Cartilage surface reconstruction method, system, computer device, medium and program product

Abstract

The present application relates to a cartilage surface reconstruction method, apparatus, computer device, storage medium, and computer program product. The method comprises: obtaining hard bone surface information; obtaining positional information of a first target point on the actual cartilage surface based on the position of a probe; obtaining a first registration relationship based on the positional information of the first target point and the hard bone surface information; converting the hard bone surface information to obtain cartilage surface information based on the first registration relationship; and reconstructing the cartilage surface based on the obtained cartilage surface information to obtain a target cartilage surface. This method eliminates the need for MRI imaging, replacing it with a probe, thus reducing costs.

Description

Technical Field

[0001] The present application relates to the field of intelligent medical technology, and in particular to a cartilage surface reconstruction method, apparatus, computer equipment, storage medium, and computer program product. Background Art

[0002] In orthopedic surgery, in order for the robot to accurately determine the patient's osteotomy boundaries, the patient's bones must be registered with a 3D model reconstructed from preoperative medical images. This involves establishing a mapping relationship between the 3D model and the joint entity. The osteotomy data configured for the 3D model before surgery can then be used to determine the actual osteotomy position of the bone. However, compared to the actual bone entity, CT scans (Computed Tomography) cannot accurately capture data such as the cartilage and thickness on the hard bone surface of the skeletal entity. Therefore, if the cartilage surface and cartilage thickness are not accurately reconstructed, the prosthesis positioning will be affected, resulting in undesirable consequences such as insufficient osteotomy.

[0003] In traditional technology, MRI (Magnetic Resonance Imaging) images are obtained before surgery, and the cartilage surface is segmented from the MRI image or directly viewed in a 3D view.

[0004] However, MRI images are expensive. Summary of the Invention

[0005] Based on this, it is necessary to provide a cartilage surface reconstruction method, device, computer equipment, computer-readable storage medium and computer program product that can reduce costs in order to address the above technical problems.

[0006] In a first aspect, the present application provides a method for cartilage surface reconstruction, the method comprising:

[0007] Obtain bony surface information;

[0008] Acquire the position information of the first target point on the real cartilage surface according to the position of the probe;

[0009] Obtaining a first registration relationship according to the position information of the first target point and the hard bone surface information;

[0010] Converting the hard bone surface information to obtain cartilage surface information according to the first registration relationship;

[0011] The cartilage surface is reconstructed based on the obtained cartilage surface information to obtain the target cartilage surface.

[0012] In one embodiment, obtaining the position information of the target point on the real cartilage surface according to the position of the probe includes at least one of the following:

[0013] Acquire, by an acquisition device, acquisition information obtained when the probe passes over a real cartilage surface; select a first target point from acquisition points in the acquisition information, and acquire position information of the first target point; or

[0014] The acquisition information obtained when the probe passes over the real cartilage surface is acquired through an acquisition device, each acquisition point in the acquisition information is determined to be a first target point, and position information of the first target point is acquired.

[0015] In one embodiment, obtaining the hard bone surface information includes:

[0016] The position of the probe is collected by an acquisition device to obtain position information of a second target point on the real hard bone surface;

[0017] Acquiring a preoperative medical image, wherein the preoperative medical image includes an image hard bone surface corresponding to the real hard bone surface;

[0018] Registering the position information of the probe and the hard bone surface of the image to establish a second registration relationship;

[0019] The hard bone surface information is obtained according to the second registration relationship and the hard bone surface of the image.

[0020] In one embodiment, after obtaining the hard bone surface information according to the second registration relationship and the hard bone surface of the image, the method further includes:

[0021] Selecting target hard bone surface information from the hard bone surface information;

[0022] The obtaining of a first registration relationship based on the position information of the first target point and the hard bone surface information includes:

[0023] A first registration relationship is obtained according to the position information of the first target point and the target hard bone surface information.

