A surgical reference plan generation method and apparatus

Abstract

Embodiments of the present application provide a surgical reference scheme generation method and device, and relate to the technical field of data processing. The method comprises: obtaining a three-dimensional model of a distorted part of an object body, and obtaining bone cutting line information and a correction angle for correcting a distorted bone of the distorted part based on the three-dimensional model; determining a key point on the distorted bone in the three-dimensional model; adjusting data of the distorted bone in the three-dimensional model based on the bone cutting line information and the correction angle, to obtain an adjusted three-dimensional model as a three-dimensional model of the distorted part after a bone cutting operation on the distorted bone; determining a position of installing a steel plate on the distorted bone based on a target position and a preset position conversion relationship; and generating a surgical reference scheme with position information of the determined position as reference information. The scheme provided by the embodiments of the present application can generate a surgical reference scheme, and can provide reference information for doctors.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, in particular to a surgical reference scheme generation method and device. BACKGROUND

[0002] Nowadays, before a tibial high osteotomy surgery is performed on a subject, a three-dimensional bone perspective image of the subject is obtained, and then a doctor understands the lower limb bone structure of the subject according to the three-dimensional bone perspective image, and determines a surgical scheme.

[0003] In this case, the surgical scheme determined by the doctor is often affected by subjective factors such as the age of the subject and the surgical experience of the doctor, thereby resulting in low accuracy of the surgical scheme. Therefore, it is necessary to provide a surgical reference scheme for providing reference information for the doctor, thereby improving the accuracy of the finally determined surgical scheme. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a surgical reference scheme generation method and device to provide reference information for doctors. The specific technical scheme is as follows:

[0005] In a first aspect, the embodiments of the present application provide a surgical reference scheme generation method, which comprises:

[0006] obtaining a three-dimensional model of a distortion site of a subject, and obtaining osteotomy line information and a correction angle for correcting a distorted bone at the distortion site based on the three-dimensional model, wherein the three-dimensional model is obtained by three-dimensional image data rendering on data of the distortion site in a three-dimensional bone perspective image of the subject;

[0007] determining a key point on the distorted bone in the three-dimensional model;

[0008] adjusting data of the distorted bone in the three-dimensional model based on the osteotomy line information and the correction angle to obtain an adjusted three-dimensional model as a three-dimensional model of the distortion site after an osteotomy operation on the distorted bone;

[0009] determining a position of installing a steel plate on the distorted bone based on a target position and a preset position conversion relationship, wherein the target position is a position of the key point in the adjusted three-dimensional model, and the position conversion relationship is a conversion relationship between the position of the key point and a calibration point position in the steel plate;

[0010] generating a surgical reference scheme taking position information of the determined position as reference information.

[0011] In one embodiment of the present application, the osteotomy line information comprises a position of an osteotomy line and a length of the osteotomy line;

[0012] adjusting data of the deformed bone in the three-dimensional model based on the osteotomy line information, the correction angle, to obtain an adjusted three-dimensional model, comprising:

[0013] determining an osteotomy plane in the three-dimensional model where the osteotomy line is located according to the position of the osteotomy line;

[0014] adjusting data of the deformed bone in the three-dimensional model based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle, to obtain an adjusted three-dimensional model.

[0015] In an embodiment of the present application, the determining the position of installing the steel plate on the deformed bone based on the target position and the preset position conversion relationship comprises:

[0016] determining a corresponding point corresponding to the calibration point in the three-dimensional model based on the target position and the preset position conversion relationship;

[0017] performing model registration on the three-dimensional model and a three-dimensional steel plate model of the steel plate according to the position of the corresponding point and the position of the calibration point, to obtain a matching area in the three-dimensional model that matches the steel plate model;

[0018] determining the position of installing the steel plate on the deformed bone based on the position of the matching area.

[0019] In an embodiment of the present application, the performing model registration on the three-dimensional model and a three-dimensional steel plate model of the steel plate according to the position of the corresponding point and the position of the calibration point, to obtain a matching area in the three-dimensional model that matches the steel plate model, comprises:

[0020] obtaining a plurality of first registration points in the three-dimensional steel plate model of the steel plate;

[0021] obtaining a second registration point in the three-dimensional model corresponding to each first registration point on the deformed bone, wherein each second registration point is determined based on the position of the corresponding point and a relative position relationship between the position of the calibration point and the position of each first registration point;

[0022] calculating adjustment information for adjusting the steel plate model according to the position of each first registration point and the position of each second registration point;

[0023] adjusting the steel plate model based on the obtained adjustment information;

[0024] According to positions of the respective first registration points in the adjusted steel plate model and positions of the respective second registration points, an average distance between the respective first registration points and the corresponding second registration points is calculated;

[0025] If the average distance is greater than or equal to a preset distance threshold, the positions of the respective second registration points are corrected based on the average distance, and the step of calculating the adjustment information for adjusting the steel plate model is returned to;

[0026] If the average distance is less than the preset distance threshold, an area in the three-dimensional model that coincides with the adjusted steel plate model is determined as a matching area.

[0027] In an embodiment of the present application, after determining the position of the steel plate on the distorted bone, the method further comprises:

[0028] Based on the determined position of the steel plate and positions of the steel plate fixing holes on the steel plate, respective screw insertion points on the distorted bone are determined;

[0029] For each screw insertion point, a screw insertion direction at the screw insertion point is determined, two intersection points of a screw insertion straight line and an outer surface of the distorted bone are determined, a distance between the two intersection points is calculated, and a screw insertion depth for screw insertion at the screw insertion point is determined based on the distance, wherein the screw insertion straight line passes through the screw insertion point and is parallel to the screw insertion direction;

[0030] The generated surgical reference scheme with the position information of the determined position as reference information comprises:

[0031] A surgical reference scheme with the position information of the determined position and the screw insertion depths of the respective screw insertion points as reference information is generated.

[0032] In an embodiment of the present application, the determination of the screw insertion direction at the screw insertion point comprises:

[0033] A surface normal vector of a surface on which the screw insertion point is located is calculated;

[0034] The screw insertion direction is determined based on a direction of the surface normal vector.

[0035] In an embodiment of the present application, the determination of the screw insertion depth for screw insertion at the screw insertion point based on the distance comprises:

[0036] Based on the distance, a screw length that satisfies a preset selection condition is selected from the pre-obtained screw lengths as the screw insertion depth for screw insertion at the screw insertion point.

[0037] In an embodiment of the present application, the preset selection condition is that the length is the longest among a plurality of screw lengths that are less than the calculated distance.

[0038] In a second aspect, the embodiments of the present application further provide a surgical reference scheme generation device, the device comprising:

[0039] an information obtaining module configured to obtain a three-dimensional model of a distorted part of a subject body, and obtain osteotomy line information and a correction angle for correcting a distorted bone of the distorted part based on the three-dimensional model, wherein the three-dimensional model is obtained by performing three-dimensional image data rendering on data of the distorted part in a three-dimensional bone perspective image of the subject body;

[0040] a key point determining module configured to determine a key point on the distorted bone in the three-dimensional model;

[0041] a data adjusting module configured to adjust data of the distorted bone in the three-dimensional model based on the osteotomy line information and the correction angle, to obtain an adjusted three-dimensional model as a three-dimensional model of the distorted part after an osteotomy operation on the distorted bone;

[0042] a position determining module configured to determine a position of installing a steel plate on the distorted bone based on a target position and a preset position conversion relationship, wherein the target position is a position of the key point in the adjusted three-dimensional model, and the position conversion relationship is a conversion relationship between the position of the key point and a calibration point position in the steel plate;

[0043] a scheme generation module configured to generate a surgical reference scheme with position information of the determined position as reference information.

[0044] In an embodiment of the present application, the osteotomy line information comprises a position of an osteotomy line and a length of the osteotomy line;

[0045] The data adjusting module is specifically configured to:

[0046] determine an osteotomy plane where the osteotomy line is located in the three-dimensional model according to the position of the osteotomy line;

[0047] adjust data of the distorted bone in the three-dimensional model based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle, to obtain an adjusted three-dimensional model as a three-dimensional model of the distorted part after an osteotomy operation on the distorted bone.

[0048] In an embodiment of the present application, the position determining module comprises:

[0049] a corresponding point determining submodule configured to determine a corresponding point corresponding to the calibration point in the three-dimensional model based on the target position and the preset position conversion relationship;

[0050] a model registration sub-module, configured to perform model registration on the three-dimensional model and a three-dimensional steel plate model of the steel plate according to positions of the corresponding points and positions of the calibration points, to obtain a matching region in the three-dimensional model that matches the three-dimensional steel plate model;

[0051] a position determination sub-module, configured to determine a position of installing the steel plate on the deformed bone based on the position of the matching region.

[0052] In an embodiment of the present application, the model registration sub-module is specifically configured to:

[0053] obtain a plurality of first registration points in the three-dimensional steel plate model of the steel plate;

[0054] obtain second registration points in the three-dimensional model that correspond to the first registration points on the deformed bone, wherein each second registration point is determined based on the position of the corresponding point and a relative position relationship between the position of the calibration point and the position of each first registration point;

[0055] calculate adjustment information for adjusting the steel plate model according to the position of each first registration point and the position of each second registration point;

[0056] adjust the steel plate model based on the obtained adjustment information;

[0057] calculate an average distance between each first registration point and the corresponding second registration point according to the position of each first registration point in the adjusted steel plate model and the position of each second registration point;

[0058] if the average distance is greater than or equal to a preset distance threshold, correct the position of each second registration point based on the average distance, and return to the step of calculating the adjustment information for adjusting the steel plate model;

[0059] if the average distance is less than the preset distance threshold, determine a region in the three-dimensional model that coincides with the adjusted steel plate model as the matching region.

