images.

[0089] 2. The doctor observes the 3D model to analyze the position of blood vessels and pelvis.

[0090] 3. Select the osteotomy surface according to the doctor's habit, open the osteotomy point selection, adjust the viewing angle, and select three selection points p1 (x1, y1, z1), p2 (x2, y2, z2), and p3 (x3, y3, z3) on the bone surface through the computer control device (such as the mouse). Figure 5 As shown, the plane normal is obtained through the vector operation formula Generate semi-transparent osteotomy plane based on VTK (visualization tool).

[0091] 4. Move the mouse (in the operation interface) to the position of the mark point. When you see a visual change in the mark point (for example, a color change from blue to yellow, etc.), you can send a confirmation command and drag the mark point to change the direction of the plane.

[0092] 5. Move the mouse to the edge of the plane or the line segment connecting the three points. When you see the visual change of the mouse style (for example, the default arrow becomes a four-way arrow), you can send a confirmation command and drag the plane to achieve the effect of translating the plane in the X and Y axis directions in the three-dimensional coordinate system established with the current camera lens direction as the Z axis and the camera pointing upward as the Y axis. For reference, Fig. 9 As shown. By pressing the confirmation key at other locations on the screen and moving it, the camera position and orientation can be changed. This interaction changes the reference coordinate system of the plane movement. Combining these two interactions can complete the translation of the plane in any direction.

[0093] 6. Repeat steps 4 and 5 of the above process until the doctor temporarily confirms that the plane has reached the appropriate position.

[0094] 7. Open a new osteotomy plane and select a point. Repeat steps 3-5 until the sciatic osteotomy, pubic osteotomy, iliac osteotomy and posterior column osteotomy are completed. During this period, any plane can be modified at any time to perform steps 4 and 5.

[0095] 8. After all planning is completed, click Next to generate the osteotomy planning CT slice results and three-dimensional results. Figure 7 The middle right area is the rotatable acetabulum after osteotomy, and the left area is the remaining part of the pelvic model. Figure 8 A three-dimensional model of the acetabulum after osteotomy is shown.

[0096] 9. If the doctor wishes to modify the results of the current osteotomy plan, he can return to the previous interface to make the modification.

[0097] 10. Reference Fig.10 As shown in the figure, enter the osteotomy navigation module. The tool on the left side of the navigation interface is the bone knife in the doctor's hand. At this time, the position of the pelvis and the bone knife in the interface is consistent with the relative position of the actual bone knife and pelvis. The doctor needs to observe the position of the bone knife in the software navigation and place the bone knife to the dividing line between the acetabulum and the pelvis, that is, the osteotomy line, and perform osteotomy along the direction of the osteotomy line.

[0098] Based on the above operations, the following beneficial effects can be achieved:

[0099] 1) Doctors can use accurate 3D visualization models to see the relative positions of blood vessels and pelvis more intuitively than plain films before surgery, and predict the risks of surgery in advance;

[0100] 2) Doctors can choose a relatively safe osteotomy plan that can avoid the "crown of death" before surgery;

[0101] 3) Provide doctors with osteotomy radiographs and three-dimensional results for reference;

[0102] 4) Providing a guidance path for intraoperative instrument navigation reduces the difficulty of surgery, reduces the doctor's on-the-spot judgment, and shortens the operation time.

[0103] The method of osteotomy planning based on visualized imaging provided in this embodiment can effectively allow doctors to perform visualized osteotomy planning on the reconstructed three-dimensional model. Doctors can establish osteotomy planes based on sciatic osteotomy, pubic osteotomy, pubic osteotomy and posterior column osteotomy, respectively, and generate a separate model of the final adjustable part after adjustment and confirmation. This embodiment allows doctors to find an optimal osteotomy route suitable for subsequent adjustments based on the position of the patient's pelvis and blood vessels before surgery and avoid high-risk areas with death crowns. This embodiment can also provide visualized osteotomy trajectory guidance for subsequent surgical navigation. This embodiment can effectively reduce the uncertainty of PAO surgery, lower the threshold for doctors to perform surgery, and improve controllability during surgery.