[0024] In one embodiment, it is characterized in that after reconstructing the cartilage surface according to the obtained cartilage surface information to obtain the target cartilage surface, the method includes:

[0025] Converting the target cartilage surface according to the second registration relationship to obtain a cartilage surface to be processed;

[0026] The cartilage surface to be processed is fused with the preoperative medical image to obtain a target medical image.

[0027] In one embodiment, after reconstructing the cartilage surface according to the obtained cartilage surface information to obtain the target cartilage surface, the method includes:

[0028] The target cartilage surface is updated according to the collected information, where the collected information is collected when obtaining the position information of the first target point on the real cartilage surface, and / or is collected according to the operator's update instruction after outputting the target medical image.

[0029] In one embodiment, updating the target cartilage surface according to the collected information includes:

[0030] Calculating points to be processed in the target cartilage surface corresponding to the collection points in the collection information;

[0031] Replacing the to-be-processed point with the collection point and determining a replacement area;

[0032] The replacement area is subjected to a curved surface reconstruction process or a curved surface reconstruction process followed by a smoothing process.

[0033] In one embodiment, before calculating the points to be processed in the target cartilage surface corresponding to the collection points in the collection information, the method further includes:

[0034] Expanding the collected information;

[0035] The calculating of the points to be processed in the target cartilage surface corresponding to the collection points in the collection information includes:

[0036] Calculate the points to be processed in the target cartilage surface corresponding to the respective acquisition points in the expanded acquisition information.

[0037] In one embodiment, the expanding the collected information includes:

[0038] Determining a normal vector and a velocity vector of a collection point in the collection information;

[0039] Determine a reference vector according to the normal vector of the acquisition point and the velocity vector;

[0040] Taking the acquisition point as the origin, new acquisition points are added along the positive direction and / or the reverse direction of the reference vector, and the new acquisition points are added to the acquisition information.

[0041] In one embodiment, after acquiring the collected information obtained when the probe passes over the real cartilage surface through the collection device, the method further includes:

[0042] The cartilage thickness is calculated based on the collected information and the hard bone surface information.

[0043] In one embodiment, the cartilage thickness is calculated based on the collected information and the hard bone surface information, including at least one of the following:

[0044] Obtaining a section of the acquisition point in the acquisition information, determining corresponding points on the hard bone surface according to the normal vector of the section and the hard bone surface information, and calculating the cartilage thickness according to the acquisition point and the corresponding point; or

[0045] A plane tangent to the cartilage surface determined in the collected information is obtained, corresponding points on the hard bone surface are determined based on the normal vector of the plane and the hard bone surface information, and the cartilage thickness is calculated based on the collected points and the corresponding points.

[0046] In one embodiment, after calculating the cartilage thickness based on the collected information and the hard bone surface information, the method includes:

[0047] Get thickness range;

[0048] When the cartilage thickness is not within the thickness range, an alarm message is output.

[0049] In a second aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in any one of the above embodiments when executing the computer program.

[0050] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method in any one of the above embodiments when the computer program is executed by a processor.

[0051] The above-mentioned cartilage surface reconstruction method, device, computer equipment, storage medium and computer program product obtain the position information of the first target point on the real cartilage surface through the position of the probe, and obtain a first alignment relationship by aligning the position information of the first target point on the real cartilage surface with the hard bone surface information. In this way, the hard bone surface information is converted according to the first alignment relationship to obtain the cartilage surface information of the entire cartilage surface. The target cartilage surface can be obtained based on the cartilage surface information. There is no need to collect images through MRI equipment, and only the probe is used for replacement, which reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A system structure diagram of a cartilage surface reconstruction system in one embodiment;

[0053] Figure 2 is a schematic diagram of a surgical system according to one embodiment;

[0054] Figure 3 Schematic diagram of a process for cartilage surface reconstruction in one embodiment;

[0055] Figure 4A schematic diagram of obtaining position information of a first target point on a real cartilage surface by using a probe in one embodiment;

[0056] Figure 5 is a schematic diagram of point pairs for calculating a first registration relationship through non-rigid registration in one embodiment;