[0060] In an embodiment of the present application, the device further comprises:

[0061] a screw entry point determination module, configured to determine a plurality of screw entry points on the deformed bone based on the determined position of the steel plate and positions of the steel plate fixing holes on the steel plate after determining the position of installing the steel plate on the deformed bone;

[0062] a depth determination module configured to determine, for each insertion point, an insertion direction on the insertion point, and determine two intersection points of a screwing straight line and the outer surface of the distorted bone, calculate a distance between the two intersection points, and determine, based on the distance, a screwing depth for screwing at the insertion point, wherein the screwing straight line passes through the insertion point and is parallel to the insertion direction;

[0063] The scheme generation module is specifically configured to:

[0064] generate a surgical reference scheme taking the position information of the determined position and the screwing depths of the insertion points as reference information.

[0065] In one embodiment of the present application, the depth determination module is specifically configured to:

[0066] For each insertion point, calculate a surface normal vector of the surface on which the insertion point is located, determine an insertion direction based on the direction of the surface normal vector, and determine two intersection points of a screwing straight line and the outer surface of the distorted bone, calculate a distance between the two intersection points, and determine, based on the distance, a screwing depth for screwing at the insertion point.

[0067] In one embodiment of the present application, the depth determination module is specifically configured to:

[0068] For each insertion point, determine an insertion direction on the insertion point, and determine two intersection points of a screwing straight line and the outer surface of the distorted bone, calculate a distance between the two intersection points, based on the distance, select a screw length that meets a preset selection condition from the pre-obtained screw lengths as the screwing depth for screwing at the insertion point.

[0069] In one embodiment of the present application, the preset selection condition is that the length is the longest among a plurality of screw lengths that are less than the calculated distance.

[0070] In a third aspect, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus.

[0071] The memory is used to store a computer program.

[0072] The processor is used to execute the program stored on the memory, and implement the method steps of the first aspect.

[0073] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method steps of the first aspect.

[0074] The embodiments of the present application have the following beneficial effects:

[0075] As can be seen from the above, when generating the surgical reference scheme by using the scheme provided by the embodiment of the present application, after obtaining the three-dimensional model, the osteotomy line information and the correction angle, first, the key point on the deformed part in the three-dimensional model is determined, then the data of the deformed bone in the three-dimensional model is adjusted to obtain the adjusted three-dimensional model, and then the position of the steel plate installed on the deformed bone is determined based on the target position and the position conversion relationship. Since the position conversion relationship is the conversion relationship between the position of the key point and the position of the calibration point on the steel plate, and the position of the calibration point on the steel plate is usually known, after obtaining the adjusted three-dimensional model, the position of the steel plate installed on the deformed bone can be determined according to the position of the key point in the adjusted three-dimensional model and the above position conversion relationship, so as to generate the surgical reference scheme taking the determined position as the reference information, and the doctor can refer to the reference information contained in the surgical reference scheme to determine the surgical scheme. Therefore, by using the surgical reference scheme generation scheme provided by the embodiment of the present application, the reference information can be provided for the doctor.

[0076] In addition, when adjusting the data of the deformed bone in the three-dimensional model, the adjustment is based on the osteotomy line information and the correction angle, so the process of adjusting the data in the three-dimensional model can be regarded as the process of simulating the osteotomy operation on the deformed bone in the surgical process, and the adjusted three-dimensional model can be regarded as the three-dimensional model of the deformed part after the osteotomy operation on the deformed bone. Since the steel plate needs to be installed on the deformed bone after the osteotomy operation, when determining the installation position of the steel plate, the installation position is determined based on the position of the key point on the adjusted three-dimensional model and the position conversion relationship, so the accuracy of the determined position can be improved, thereby providing more accurate reference information for the doctor.

[0077] Of course, implementing any product or method of the present application does not necessarily require achieving all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other embodiments can also be obtained by those skilled in the art based on these drawings.

[0079] Figure 1a The flowchart of the first surgical reference scheme generation method provided by the embodiment of the present application;

[0080] Figure 1b The structural schematic diagram of the three-dimensional model of the deformed part provided by the embodiment of the present application;

[0081] Figure 2aA flowchart of a second surgical reference scheme generation method provided for an embodiment of the present application is shown in FIG. 2;

[0082] Figure 2b A structural diagram of a third three-dimensional model of a distortion site provided for an embodiment of the present application is shown in FIG. 3;

[0083] Figure 3a A flowchart of a third surgical reference scheme generation method provided for an embodiment of the present application is shown in FIG. 4;

[0084] Figure 3b A structural diagram of a third three-dimensional model of a distortion site provided for an embodiment of the present application is shown in FIG. 5;

[0085] Figure 4 A flowchart of a fourth surgical reference scheme generation method provided for an embodiment of the present application is shown in FIG. 6;

[0086] Figure 5a A flowchart of a fifth surgical reference scheme generation method provided for an embodiment of the present application is shown in FIG. 7;

[0087] Figure 5b A structural diagram of a fourth three-dimensional model of a distortion site provided for an embodiment of the present application is shown in FIG. 8;

[0088] Figure 6 A flowchart of a sixth surgical reference scheme generation method provided for an embodiment of the present application is shown in FIG. 9;

[0089] Figure 7 A flowchart of a seventh surgical reference scheme generation method provided for an embodiment of the present application is shown in FIG. 10;

[0090] Figure 8 A structural diagram of a first surgical reference scheme generation device provided for an embodiment of the present application is shown in FIG. 11;

[0091] Figure 9 A structural diagram of a second surgical reference scheme generation device provided for an embodiment of the present application is shown in FIG. 12;

[0092] Figure 10 A structural diagram of a third surgical reference scheme generation device provided for an embodiment of the present application is shown in FIG. 13;

[0093] Figure 11 A structural diagram of an electronic device provided for an embodiment of the present application is shown in FIG. 14. DETAILED DESCRIPTION

[0094] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the present application.

[0095] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the present application. Figure 1a Figure 1a The first operation reference scheme generation method provided by the embodiments of the present application includes the following steps S101-S105:

[0096] Step S101: Obtain a three-dimensional model of a distortion part of a subject, and obtain bone cutting line information and a correction angle for correcting a distorted bone of the distortion part based on the three-dimensional model.

[0097] The three-dimensional model is obtained by rendering three-dimensional image data of the data of the distortion part in a three-dimensional bone perspective image of the subject.

[0098] The subject can be a human or animal body.

[0099] The three-dimensional bone perspective image can be a CT image, and before the tibial high osteotomy surgery of the subject, in order to enable the doctor to better observe the bone structure of the subject, the bone of the subject displayed by the three-dimensional bone perspective image can be the lower limb bone of the subject, so the three-dimensional bone perspective image can be a full-length CT image of the lower limb force line of the subject in the weight-bearing position.

[0100] The distortion part is a part where the distorted bone of the lower limb bone of the subject is located, for example, the distortion part can be a part where the femur is located, and can also be a part where the tibia is located.

[0101] When the doctor performs the tibial high osteotomy surgery on the subject, the doctor usually needs to cut and saw the bone of the distortion part of the subject, and the gap formed after the cutting and sawing can be referred to as a bone gap, and then the bone gap is opened by a certain angle to correct the distortion part. The angle of opening the bone gap is the correction angle, the depth of the bone gap, that is, the depth of the cutting and sawing, is the length of the bone cutting line, and the position of the cutting and sawing of the bone gap is the position of the bone cutting line. The bone cutting line information can include the position and length of the bone cutting line.

[0102] When obtaining the three-dimensional model of the distortion part of the subject, any one of the following two implementation manners can be used.

[0103] ​In the first implementation, a three-dimensional skeletal perspective image of the object body can be obtained first, a region where the distortion part is located in the obtained three-dimensional skeletal perspective image is determined, and then data of the distortion part in the three-dimensional skeletal perspective image is rendered to obtain a three-dimensional model of the distortion part.

[0104] The specific implementation of determining the region where the distortion part is located in the three-dimensional skeletal perspective image can be referred to subsequent embodiments, which are not described here in detail.

[0105] The data of the distortion part in the three-dimensional skeletal perspective image is rendered to obtain a three-dimensional model of the distortion part, which can be implemented by using existing technologies, and is not described here in detail.

[0106] In the second implementation, a three-dimensional model of the distortion part of the object body can also be obtained directly by rendering data of the distortion part in a three-dimensional skeletal perspective image of the object body obtained by other devices.

[0107] The other devices can also obtain a three-dimensional skeletal perspective image of the object body, determine the region where the distortion part is located, and render data of the distortion part in the obtained three-dimensional skeletal perspective image to obtain a rendered three-dimensional model.

[0108] Similar to obtaining the three-dimensional model, the osteotomy line information and the correction angle can also be obtained by using any one of the following two implementations.

[0109] In the first implementation, after obtaining the three-dimensional model of the distortion part of the object body, the osteotomy line information and the correction angle can be calculated based on the obtained three-dimensional model.

[0110] The specific description of this implementation can be referred to subsequent embodiments, which are not described here in detail.

[0111] In the second implementation, the osteotomy line information and the correction angle can also be obtained directly by other devices based on the three-dimensional model of the distortion part of the object body.

[0112] Step S102: determining a key point on the distorted bone in the three-dimensional model.

[0113] The key point can be a point on the bone that is pre-set. For example, the key point can be a feature point characteristic of the distorted bone, such as an end point or an inflection point on the distorted bone, and the key point can also be another bone point determined according to the position of the feature point.

[0114] For example, if the deformed bone is a tibia, the key point can be a bone endpoint in the tibia and located on one side of the knee joint, and the key point can also be another bone point determined according to the position of the bone endpoint, such as a bone point located a preset length directly below the bone endpoint.

[0115] In addition, for different deformed bones, the key points corresponding to the deformed bones can be pre-set, and the number of key points can be one or multiple.

[0116] In an embodiment of the present application, the key points can be determined by any one of the following two implementation manners.

[0117] In the first implementation manner, since different body parts contain different bones, different bones have different shapes, and the deformed bone is known, the key points on the deformed bone in the three-dimensional model can be identified based on the shape characteristics of the deformed bone.