[0104] Fig.11 The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for osteotomy planning based on visualized images in the above embodiment is implemented. Fig.11 The electronic device 30 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0105] like Fig.11 As shown, the electronic device 30 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0106] The bus 33 includes a data bus, an address bus, and a control bus.

[0107] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0108] The memory 32 may also include a program / utility 325 having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0109] The processor 31 executes the computer program stored in the memory 32 to perform various functional applications and data processing, such as the method of osteotomy planning based on visualized images in the above embodiment of the present application.

[0110] The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 35. Furthermore, the model generating device 30 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. Fig.11 As shown, the network adapter 36 communicates with other modules of the model-generated device 30 via the bus 33. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the model-generated device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0111] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0112] This embodiment further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the method for osteotomy planning based on visualized images in the above embodiment are implemented.

[0113] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0114] In a possible implementation, the present application can also be implemented in the form of a program product, which includes a program code. When the program product is executed on a terminal device, the program code is used to enable the terminal device to execute the steps in the method for osteotomy planning based on visualized images as in the above embodiment.

[0115] Among them, the program code for executing the present application can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0116] Although the specific implementation methods of the present application are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present application is defined by the appended claims. Those skilled in the art may make various changes or modifications to these implementation methods without departing from the principles and essence of the present application, but these changes and modifications all fall within the protection scope of the present application.

Claims

1. A method for osteotomy planning based on visual images, characterized in that: include: Obtain vascular models, pelvic models and feature points reconstructed based on three-dimensional medical images; Selecting a target osteotomy surface in the pelvic model according to the feature points; Acquire at least three selected points on the bone surface of the target osteotomy surface; generating an osteotomy plane according to the at least three selected points; Adjusting the osteotomy plane based on the user's operation instruction to plan an osteotomy plane in a suitable position; Divide the area within a preset radius with the center point of the osteotomy plane as the center of the circle as a dangerous area; Acquiring blood vessel point cloud data within the dangerous area; Fitting the blood vessel point cloud data into a cylinder to obtain the center line point of the cylinder; Obtaining the shortest distance between the osteotomy contour and the blood vessel according to the point coordinates of the center line of the cylinder and the point coordinates of the edge of the osteotomy contour; When it is detected that the shortest distance is less than the preset distance, an alarm prompt message is output.

2. The method according to claim 1, characterized in that After acquiring the feature points, the method further includes: The pelvic model is divided into left and right sides based on the acquired feature points, and the non-surgical side is semi-transparent.

3. The method according to claim 1, characterized in that The step of generating an osteotomy plane according to the at least three selected points comprises: generating at least two non-coincident vectors according to the at least three selected points; Determining a plane normal vector based on at least two non-coincident vectors; An osteotomy plane is generated based on the plane normal vector and an approximate midpoint calculated from at least three selected points.

4. The method according to claim 1, characterized in that The step of adjusting the osteotomy plane based on the user operation instruction comprises: The osteotomy plane is dragged based on the drag point in the user operation instruction.

5. The method according to claim 1, characterized in that The step of adjusting the osteotomy plane based on the user operation instruction comprises: The entire osteotomy plane is dragged along the up, down, left, and right directions based on the dragging instruction in the user operation instruction.

6. The method according to claim 1, characterized in that Also includes: The osteotomy planning result of the pelvic model reconstructed based on the three-dimensional medical image is generated according to the planning result of the osteotomy surface, wherein for the pelvic model, the osteotomy retention part in the osteotomy planning result is judged by whether the boundary of the two parts after cutting contains feature points.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for osteotomy planning based on visualized images as described in any one of claims 1 to 6 is implemented.

8. A computer readable medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by a processor, the method for osteotomy planning based on visualized images as described in any one of claims 1 to 6 is implemented.

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