[0057] Figure 6 A schematic diagram of the trajectory of a probe when it passes through a real cartilage surface in one embodiment;

[0058] Figure 7 is a schematic diagram of a first target point obtained by sampling in one embodiment;

[0059] Figure 8 is a schematic diagram of a second target point in one embodiment;

[0060] Figure 9 is a schematic diagram of a replacement area in one embodiment;

[0061] Figure 10 is a schematic diagram of local smoothing processing in one embodiment;

[0062] Figure 11 is a schematic diagram of overall smoothing processing in one embodiment;

[0063] Figure 12 is a schematic diagram of an updated target cartilage surface in one embodiment;

[0064] Figure 13 is a schematic diagram of a collection point expansion process in one embodiment;

[0065] Figure 14 This is a schematic diagram of expanded collection points in one embodiment;

[0066] Figure 15 A schematic diagram of calculating cartilage thickness using a single-tip probe in one embodiment;

[0067] Figure 16 A schematic diagram of calculating cartilage thickness using a triangular probe in one embodiment;

[0068] Figure 17 is a schematic flow chart of a cartilage surface reconstruction method in another embodiment;

[0069] Figure 18 is a structural block diagram of a cartilage surface reconstruction device in one embodiment;

[0070] Figure 19 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0072] The cartilage surface reconstruction method provided in the embodiment of the present application can be applied to Figure 1 In the cartilage surface reconstruction system shown. The cartilage surface reconstruction system includes a probe 101, an acquisition device 102 and a processor 103. The probe 101 is used to drag on the real cartilage surface and click on the real hard bone surface. The acquisition device 102 is used to acquire the position of the probe 101 when the probe 101 is dragged on the real cartilage surface and click on the real hard bone surface, and determine the position information of the first target point on the real cartilage surface and the position information of the second target point on the real hard bone surface based on the acquired position of the probe 101. The processor 103 is used to perform alignment based on the position information of the second target point on the real hard bone surface and the preoperative medical image to obtain a second alignment relationship, and then convert the image hard bone surface in the preoperative medical image according to the second alignment relationship to generate hard bone surface information, so that the first alignment relationship is obtained based on the position information of the first target point on the real cartilage surface and the hard bone surface information, and then the hard bone surface information is converted according to the first alignment relationship to obtain cartilage surface information, and then the cartilage surface is reconstructed based on the cartilage surface information to obtain the target cartilage surface. In this way, there is no need to use MRI equipment to collect images, and the probe 101 can be used instead, thereby reducing costs.

[0073] In one embodiment, the probe 101 can be a triangular probe 101 or a single-pointed probe 101. In one embodiment, the acquisition device 102 can be an ultrasonic acquisition device 102 or an image acquisition device. The target position of the probe 101, for example, a reflective ball is installed on the head of the probe 101. In this way, by capturing the position of the reflective ball during the movement of the probe 101 by the image acquisition device, the position of the probe 101 can be obtained, that is, the position of the target point on the real hard bone surface and the real cartilage surface can be determined. Then, the internal reference of the image acquisition device can be used to calculate the position of the target point on the real hard bone surface and the real cartilage surface passed by the probe 101 in the world coordinate system.

[0074] In one embodiment, see Figure 1As shown, the cartilage surface reconstruction system can also include a display 104, wherein the processor 103 can output and display the target cartilage surface after generating the target cartilage surface, for example, by mapping the target cartilage surface to the preoperative medical image to obtain the target medical image, thereby displaying the target medical image. The mapping of the target cartilage surface to the preoperative medical image can be performed based on a second registration relationship. The second registration relationship is obtained by registration based on the preoperative medical image and the position information of the second target point on the real hard bone surface.

[0075] In one embodiment, the cartilage surface reconstruction system may further include a medical image acquisition device, which is used to acquire preoperative medical images before surgery and send the preoperative medical images to the processor 103 for subsequent processing.