[0118] In the second implementation manner, the three-dimensional skeletal perspective image of the object body can be obtained first, the candidate key points on the deformed bone in the obtained three-dimensional skeletal perspective image can be identified, and then the points corresponding to the candidate key points in the three-dimensional model of the deformed part can be determined as the key points on the deformed bone according to the mapping relationship between the three-dimensional skeletal perspective image and the three-dimensional model of the deformed part.

[0119] When identifying the candidate key points in the three-dimensional skeletal perspective image, the identification can be based on the shape characteristics of the deformed bone; or the three-dimensional skeletal perspective image can be subjected to feature extraction to determine the candidate key points on the deformed bone in the three-dimensional skeletal perspective image.

[0120] The feature extraction on the three-dimensional skeletal perspective image can be implemented based on a deep neural network trained and used to identify the key points on the deformed bone in the three-dimensional skeletal perspective image.

[0121] When training the deep neural network, the sample data can be divided into training data, validation data, and test data. The training data is used to train the deep neural network, the validation data is used to adjust the hyperparameters of the deep neural network, such as the learning rate, the regularization parameter, etc., and the test data is used to test the network performance of the deep neural network.

[0122] Step S103: Based on the bone cutting line information and the correction angle, the data of the deformed bone in the three-dimensional model is adjusted to obtain an adjusted three-dimensional model as the three-dimensional model of the deformed part after the osteotomy operation on the deformed bone.

[0123] The osteotomy line information and the correction angle are used for correcting the deformed bone. During the surgery, the doctor needs to perform osteotomy operation on the deformed bone according to the osteotomy line information and the correction angle. Therefore, adjusting the data of the deformed bone in the three-dimensional model based on the osteotomy line information and the correction angle can be regarded as simulating the osteotomy operation on the deformed bone, and the adjusted three-dimensional model can be regarded as the three-dimensional model of the deformed part after the osteotomy operation on the deformed bone.

[0124] As shown in Figure 1b , Figure 1b is a structural schematic diagram of the three-dimensional model of the first deformed part, Figure 1b The three-dimensional model shown in the figure is the three-dimensional model of the deformed part after the data is adjusted. As can be seen from Figure 1b , the deformed bone in the three-dimensional model is cut off a gap, the depth of the gap is the length of the osteotomy line, and the angle of the gap is the correction angle.

[0125] Adjusting the data of the deformed bone in the three-dimensional model based on the osteotomy line information and the correction angle can be implemented by using the existing technology, which will not be described in detail here.

[0126] For example, the data of the deformed bone in the three-dimensional model can be adjusted by using the simulation software for simulating the surgery process in the existing technology.

[0127] Step S104: determining the position of the steel plate installed on the deformed bone based on the target position and a preset position conversion relationship.

[0128] The target position is the position of the key point in the adjusted three-dimensional model.

[0129] The steel plate can be a T-shaped steel plate, and can also be other types of steel plates, which are not limited by the embodiments of the present application.

[0130] The position conversion relationship is the conversion relationship between the position of the key point and the position of the calibration point in the steel plate.

[0131] The calibration point can be a screw fixing point, an end point, etc. in the steel plate.

[0132] The number of calibration points in the steel plate can be one or multiple. In the case where the steel plate includes multiple calibration points, the position conversion relationship can include the conversion relationship between the position of the key point and the position of each calibration point, the position conversion relationship can also include the conversion relationship between the position of the key point and the position of one of the multiple calibration points, and the conversion relationship between the positions of the calibration points.

[0133] The specific implementation of determining the position of installing the steel plate on the deformed bone based on the target position and the preset position conversion relationship can be referred to subsequent embodiments, which will not be described here.

[0134] Step S105: generating a surgery reference scheme with the position information of the determined position as reference information.

[0135] The surgery reference scheme includes reference information, and the reference information is the position information of the determined position. The doctor can obtain the position information when reading the surgery reference scheme.

[0136] The doctor can directly use the reference information included in the surgery reference scheme as information in the determined surgery scheme, or adjust the reference information based on the surgery experience to determine the surgery scheme.

[0137] In addition, when generating the surgery reference scheme, the osteotomy line information and the correction information obtained in step S101 can be used as reference information in addition to the position information of the determined position. In addition, the three-dimensional image data of the perspective image of the three-dimensional bone of the object can be rendered to obtain an object model of the object, and the type of the deformation of the object can be determined based on the object model, and the type of the deformation can also be used as reference information.

[0138] As can be seen from the above, when the surgery reference scheme is generated by using the scheme provided by the embodiments of the present application, after the three-dimensional model, the osteotomy line information and the correction angle are obtained, the key points on the deformed part in the three-dimensional model are first determined, then the data of the deformed bone in the three-dimensional model is adjusted to obtain an adjusted three-dimensional model, and then the position of installing the steel plate on the deformed bone is determined based on the target position and the position conversion relationship. Since the position conversion relationship is the conversion relationship between the position of the key point and the position of the calibration point on the steel plate, and the position of the calibration point on the steel plate is usually known, after the adjusted three-dimensional model is obtained, the position of installing the steel plate on the deformed bone can be determined according to the position of the key point in the adjusted three-dimensional model and the position conversion relationship, so as to generate a surgery reference scheme with the determined position as reference information. The doctor can refer to the reference information included in the surgery reference scheme to determine the surgery scheme. Therefore, the surgery reference scheme generation scheme provided by the embodiments of the present application can provide reference information for the doctor.

[0139] In addition, when the data of the deformed bone in the three-dimensional model is adjusted, the adjustment is based on the osteotomy line information and the correction angle, and thus the process of adjusting the data of the three-dimensional model can be regarded as a process of simulating the osteotomy operation on the deformed bone in the surgery, and the adjusted three-dimensional model can be regarded as a three-dimensional model of the deformed part after the osteotomy operation on the deformed bone. Since the steel plate needs to be installed on the deformed bone after the osteotomy operation, when the installation position of the steel plate is determined, the installation position is determined based on the positions of the key points on the adjusted three-dimensional model and the position conversion relationship, which can improve the accuracy of the determined position and thus provide more accurate reference information for the doctor.

[0140] The implementation of determining the region where the deformed part is located in the three-dimensional bone perspective image will be described below.

[0141] In an embodiment of the present application, after obtaining the three-dimensional bone perspective image of the object, the part key point of the preset joint part can be identified in the three-dimensional bone perspective image, the data of the obtained three-dimensional bone perspective image is rendered to obtain the object model of the object, the mapping point corresponding to the part key point in the object model is determined according to the mapping relationship between the three-dimensional bone perspective image and the object model, and then the deformed part of the object is determined based on the position information of the mapping point, so as to determine the region where the deformed part is located in the three-dimensional bone perspective image.

[0142] The above-mentioned preset joint part can be a hip joint, a knee joint, or an ankle joint, etc.

[0143] The manner of identifying the part key point in the three-dimensional bone perspective image is similar to the manner of identifying the candidate key point mentioned in the above-mentioned step S102, which will not be described herein again.

[0144] Since the part key point of the preset joint part of the object can be a point in the bone included in the preset joint part, the bone of the object can be represented by the part key point in the bone, and the shape feature of the bone of the object can be represented by the relative position relationship between a plurality of part key points in the bone. The above-mentioned mapping point corresponds to the above-mentioned part key point one by one, and thus in the above-mentioned object model, the bone of the object can be represented by the mapping point in the bone, and the shape feature of the bone of the object can be represented by the relative position relationship between a plurality of mapping points in the bone. Therefore, the relative positions between different mapping points can be determined, and a specific parameter can be obtained based on the relative positions between different mapping points, for example, the above-mentioned specific parameter can be the distance between different mapping points, or an angle obtained by using different mapping points, and whether the parameter value of the above-mentioned specific parameter is within a preset parameter value range is judged, so as to determine whether the bone corresponding to the mapping point is deformed, and further determine the deformed part of the object. If the parameter value of the above-mentioned specific parameter is not within the preset parameter value range, it is determined that the bone corresponding to the mapping point is deformed.

[0145] The distortion part of the object body can be a tibia or a femur. Therefore, whether the distortion part of the object body is a tibia or a femur can be determined by the relative positional relationship between the mapping points of the tibia in the object model, or by the relative positional relationship between the mapping points of the femur.

[0146] After determining the distortion part of the object body, the region corresponding to the determined distortion part in the three-dimensional bone perspective image can be determined as the region where the distortion part is located.

[0147] The implementation of the method for calculating the osteotomy line information and the correction angle based on the three-dimensional model of the distortion part will be described below.

[0148] In an embodiment of the present application, the mapping points on the distorted bone in the three-dimensional model of the distortion part can be determined in the manner mentioned in the above embodiments, and the positions of the mapping points on the distorted bone in the three-dimensional model after the surgery can be preset. The osteotomy line information and the correction angle can be determined according to the positional information of the preoperative mapping points and the positional information of the postoperative mapping points.

[0149] In addition, in another embodiment of the present application, the osteotomy line information and the correction angle can be determined based on the above object model when the distortion part is a femur by the following steps one to five.

[0150] Step one: obtaining the first mapping point corresponding to the center of the femur head of the object body, the second mapping point corresponding to the midpoint of the lower limb of the object body, the third mapping point corresponding to the center of the ankle joint of the object body, the fourth mapping point corresponding to the hinge position of the object body, and the fifth mapping point corresponding to the first preset position in the femur of the object body in the above object model.

[0151] The first preset position can be a position 30mm away from the medial femoral platform in the femur.

[0152] Step two: determining the first straight line where the second mapping point and the third mapping point are located, and determining the first line segment with the first mapping point and the fourth mapping point as the endpoints.

[0153] Step three: determining the second line segment with the same length as the first line segment, wherein one end of the second line segment is the fourth mapping point, and the other end is located on the first straight line, and the second line segment is closer to the medial thigh of the object body than the first line segment.

[0154] Step four: determining the angle of the included angle formed by the first line segment and the second line segment as the correction angle.

[0155] Step five: determining the position of the straight line where the fourth mapping point and the fifth mapping point are located as the osteotomy line position, and determining the osteotomy line length for correcting the deformed bone according to the distance between the fourth mapping point and the fifth mapping point and the preset ratio, wherein the preset ratio represents the ratio between the unit length in the three-dimensional model and the unit length in the actual scene.

[0156] In the case where the deformed part is the tibia, the osteotomy line information and the correction angle can be determined through the following steps six to ten.

[0157] Step six: obtaining the first mapping point, a sixth mapping point of the center of the knee joint of the corresponding object, the third mapping point, a seventh mapping point of a second preset position in the tibia of the corresponding object, and an eighth mapping point of a third preset position in the tibia of the corresponding object in the object model.

[0158] The second preset position can be any position within the range of positions 10mm to 15mm away from the lateral platform of the tibia.

[0159] The third preset position can be a position 30mm away from the medial platform of the tibia.

[0160] Step seven: determining a second straight line where the first mapping point and the sixth mapping point are located, and determining a third line segment with the third mapping point and the seventh mapping point as end points.

[0161] Step eight: determining a fourth line segment with the same length as the third line segment, wherein one end point of the fourth line segment is the seventh mapping point, and the other end point is located on the second straight line, and the fourth line segment is closer to the lateral side of the calf of the object than the third line segment.

[0162] Step nine: determining the angle formed by the third line segment and the fourth line segment as the correction angle.

[0163] Step ten: determining the position of the straight line where the seventh mapping point and the eighth mapping point are located as the osteotomy line position, and determining the osteotomy line length for correcting the deformed bone according to the distance between the seventh mapping point and the eighth mapping point and the preset ratio.

[0164] When adjusting the data of the deformed bone in the three-dimensional model to obtain the adjusted three-dimensional model, in addition to the manner provided in step S103 of the embodiment shown in Figure 1a , the data of the deformed bone in the three-dimensional model can also be adjusted through the following Figure 2a embodiment shown in steps S103A-S103B.

[0165] In an embodiment of the present application, referring to Figure 2a, a flowchart of a second surgical reference scheme generation method is provided, in the embodiment, the osteotomy line information includes the position of the osteotomy line and the length of the osteotomy line, and the step S103 can be implemented by the following steps S103A-S103B.

[0166] Step S103A: determining the osteotomy plane where the osteotomy line is located in the three-dimensional model according to the position of the osteotomy line.

[0167] Specifically, when performing osteotomy operation, the doctor usually cuts from the side of the distorted bone, so after obtaining the position of the osteotomy line, another osteotomy straight line can be determined according to the position of the osteotomy line, which can be a straight line intersecting the osteotomy line and parallel to the body orientation of the object. After determining the osteotomy straight line, the plane where the osteotomy line and the osteotomy straight line are located is determined as the osteotomy plane.

[0168] Step S103B: adjusting the data of the distorted bone in the three-dimensional model based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle, to obtain the adjusted three-dimensional model.

[0169] Referring to Figure 2b , Figure 2b is a structural diagram of the three-dimensional model of the second distorted part, Figure 2b , the plane where the diamond region is located is the osteotomy plane. The osteotomy plane divides the distorted bone in the three-dimensional model into two regions, and adjusting the data of the distorted bone in the three-dimensional model has the following three cases.

[0170] In the first case, the data of the bone region below the osteotomy plane in the three-dimensional model can be adjusted based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle.

[0171] In the second case, the data of the bone region above the osteotomy plane in the three-dimensional model can be adjusted based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle.

[0172] In the third case, the data of the two bone regions above and below the osteotomy plane in the three-dimensional model can also be adjusted based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle.

[0173] Adjusting the data in the three-dimensional model can be realized based on the prior art, which will not be described in detail here.

[0174] It can be seen from the above that when the scheme provided by the embodiment of the application is used to generate a surgical reference scheme, first, the osteotomy plane is determined in the three-dimensional model based on the position of the osteotomy line, and then the data of the deformed bone is adjusted based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle. Since the surgeon will cut the deformed bone during the operation to form a plane after cutting, the above osteotomy plane can be understood as the cutting plane in the three-dimensional model. Therefore, after the above osteotomy plane is determined, the data of the deformed bone in the three-dimensional model can be adjusted more accurately based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle, so as to improve the accuracy of the generated surgical reference scheme.

[0175] The implementation of the step S104 of determining the position of installing the steel plate on the deformed bone based on the target position and the preset position conversion relationship will be described below.

[0176] In an embodiment of the application, referring to Figure 3a , a third flowchart of generating a surgical reference scheme is provided. In the embodiment, the step S104 can be implemented by the following steps S104A-S104C.

[0177] The step S104A comprises: determining the corresponding point corresponding to the calibration point in the three-dimensional model based on the target position and the preset position conversion relationship.

[0178] Since the steel plate will be attached to the deformed bone when the steel plate is installed on the deformed bone, there is a corresponding point on the deformed bone that is attached to the calibration point. After the data of the deformed bone in the three-dimensional model is adjusted, the position of the key point on the deformed bone in the adjusted three-dimensional model can be obtained. Based on the obtained position of the key point and the above position conversion relationship, the position of the corresponding point is determined, which is the installation position of the calibration point when the steel plate is installed.

[0179] Referring to Figure 3b , Figure 3b , a third structure diagram of the three-dimensional model of the deformed part is provided. As can be seen from Figure 3b , when the steel plate is installed on the deformed bone, the steel plate is attached to the deformed bone, and the calibration point on the steel plate is attached to the corresponding point on the deformed bone, and the positions are the same.

[0180] For example, the positions in the three-dimensional model can be represented in the form of three-dimensional coordinates, and the position conversion relationship can be represented as a relationship between the coordinates of the key points and the installation coordinates of the calibration points when the steel plate is installed, which can also be represented in the form of three-dimensional coordinates. If the coordinates of the key points are (x1, y1, z1) and the position conversion relationship is represented as (x2, y2, z2), the installation coordinates of the calibration points can be calculated as (x1-x2, y1-y2, z1-z2) based on the coordinates of the key points and the position conversion relationship, that is, the coordinates of the corresponding points are (x1-x2, y1-y2, z1-z2).

[0181] Step S104B: Model registration is performed on the three-dimensional model and the three-dimensional steel plate model of the steel plate according to the positions of the corresponding points and the positions of the calibration points, to obtain a matching region in the three-dimensional model that matches the steel plate model.

[0182] Specifically, a three-dimensional steel plate model of the steel plate can be obtained in advance, and the positions of the calibration points in the steel plate model are obtained. Model registration is performed on the three-dimensional model and the steel plate model according to the positions of the corresponding points in the three-dimensional model and the positions of the calibration points in the steel plate model, to obtain a matching region in the three-dimensional model.

[0183] In an embodiment of the present application, model registration can be performed on the three-dimensional model and the steel plate model in any one of the following three implementation manners.

[0184] In the first implementation manner, position conversion information that converts the positions of the calibration points in the steel plate model to the positions of the corresponding points in the three-dimensional model can be calculated. Based on the position conversion information, the steel plate model is adjusted to obtain a region in which the adjusted steel plate model coincides with the three-dimensional model, and the region is taken as the matching region.

[0185] In the second implementation manner, subsequent Figure 4 Steps S104B1-S104B8 in the illustrated embodiment implement model registration, which will not be described here.

[0186] In the third implementation manner, existing model registration techniques can also be applied to perform model registration on the three-dimensional model and the steel plate model, which will not be described here.

[0187] Step S104C: The position of installing the steel plate on the distorted bone is determined based on the position of the matching region.

[0188] After the position of the matching region is obtained, the relative positional relationship between the matching region and the distorted bone in the three-dimensional model can be determined, and based on the relative positional relationship, the position of installing the steel plate on the distorted bone can be determined.

[0189] It can be seen from the above that when the surgical reference scheme is generated by using the scheme provided in the embodiment of the application, the corresponding point corresponding to the calibration point is determined in the three-dimensional model, and the position of the corresponding point in the three-dimensional model can be understood as the installation position of the calibration point when the steel plate is installed. Therefore, the three-dimensional model and the steel plate model are registered according to the position of the corresponding point and the position of the calibration point, and the matching region in the three-dimensional model that matches the steel plate model can be accurately obtained, so that the position of the steel plate installed on the deformed bone can be accurately determined based on the position of the matching region. Therefore, the scheme provided in the embodiment of the application can improve the accuracy of generating the surgical reference scheme.

[0190] In addition to the matching region being obtained by using the model registration, the matching region can also be obtained by using the following method after the corresponding point is determined.

[0191] In an embodiment of the application, the relative position relationship between the calibration point and the steel plate can be regarded as a point-boundary position relationship between the calibration point and the boundary of the steel plate. Therefore, the curve corresponding to the boundary of the steel plate in the three-dimensional model can be determined based on the position of the matching point and the point-boundary position relationship, and since the boundary of the steel plate is closed, the curve is also a closed curve. Therefore, the region surrounded by the closed curve can be determined as the installation region of the steel plate.

[0192] In addition to the model registration of the three-dimensional model and the steel plate model being performed by using the method provided in the above embodiment, the following method can also be applied. Figure 4 The steps S104B1-S104B8 in the illustrated embodiment implement the step S104B.

[0193] In an embodiment of the application, referring to Figure 4 , a fourth flowchart of a surgical reference scheme generation method is provided. In the embodiment, the step S104B can be implemented by using the following steps S104B1-S104B8.

[0194] Step S104B1: Obtain a plurality of first registration points in the steel plate model.

[0195] In the first implementation manner, the first registration points can be selected in the steel plate model according to a preset selection manner.

[0196] For example, the selection manner can be that a point in the model is selected as the first registration point every interval of a certain length.

[0197] In the second implementation manner, the first registration points can also be selected according to the position of the calibration point in the steel plate model.

[0198] For example, a plurality of points with a preset length from the calibration point can be selected as the first registration points.

[0199] In the third implementation manner, a plurality of points in the steel plate model can be selected as the first registration points.

[0200] In addition, the first registration points can include the calibration points or not.

[0201] In step S104B2, the second registration points corresponding to the first registration points on the deformed bone in the three-dimensional model are obtained.

[0202] The second registration points are determined based on the positions of the corresponding points and the relative positional relationship, which is the positional relationship between the position of the calibration point and the positions of the first registration points.

[0203] Specifically, the calibration point and the first registration points are included in the steel plate model, and the calibration point has a relative positional relationship with the first registration points. The three-dimensional model includes the corresponding points corresponding to the calibration points. Based on the positions of the corresponding points and the relative positional relationship, the second registration points corresponding to the first registration points can be determined.

[0204] For example, the positions in the three-dimensional model and the steel plate model can be represented in the form of three-dimensional coordinates. If there is a calibration point a, a first registration point a and a first registration point b in the steel plate model, the coordinates of the calibration point a are (1, 2, 3), the coordinates of the first registration point a are (1, 2, 4), and the coordinates of the first registration point b are (2, 2, 3), the relative positional relationship a between the calibration point a and the first registration point a can be obtained, and the relative positional relationship b between the calibration point a and the first registration point b can be obtained. At this time, if the coordinates of the corresponding point in the three-dimensional model are (2, 3, 4), based on the coordinates of the corresponding point and the relative positional relationship a, the coordinates of the first second registration point in the three-dimensional model can be determined as (2, 3, 5), and the second registration point corresponds to the first registration point a. Based on the coordinates of the corresponding point and the relative positional relationship b, the coordinates of the second second registration point can be determined as (3, 3, 4), and the second registration point corresponds to the first registration point b.

[0205] In addition, when the second registration points are obtained, the points specified by the user according to the positions of the corresponding points can also be used as the second registration points.

[0206] In step S104B3, adjustment information for adjusting the steel plate model is calculated according to the positions of the first registration points and the positions of the second registration points.

[0207] The calculation of the adjustment information according to the positions of the first registration points and the positions of the second registration points can be realized by using the existing technology, and will not be described in detail here.

[0208] For example, the adjustment information can be calculated by using an existing ICP (Iterative Closest Point) algorithm, in which case the calculated adjustment information includes both a rotation matrix and a translation matrix.

[0209] Step S104B4: adjusting the steel plate model based on the obtained adjustment information.

[0210] For example, in the case where the adjustment information includes a rotation matrix and a translation matrix, adjusting the steel plate model based on the adjustment information can be understood as rotating and translating the steel plate model based on the rotation matrix and the translation matrix.

[0211] Step S104B5: calculating the average distance between each first registration point and the corresponding second registration point according to the position of each first registration point in the adjusted steel plate model and the position of each second registration point.

[0212] In one implementation, the first registration points and the second registration points are in one-to-one correspondence, the distance between each first registration point and the corresponding second registration point can be calculated, and then the average of the distances is calculated as the average distance.

[0213] In another implementation, the average distance d can be calculated by using the following expression:

[0214]

[0215] where n represents the number of first registration points, p i represents the i-th first registration point, q i represents the i-th second registration point.

[0216] Step S104B6: determining whether the average distance is greater than or equal to a preset distance threshold, if yes, executing step S104B7, and if no, executing step S104B8.

[0217] The preset distance threshold can be a threshold set by a person.

[0218] Specifically, if the average distance is greater than or equal to the preset distance threshold, it indicates that the model registration of the three-dimensional model and the steel plate model is poor, and the distorted bone in the three-dimensional model does not fit the steel plate in the steel plate model, and step S104B7 is executed; if the average distance is less than the preset distance threshold, it indicates that the model registration of the three-dimensional model and the steel plate model is good, and the distorted bone in the three-dimensional model fits the steel plate in the steel plate model, and step S104B8 is executed.

[0219] Step S104B7: Based on the average distance, the position of each second registration point is corrected, and the step of calculating the adjustment information for adjusting the steel plate model is returned.

[0220] Specifically, the position of the second registration point can be regarded as the installation position of the first registration point corresponding thereto in the three-dimensional model. If the average distance is greater than or equal to the preset distance threshold, it indicates that there is a deviation between the position of the current second registration point and the installation position of the expected first registration point in the three-dimensional model. At this time, the second registration point needs to be corrected to eliminate the deviation.

[0221] When correcting the position of the second registration point, the correction direction can be set in advance, and then the correction amount of the second registration point is determined according to the average distance, so that the position of each second registration point is corrected based on the correction direction and the correction amount.

[0222] In addition, for each second registration point, the correction direction of the second registration point can be set, and the correction directions of different second registration points can be the same or different.

[0223] For example, the correction direction can be a direction from the second registration point to the corresponding point.

[0224] After the position of each second registration point is corrected, the step S104B3 can be returned, and the adjustment information for adjusting the steel plate model is calculated according to the position of each first registration point and the corrected position of each second registration point.

[0225] Step S104B8: Determine the area in the three-dimensional model that coincides with the adjusted steel plate model as the matching area.

[0226] Specifically, the area in which the three-dimensional model coincides with the steel plate model can be understood as the area in which the position information is the same in the two models. Therefore, by comparing the three-dimensional model and the steel plate model, the area in the three-dimensional model that has the same position information as the steel plate model can be determined, so that the area is determined as the matching area.

[0227] It can be seen from the above that when the surgical reference scheme is generated by using the scheme provided in the embodiments of the present application, in the process of model registration on the three-dimensional model and the steel plate model, a plurality of first registration points on the steel plate model and a plurality of second registration points on the three-dimensional model are obtained, adjustment information is calculated according to the positions of each first registration point and each second registration point, the steel plate model is adjusted based on the adjustment information, the average distance is calculated according to the position of each first registration point in the adjusted steel plate model and the position of each second registration point, if the average distance is greater than or equal to the preset distance threshold, each second registration point is corrected based on the average distance, and the step of calculating the adjustment information is returned until the average distance is less than the preset distance threshold. The average distance less than the preset distance threshold can be considered that the distorted bone in the three-dimensional model and the steel plate in the steel plate model have been fitted, which is consistent with the actual surgical process, at this time, the region in the three-dimensional model that coincides with the adjusted steel plate model can be accurately determined as the matching region, and then the position of installing the steel plate on the distorted bone can be accurately determined based on the position of the matching region. Therefore, by using the scheme provided in the embodiments of the present application, the accuracy of generating the surgical reference scheme can be improved.

[0228] In addition, in the present scheme, the iteration end condition is that the average distance is less than the preset distance threshold, in addition to this, the number of iterations in the present scheme can also be counted, and the number of iterations greater than the preset number of times threshold is taken as another iteration end condition, in the case that either of the two iteration end conditions is met, it can be considered that the iteration is ended, and the region in the three-dimensional model that coincides with the adjusted steel plate model is determined as the matching region.

[0229] In an embodiment of the present application, referring to Figure 5a , a flowchart of a fifth surgical reference scheme generation method is provided, and in the present embodiment, after the position of installing the steel plate on the distorted bone is determined, the above-mentioned method further includes the following steps S106-S107, and the above-mentioned step S105 can be realized by the following step S105A.

[0230] Step S106: determining each screwing point on the distorted bone based on the determined steel plate position and the position of the steel plate fixing hole on the steel plate.

[0231] Specifically, the determined steel plate position can be understood as an installation region of the steel plate, and the shape of the installation region is the same as that of the steel plate. The position of the steel plate fixing hole on the steel plate can be obtained in advance, based on the position of the steel plate fixing hole on the steel plate, the relative positional relationship between the steel plate fixing hole and the entire steel plate can be determined, and then according to the relative positional relationship, the screwing point in the installation region can be determined.

[0232] For example, if the steel plate fixing hole is located at the geometric center position of the steel plate, the geometric center in the determined steel plate position is the screwing point.

[0233] In addition, the number of the steel plate fixing holes is usually multiple, for each steel plate fixing hole, the relative positional relationship between the steel plate fixing hole and the whole steel plate can be determined based on the position of the steel plate fixing hole on the steel plate, and then the nail insertion point corresponding to the steel plate fixing hole can be determined in the mounting area according to the relative positional relationship.

[0234] Step S107: For each nail insertion point, the nail insertion direction at the nail insertion point is determined, and two intersection points where the nail insertion straight line intersects with the outer surface of the distorted bone are determined, the distance between the two intersection points is calculated, and the nail insertion depth for nail insertion at the nail insertion point is determined based on the distance.

[0235] The nail insertion straight line passes through the nail insertion point and is parallel to the nail insertion direction.

[0236] The nail insertion straight line is a straight line where the nail insertion route at the nail insertion point is located.

[0237] Specifically, for each nail insertion point, the nail insertion direction at the nail insertion point can be determined first, the nail insertion straight line passing through the nail insertion point is determined according to the determined nail insertion direction and the position of the nail insertion point, then the two intersection points where the nail insertion straight line intersects with the outer surface of the distorted bone are determined in the three-dimensional model, the positions of the two intersection points are obtained, the distance between the two intersection points is calculated based on the obtained positions of the two intersection points, and finally the nail insertion depth for nail insertion at the nail insertion point is determined based on the calculated distance.

[0238] Referring to Figure 5b , Figure 5b is a structural schematic view of a three-dimensional model of the fourth kind of distorted part, from Figure 5b It can be seen that a plurality of nail insertion points exist on the distorted bone, a screw is inserted at each nail insertion point, and the straight line where the screw is located at each nail insertion point is the nail insertion straight line corresponding to the nail insertion point. Different nail insertion straight lines can be parallel or not parallel, that is, the nail insertion directions at different nail insertion points can be the same or different.

[0239] In an embodiment of the present application, the nail insertion direction at the nail insertion point can be determined by any one of the following three implementation manners.

[0240] In the first implementation manner, the doctor can manually determine the nail insertion direction at the nail insertion point according to his own experience.

[0241] In the second implementation manner, when the steel plate is installed on the distorted bone, each nail insertion point corresponds to a steel plate fixing hole, therefore, the direction perpendicular to the plane of the steel plate where the steel plate fixing hole is located can be determined as the nail insertion direction of the nail insertion point corresponding to the steel plate fixing hole.

[0242] In the third implementation manner, the nail insertion direction at the nail insertion point can be determined by subsequent Figure 6The step S107A in the illustrated embodiment determines the screw insertion direction at the screw insertion point, which is not described herein.

[0243] In determining the screw insertion depth at the screw insertion point based on the calculated distance, the calculated distance can be directly determined as the screw insertion depth, or the calculated distance can be used to determine the screw insertion depth through subsequent Figure 7 The step S107D in the illustrated embodiment determines the screw insertion depth, which is not described herein.

[0244] After determining the screw insertion depth at each screw insertion point, the step S105 can be implemented through the following step S105A.

[0245] The step S105A generates a surgical reference scheme with the position information of the determined position and the screw insertion depth at each screw insertion point as reference information.

[0246] The reference information includes the position information of the determined position and the screw insertion depth at each screw insertion point, so that the surgeon can obtain the screw insertion depth at each screw insertion point when reviewing the surgical reference scheme, and thus can select a screw with a suitable length for each screw insertion point for screw insertion at the screw insertion point.

[0247] As can be seen from the above, when the scheme provided by the embodiment of the present application is applied to generate a surgical reference scheme, not only the position information of the determined position is used as reference information, but also the screw insertion depth at each screw insertion point is used as reference information, so that the scheme provided by the embodiment of the present application can provide more abundant reference information for the surgeon.

[0248] In determining the screw insertion direction at the screw insertion point, in addition to the method provided in the step S107, the method can also be implemented through the following steps. Figure 6 The steps S107A-S107B in the illustrated embodiment are implemented.

[0249] In one embodiment of the present application, referring to Figure 6 , a flowchart of a sixth method for generating a surgical reference scheme is provided, and in the present embodiment, the step S107 can be implemented through the following steps S107A-S107B.

[0250] The step S107A calculates the surface normal vector of the surface where each screw insertion point is located, and determines the screw insertion direction based on the direction of the surface normal vector.

[0251] Specifically, for each insertion point, the surface normal vector of the surface where the insertion point is located can be first determined based on the position of the insertion point. Since the insertion direction is usually directed to the inside of the bone, after the surface normal vector of the surface where the insertion point is located is calculated, the direction parallel to the surface normal vector and directed to the inside of the bone can be determined as the insertion direction on the insertion point.

[0252] The calculation of the surface normal vector of the surface where the insertion point is located can be achieved by using existing normal vector calculation techniques, which will not be described here.

[0253] Step S107B: For each insertion point, two intersection points of the insertion straight line corresponding to the insertion point and the outer surface of the distorted bone are determined, the distance between the two intersection points is calculated, and the insertion depth for inserting a screw at the insertion point is determined based on the distance.

[0254] This step is similar to the way of determining the insertion depth in step S107 described above, which will not be described here.

[0255] As can be seen from the above, when generating a surgical reference scheme by using the scheme provided in the embodiments of the present application, the insertion direction on the insertion point can be accurately determined based on the direction of the surface normal vector by calculating the surface normal vector of the surface where the insertion point is located, and the insertion depth for inserting a screw at the insertion point can be accurately determined based on the insertion direction. Therefore, by using the scheme provided in the embodiments of the present application, the accuracy of generating a surgical reference scheme can be improved.

[0256] In addition to the way provided in step S107 described above, the insertion depth at the insertion point can also be determined by the following Figure 7 Steps S107C-S107D in the illustrated embodiment.

[0257] In one embodiment of the present application, referring to Figure 7 , a seventh flowchart of a surgical reference scheme generation method is provided, and in the present embodiment, steps S107C-S107D can be used to achieve step S107 described above.

[0258] Step S107C: For each insertion point, the insertion direction on the insertion point is determined, and two intersection points of the insertion straight line and the outer surface of the distorted bone are determined, and the distance between the two intersection points is calculated.

[0259] The implementation of the determination of the insertion direction and the distance can refer to the description in the above-described embodiments, which will not be described here.

[0260] Step S107D: For each insertion point, based on the distance corresponding to the insertion point, a screw length satisfying a preset selection condition is selected from the pre-obtained screw lengths as the insertion depth for inserting a screw at the insertion point.

[0261] In one embodiment of the present application, the preset selection condition is that the screw length is the longest one among the screw lengths less than the calculated distance.

[0262] For example, if there are three screw lengths, 4cm, 6cm and 8cm, and the distance is 7cm, the screw lengths less than the distance are 4cm and 6cm, and the screw depth for the screw insertion point is 6cm.

[0263] In the present application, the screw length is the longest one among the screw lengths less than the calculated distance, so that the screw insertion is as firm and reliable as possible, and the reliability of the surgery is improved.

[0264] In another embodiment of the present application, the preset selection condition is that the screw length is any one of the screw lengths less than the calculated distance.

[0265] The preset selection condition can also be that the screw length is the one closest to the calculated distance.

[0266] In addition, the distances corresponding to different screw insertion points can be different, so the screw length selected according to the preset selection condition can also be different. For each screw insertion point, the screw depth for the screw insertion point can be selected according to the distance corresponding to the screw insertion point and the preset selection condition.

[0267] For example, from the above Figure 5b It can be seen that for each screw insertion point, the selected screw length can be less than or greater than the distance corresponding to the screw insertion point when the screw length is selected as the screw depth of the screw insertion point based on the distance corresponding to the screw insertion point.

[0268] As can be seen from the above, when the surgery reference scheme is generated by using the scheme provided by the embodiments of the present application, the screw used in the surgery is usually one or several of the screws with fixed lengths, so the screw lengths of the screws can be obtained in advance, and the screw length meeting the preset selection condition is selected from the screw lengths as the screw depth for the screw insertion point. Therefore, when the generated surgery reference scheme is read by the doctor, the screw with the screw length included in the reference information can be directly selected as the information in the surgery scheme. Therefore, by using the scheme provided by the embodiments of the present application, the efficiency of the doctor in determining the surgery scheme can be improved.

[0269] Corresponding to the above surgery reference scheme generation method, the embodiments of the present application also provide a surgery reference scheme generation device.

[0270] In one embodiment of the present application, referring toFigure 8 A first surgical reference scheme generation device is provided, and the device comprises:

[0271] An information obtaining module 801 is configured to obtain a three-dimensional model of a distortion site of an object, and obtain osteotomy line information and a correction angle of a distorted bone at the distortion site, which are obtained based on the three-dimensional model, wherein the three-dimensional model is obtained by performing three-dimensional image data rendering on data of the distortion site in a three-dimensional bone perspective image of the object;

[0272] A key point determining module 802 is configured to determine a key point on the distorted bone in the three-dimensional model;

[0273] A data adjusting module 803 is configured to adjust data of the distorted bone in the three-dimensional model based on the osteotomy line information and the correction angle, to obtain an adjusted three-dimensional model as a three-dimensional model of the distortion site after an osteotomy operation is performed on the distorted bone;

[0274] A position determining module 804 is configured to determine a position of a steel plate installed on the distorted bone based on a target position and a preset position conversion relationship, wherein the target position is a position of the key point in the adjusted three-dimensional model, and the position conversion relationship is a conversion relationship between the position of the key point and a position of a calibration point in the steel plate;

[0275] A scheme generation module 805 is configured to generate a surgical reference scheme with position information of the determined position as reference information.

[0276] As can be seen from the above, when the scheme generation surgical reference scheme provided by the embodiment of the present application is applied, after the three-dimensional model, the osteotomy line information and the correction angle are obtained, the key point on the distortion site in the three-dimensional model is first determined, then the data of the distorted bone in the three-dimensional model is adjusted to obtain the adjusted three-dimensional model, and then the position of the steel plate installed on the distorted bone is determined based on the target position and the position conversion relationship. Since the position conversion relationship is the conversion relationship between the position of the key point and the position of the calibration point in the steel plate, and the position of the calibration point on the steel plate is usually known, after the adjusted three-dimensional model is obtained, the position of the steel plate installed on the distorted bone can be determined according to the position of the key point in the adjusted three-dimensional model and the above position conversion relationship, so as to generate the surgical reference scheme with the determined position as reference information. Therefore, the doctor can determine the surgical scheme by referring to the reference information contained in the surgical reference scheme. Therefore, the surgical reference scheme generation scheme provided by the embodiment of the present application can provide reference information for the doctor.

[0277] In addition, when the data of the deformed bone in the three-dimensional model is adjusted, the data is adjusted based on the osteotomy line information and the correction angle, and therefore, the process of adjusting the data in the three-dimensional model can be regarded as a process of simulating the osteotomy operation on the deformed bone in the surgery, and the adjusted three-dimensional model can be regarded as a three-dimensional model of the deformed part after the osteotomy operation on the deformed bone. Since the steel plate needs to be installed on the deformed bone after the osteotomy operation, when the installation position of the steel plate is determined, the installation position is determined based on the positions of the key points on the adjusted three-dimensional model and the position conversion relationship, and the accuracy of the determined position can be improved, thereby providing more accurate reference information for the doctor.

[0278] In an embodiment of the present application, the osteotomy line information includes the position of the osteotomy line and the length of the osteotomy line.

[0279] The data adjustment module 803 is specifically configured to:

[0280] According to the position of the osteotomy line, an osteotomy plane on which the osteotomy line is located in the three-dimensional model is determined;

[0281] Based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle, the data of the deformed bone in the three-dimensional model is adjusted to obtain an adjusted three-dimensional model as a three-dimensional model of the deformed part after the osteotomy operation on the deformed bone.

[0282] As can be seen from the above, when the scheme provided by the embodiments of the present application is applied to generate a surgical reference scheme, when the data of the deformed bone in the three-dimensional model is adjusted, first, the osteotomy plane is determined in the three-dimensional model based on the position of the osteotomy line, and then the data of the deformed bone is adjusted based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle. Since the doctor will cut the deformed bone during the surgery to form a cut plane, the above-mentioned osteotomy plane can be understood as a cut plane in the three-dimensional model, and therefore, after the osteotomy plane is determined, the data of the deformed bone in the three-dimensional model can be adjusted more accurately based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle, thereby improving the accuracy of the generated surgical reference scheme.

[0283] In an embodiment of the present application, referring to Figure 9 , a structural schematic diagram of a second surgical reference scheme generation device is provided, and in the embodiment, the position determination module 804 includes:

[0284] The corresponding point determination sub-module 804A is configured to determine a corresponding point corresponding to the calibration point in the three-dimensional model based on the target position and a preset position conversion relationship.

[0285] The model registration sub-module 804B is configured to perform model registration on the three-dimensional model and the three-dimensional steel plate model of the steel plate according to the positions of the corresponding points and the positions of the calibration points, to obtain a matching region in the three-dimensional model that matches the steel plate model.

[0286] The position determination sub-module 804C is configured to determine the position of installing the steel plate on the deformed bone based on the position of the matching region.

[0287] As can be seen from the above, when the surgical reference scheme is generated by using the scheme provided in the embodiments of the present application, the corresponding points corresponding to the calibration points in the three-dimensional model are determined, and the positions of the corresponding points in the three-dimensional model can be understood as the installation positions of the calibration points when the steel plate is installed. Therefore, the model registration is performed on the three-dimensional model and the steel plate model according to the positions of the corresponding points and the positions of the calibration points, so that the matching region in the three-dimensional model that matches the steel plate model can be accurately obtained, and then the position of installing the steel plate on the deformed bone can be accurately determined based on the position of the matching region. Therefore, by using the scheme provided in the embodiments of the present application, the accuracy of generating the surgical reference scheme can be improved.

[0288] In one embodiment of the present application, the model registration sub-module 804B is specifically configured to:

[0289] obtain a plurality of first registration points in the three-dimensional steel plate model of the steel plate;

[0290] obtain second registration points in the three-dimensional model that correspond to each first registration point on the deformed bone, wherein each second registration point is determined based on the position of the corresponding point and a relative position relationship between the position of the calibration point and the position of each first registration point;

[0291] calculate adjustment information for adjusting the steel plate model according to the position of each first registration point and the position of each second registration point;

[0292] adjust the steel plate model based on the obtained adjustment information;

[0293] calculate an average distance between each first registration point and the corresponding second registration point according to the position of each first registration point in the adjusted steel plate model and the position of each second registration point;

[0294] If the average distance is greater than or equal to a preset distance threshold, the position of each second registration point is corrected based on the average distance, and the step of calculating the adjustment information for adjusting the steel plate model is returned to;

[0295] If the average distance is less than the preset distance threshold, the region in the three-dimensional model that coincides with the adjusted steel plate model is determined as the matching region.

[0296] As can be seen from the above, when the surgical reference scheme is generated by using the scheme provided in the embodiments of the present application, in the process of model registration of the three-dimensional model and the steel plate model, a plurality of first registration points on the steel plate model and a plurality of second registration points on the three-dimensional model are obtained, adjustment information is calculated according to the positions of each first registration point and second registration point, the steel plate model is adjusted based on the adjustment information, the average distance is calculated according to the position of each first registration point in the adjusted steel plate model and the position of each second registration point, if the average distance is greater than or equal to the preset distance threshold, each second registration point is corrected based on the average distance, and the step of calculating the adjustment information is returned until the average distance is less than the preset distance threshold. The average distance less than the preset distance threshold can be considered that the distorted bone in the three-dimensional model and the steel plate in the steel plate model have been fitted, which is consistent with the actual surgical process. At this time, the region in the three-dimensional model that coincides with the adjusted steel plate model can be accurately determined as a matching region, and then the position of installing the steel plate on the distorted bone can be accurately determined based on the position of the matching region. Therefore, by using the scheme provided in the embodiments of the present application, the accuracy of generating the surgical reference scheme can be improved.

[0297] In an embodiment of the present application, referring to Figure 10 , a third structural schematic diagram of a surgical reference scheme generation device is provided. In the embodiment, the device further comprises:

[0298] The screw insertion point determination module 806 is configured to, after determining the position of installing the steel plate on the distorted bone, determine each screw insertion point on the distorted bone based on the determined steel plate position and the position of the steel plate fixing hole on the steel plate.

[0299] The depth determination module 807 is configured to, for each screw insertion point, determine the screw insertion direction at the screw insertion point, determine two intersection points of the screw insertion straight line and the outer surface of the distorted bone, calculate the distance between the two intersection points, and determine the screw insertion depth of screw insertion at the screw insertion point based on the distance, wherein the screw insertion straight line passes through the screw insertion point and is parallel to the screw insertion direction.

[0300] The scheme generation module 805 is specifically configured to:

[0301] generate a surgical reference scheme taking the position information of the determined position and the screw insertion depth of each screw insertion point as reference information.

[0302] As can be seen from the above, when the surgical reference scheme is generated by using the scheme provided in the embodiments of the present application, not only the position information of the determined position is taken as reference information, but also the screw insertion depth of each screw insertion point is taken as reference information. Therefore, by using the scheme provided in the embodiments of the present application, more abundant reference information can be provided for doctors.

[0303] In one embodiment of the present application, the depth determination module 807 is specifically configured to:

[0304] For each insertion point, a surface normal vector of the surface where the insertion point is located is calculated, the insertion direction at the insertion point is determined based on the direction of the surface normal vector, two intersection points of the screw insertion straight line and the outer surface of the distorted bone are determined, the distance between the two intersection points is calculated, and the insertion depth of the screw at the insertion point is determined based on the distance.

[0305] As can be seen from the above, when the scheme provided by the embodiment of the present application is applied to generate the surgical reference scheme, the insertion direction at the insertion point can be accurately determined based on the direction of the surface normal vector by calculating the surface normal vector of the surface where the insertion point is located, and the insertion depth of the screw at the insertion point can be accurately determined based on the insertion direction. Therefore, the accuracy of generating the surgical reference scheme can be improved by applying the scheme provided by the embodiment of the present application.

[0306] In one embodiment of the present application, the depth determination module 807 is specifically configured to:

[0307] For each insertion point, the insertion direction at the insertion point is determined, two intersection points of the screw insertion straight line and the outer surface of the distorted bone are determined, the distance between the two intersection points is calculated, and the insertion depth of the screw at the insertion point is determined by selecting a screw length satisfying a preset selection condition from the pre-obtained screw lengths based on the distance.

[0308] As can be seen from the above, when the scheme provided by the embodiment of the present application is applied to generate the surgical reference scheme, since the screw used in the surgical process is usually one or several of a plurality of screws of fixed lengths, the screw lengths of the screws can be pre-obtained, and the insertion depth of the screw at the insertion point can be determined by selecting a screw length satisfying a preset selection condition from the screw lengths. Therefore, the efficiency of the doctor in determining the surgical scheme can be improved by applying the scheme provided by the embodiment of the present application.

[0309] In one embodiment of the present application, the preset selection condition is that the length of the screw length is the longest in the plurality of screw lengths smaller than the calculated distance.

[0310] As can be seen from the above, when the scheme provided by the embodiment of the present application is applied to generate the surgical reference scheme, the length of the screw length that is the longest in the plurality of screw lengths smaller than the calculated distance is used as the insertion depth. Therefore, the reliability of the surgery can be improved by ensuring that the screw is as firmly and reliably inserted as possible at the insertion point on the distorted bone.

[0311] The embodiment of the present application also provides an electronic device, such as Figure 11As shown, the electronic device includes a processor 1101, a communication interface 1102, a memory 1103, and a communication bus 1104, wherein the processor 1101, the communication interface 1102, and the memory 1103 communicate with each other through the communication bus 1104,

[0312] The memory 1103 is used to store a computer program.

[0313] The processor 1101 is configured to execute the program stored in the memory 1103 to implement the following steps:

[0314] Obtain a three-dimensional model of a distorted part of an object, and obtain bone cutting line information and a correction angle for correcting a distorted bone in the distorted part based on the three-dimensional model, wherein the three-dimensional model is obtained by three-dimensional image data rendering on data of the distorted part in a three-dimensional bone perspective image of the object;

[0315] Determine a key point on the distorted bone in the three-dimensional model;

[0316] Adjust data of the distorted bone in the three-dimensional model based on the bone cutting line information and the correction angle to obtain an adjusted three-dimensional model as a three-dimensional model of the distorted part after a bone cutting operation on the distorted bone;

[0317] Determine a position of installing a steel plate on the distorted bone based on a target position and a preset position conversion relationship, wherein the target position is a position of the key point in the adjusted three-dimensional model, and the position conversion relationship is a conversion relationship between the position of the key point and a position of a calibration point in the steel plate;

[0318] Generate a surgical reference scheme with position information of the determined position as reference information.

[0319] In addition to the above, the electronic device can also implement other surgical reference scheme generation methods as described in the foregoing method embodiment part, which will not be described in detail here.

[0320] The communication bus mentioned in the above electronic device can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0321] The communication interface is used for communication between the above electronic device and other devices.

[0322] The memory can include a random access memory (RAM) and can also include a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located remotely from the aforementioned processor.

[0323] The aforementioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc., and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components.

[0324] In yet another embodiment provided by the present application, a computer readable storage medium is also provided, which stores a computer program. The computer program is executed by a processor to implement the steps of any of the aforementioned surgical reference scheme generation methods.

[0325] In yet another embodiment provided by the present application, a computer program product containing instructions, which, when run on a computer, causes the computer to execute any of the aforementioned surgical reference scheme generation methods.

[0326] In the embodiments described above, all or some of the steps can be implemented by software, hardware or firmware, or any combination thereof. When implemented by software, all or some of the steps can be implemented in the form of one or more computer programs. The computer program can be stored in any computer readable medium, and loaded into the computer for execution. The computer readable medium includes computer storage media and communication media. The computer storage media includes any tangible or physical medium for storing or transmitting the program. The computer storage media can be a volatile (such as RAM) or non-volatile (such as ROM, disk, or CD) storage medium. The communication media typically include computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism, and includes any information delivery media. The computer readable medium can be a computer program product.

[0327] It should be noted that, in the specification, the relative terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. In addition, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0328] Each of the embodiments in the specification is described in a related manner, and the same or similar parts between each of the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the device, electronic device, computer readable storage medium and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0329] The above merely describes the preferred embodiments of the present application, but is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for generating a surgical reference plan, characterized in that, The method includes: A three-dimensional model of the deformed part of the object is obtained, and osteotomy line information for correcting the deformed bones of the deformed part is obtained based on the three-dimensional model. The correction angle for correcting the deformed bones of the deformed part is obtained based on the three-dimensional model. The three-dimensional model is obtained by rendering three-dimensional image data of the deformed part in the three-dimensional skeletal perspective image of the object. The deformed part is the part of the lower limb skeleton of the object where the deformed bones are located. Identify the key points on the deformed skeleton in the three-dimensional model; Based on the osteotomy line information and correction angle, the data of the deformed bone in the three-dimensional model are adjusted to obtain the adjusted three-dimensional model, which serves as the three-dimensional model of the deformed part after osteotomy of the deformed bone. Based on the target location and the preset position transformation relationship, the position for installing the steel plate on the deformed skeleton is determined. The target location is the position of the key point in the adjusted three-dimensional model, and the position transformation relationship is the transformation relationship between the position of the key point and the position of the calibration point on the steel plate. Generate a surgical reference plan that uses the location information of the determined location as reference information; The process of determining the location for installing a steel plate on the deformed skeleton based on the target location and a preset position transformation relationship includes: Based on the target position and the preset position transformation relationship, a corresponding point is determined in the three-dimensional model that corresponds to the calibration point. The corresponding point is the point on the deformed bone that fits with the calibration point when the steel plate is installed on the deformed bone. Based on the positions of the corresponding points and the calibration points, the three-dimensional model and the three-dimensional steel plate model of the steel plate are registered to obtain the matching region in the three-dimensional model that matches the steel plate model. Based on the location of the matching region, determine the position where the steel plate will be installed on the deformed bone; The step of registering the 3D model and the 3D steel plate model based on the positions of the corresponding points and the calibration points to obtain the matching region in the 3D model that matches the steel plate model includes: Obtain multiple first registration points in the three-dimensional steel plate model of the steel plate; Obtain second registration points on the deformed skeleton in the three-dimensional model that correspond to each of the first registration points. Each of the second registration points is determined based on the position and relative positional relationship of the corresponding point. The relative positional relationship is the positional relationship between the position of the calibration point and the position of each of the first registration points. Based on the positions of each first registration point and each second registration point, the adjustment information for adjusting the steel plate model is calculated; Based on the obtained adjustment information, the steel plate model is adjusted; Based on the positions of each first registration point in the adjusted steel plate model and the positions of each second registration point, calculate the average distance between each first registration point and the corresponding second registration point; If the average distance is greater than or equal to a preset distance threshold, then based on the average distance, the position of each second registration point is corrected, and the step of calculating the adjustment information for adjusting the steel plate model is returned; If the average distance is less than the preset distance threshold, then the region in the 3D model that overlaps with the adjusted steel plate model is determined as the matching region.

2. The method according to claim 1, characterized in that, The osteotomy line information includes the location and length of the osteotomy line; The process of adjusting the data of the deformed bone in the three-dimensional model based on the osteotomy line information and correction angle to obtain the adjusted three-dimensional model includes: Based on the location of the osteotomy line, the osteotomy plane where the osteotomy line is located is determined in the three-dimensional model; Based on the position of the osteotomy plane, the length of the osteotomy line, and the correction angle, the data of the deformed bone in the three-dimensional model are adjusted to obtain the adjusted three-dimensional model.

3. The method according to claim 1 or 2, characterized in that, After determining the location for mounting the steel plate on the deformed bone, the method further includes: Based on the determined position of the steel plate and the position of the fixing holes on the steel plate, the entry points on the deformed bone are determined. For each nail insertion point, the nail insertion direction at that point is determined, and two intersection points are identified where the nail placement line intersects the outer surface of the deformed bone. The distance between the two intersection points is calculated, and the nail insertion depth at that insertion point is determined based on the distance. The nail placement line passes through the nail insertion point and is parallel to the nail insertion direction. The generation of the surgical reference plan, which uses the location information of the determined location as reference information, includes: Generate a surgical reference plan that uses the location information of the determined position and the insertion depth of each insertion point as reference information.

4. The method according to claim 3, characterized in that, Determining the nail insertion direction at the insertion point includes: Calculate the surface normal vector of the surface where the nail insertion point is located; The direction of nail insertion is determined based on the direction of the surface normal vector.

5. The method according to claim 3, characterized in that, Determining the nail insertion depth at the nail insertion point based on this distance includes: Based on this distance, select the screw length that meets the preset selection conditions from the pre-obtained screw lengths, and use it as the nail insertion depth for nailing at the nail insertion point.

6. The method according to claim 5, characterized in that, The preset selection condition is: the longest among multiple screw lengths that are less than the calculated distance.

7. A surgical reference plan generation device, characterized in that, The device includes: The information acquisition module is used to acquire a three-dimensional model of the deformed part of the object, and to acquire osteotomy line information for correcting the deformed bones of the deformed part based on the three-dimensional model, and to acquire the correction angle for correcting the deformed bones of the deformed part based on the three-dimensional model. The three-dimensional model is obtained by rendering three-dimensional image data of the deformed part in the three-dimensional skeletal perspective image of the object. The deformed part is the part of the lower limb skeleton of the object where the deformed bones are located. The key point determination module is used to determine key points on the deformed skeleton in the three-dimensional model. The data adjustment module is used to adjust the data of the deformed bone in the three-dimensional model based on the osteotomy line information and correction angle to obtain the adjusted three-dimensional model, which serves as the three-dimensional model of the deformed part after osteotomy of the deformed bone. The position determination module is used to determine the position of the steel plate to be installed on the deformed skeleton based on the target position and the preset position transformation relationship. The target position is the position of the key point in the adjusted three-dimensional model, and the position transformation relationship is the transformation relationship between the position of the key point and the position of the calibration point of the steel plate. The plan generation module is used to generate surgical reference plans that use the location information of the determined location as reference information. The location determination module includes: The corresponding point determination submodule is used to determine the corresponding point in the three-dimensional model that corresponds to the calibration point based on the target position and a preset position transformation relationship. The model registration submodule is used to perform model registration between the three-dimensional model and the three-dimensional steel plate model of the steel plate based on the position of the corresponding point and the position of the calibration point, so as to obtain the matching area in the three-dimensional model that matches the steel plate model; The position determination submodule is used to determine the position for installing the steel plate on the deformed bone based on the position of the matching region; The model registration submodule is specifically used for: Obtain multiple first registration points in the three-dimensional steel plate model of the steel plate; Obtain second registration points on the deformed skeleton in the three-dimensional model that correspond to each of the first registration points. Each of the second registration points is determined based on the position and relative positional relationship of the corresponding point. The relative positional relationship is the positional relationship between the position of the calibration point and the position of each of the first registration points. Based on the positions of each first registration point and each second registration point, the adjustment information for adjusting the steel plate model is calculated; Based on the obtained adjustment information, the steel plate model is adjusted; Based on the positions of each first registration point in the adjusted steel plate model and the positions of each second registration point, calculate the average distance between each first registration point and the corresponding second registration point; If the average distance is greater than or equal to a preset distance threshold, then based on the average distance, the position of each second registration point is corrected, and the step of calculating the adjustment information for adjusting the steel plate model is returned; If the average distance is less than the preset distance threshold, then the region in the 3D model that overlaps with the adjusted steel plate model is determined as the matching region.

8. The apparatus according to claim 7, characterized in that, The osteotomy line information includes the location and length of the osteotomy line; The data adjustment module is specifically used for: Based on the location of the osteotomy line, the osteotomy plane where the osteotomy line is located is determined in the three-dimensional model; Based on the position of the osteotomy plane, the length of the osteotomy line, and the correction angle, the data of the deformed bone in the three-dimensional model are adjusted to obtain the adjusted three-dimensional model, which serves as the three-dimensional model of the deformed part after osteotomy of the deformed bone.

9. The apparatus according to claim 7 or 8, characterized in that, The device further includes: The nail insertion point determination module is used to determine each nail insertion point on the deformed bone based on the determined position of the steel plate and the position of the steel plate fixing holes on the steel plate after determining the position of the steel plate to be installed on the deformed bone. The depth determination module is used to determine the nail insertion direction at each nail insertion point, and to determine the two intersection points where the nail placement line intersects the outer surface of the deformed bone, calculate the distance between the two intersection points, and determine the nail insertion depth at the nail insertion point based on the distance, wherein the nail placement line passes through the nail insertion point and is parallel to the nail insertion direction; The scheme generation module is specifically used for: Generate a surgical reference plan that uses the location information of the determined position and the insertion depth of each insertion point as reference information.

10. The apparatus according to claim 9, characterized in that, The depth determination module is specifically used for: For each nail insertion point, calculate the surface normal vector of the surface where the nail insertion point is located, determine the nail insertion direction based on the direction of the surface normal vector, and determine the two intersection points where the nail placement line intersects with the outer surface of the deformed bone. Calculate the distance between the two intersection points, and determine the nail insertion depth at the nail insertion point based on the distance.

11. The apparatus according to claim 9, characterized in that, The depth determination module is specifically used for: For each nail insertion point, the nail insertion direction at that point is determined, and two intersection points are identified where the nail placement line intersects the outer surface of the deformed bone. The distance between these two intersection points is calculated. Based on this distance, a screw length that meets the preset selection conditions is selected from the pre-obtained screw lengths and used as the nail insertion depth at that insertion point.

12. The apparatus according to claim 11, characterized in that, The preset selection condition is: the longest among multiple screw lengths that are less than the calculated distance.

13. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the method described in any one of claims 1-6.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-6.

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