[0076] In one embodiment, the above-mentioned cartilage surface reconstruction system can be applied to a surgical system. Figure 2 , the target medical image can be acquired and output through the above-mentioned cartilage surface reconstruction system, which makes it convenient for the operator to understand the situation in real time before or during the operation. For example, the target medical image is acquired before the operation to facilitate the planning of the surgical plan, and the medical image is acquired during the operation to facilitate the understanding of the surgical situation, such as whether the installation of the prosthesis meets the surgical plan, etc. During the operation, the operator holds the probe 101, and the acquisition device 102 is used to acquire the image of the reflective ball on the probe 101 in real time and convert it to the world coordinate system to match the patient's preoperative medical image. The processor 103 is used to determine the positional relationship between the cartilage surface and the hard bone surface to obtain the target medical image, thereby using the target medical image containing cartilage and hard bone to determine the surgical plan, such as the cutting position, etc.

[0077] In one embodiment, Figure 3 As shown, a cartilage surface reconstruction method is provided, which is applied to Figure 1 The processor 103 in FIG. 1 is taken as an example to illustrate, including the following steps:

[0078] S302: Obtaining hard bone surface information.

[0079] Specifically, the bone surface information includes information about points on the bone surface. The bone surface information is obtained by identifying the bone in the preoperative medical image, extracting the contour of the bone, i.e., the bone surface, sampling points on the contour, i.e., the bone surface, and projecting the sampled points into the world coordinate system. The projection can be performed using a second registration relationship, wherein the second registration relationship is obtained by obtaining positional information of a second target point on the actual bone surface based on the position of the probe, and registering the positional information of the second target point with the preoperative medical image. The method for obtaining the second registration relationship can be specifically described below.

[0080] S304: Acquire the position information of the first target point on the real cartilage surface according to the position of the probe.

[0081] Specifically, the probe may include a triangular probe or a single-pointed probe, which may be combined with Figure 4 As shown, Figure 4 This is a schematic diagram of obtaining the position information of the first target point on the real cartilage surface through a probe in one embodiment. In this embodiment, the probe is moved on the real cartilage surface, so that the acquisition device can obtain the position of the reflective ball on the head of the probe, and then determine the position information of the first target point of the probe on the real cartilage surface based on the position of the reflective ball.

[0082] S306: Obtain a first registration relationship based on the position information of the first target point and the hard bone surface information.

[0083] Specifically, in the present embodiment, the processor can obtain the first registration relationship based on the position information of the first target point and the hard bone surface information by means of rigid registration or non-rigid registration. The first target point involved in the calculation of the first registration relationship can be all the collection points collected by the probe when crossing the real cartilage surface, or the position information of the first target point can be selected from the collection points of the collection information according to the sparsity requirement, wherein the collection information is obtained when the probe crosses the real cartilage surface. For example, the processor selects 5 first target points according to the sparsity requirement, and the 5 first target points are not coplanar or colinear. In other embodiments, the processor 103 can also select other numbers of first target points, which are not specifically limited here. The hard bone surface information involved in the calculation of the first registration relationship can be the entire hard bone surface information or partial hard bone surface information, i.e., partial points on the hard bone surface, such as only points corresponding to the first target point. That is to say, the processor selects the target hard bone surface information from the hard bone surface information, i.e., the information of the points on the hard bone surface corresponding to the first target point. Finally, the processor calculates the first registration relationship based on the position information of the first target point and the hard bone surface information.

[0084] In one embodiment, when calculating the first registration relationship using rigid registration, the processor obtains positional information of points on the real bone surface corresponding to the first target point, for example, five points, thereby forming five groups of points. The first registration relationship can be calculated based on the correspondence between the five groups of points. The corresponding point on the real bone surface can be the intersection of the normal vector of the tangent plane of the first target point on the real cartilage surface and the bone surface.

[0085] When calculating by rigid registration, point pairs can be obtained in three ways, including: directly inserting a single-pointed probe vertically, so that the intersection points with the real cartilage surface and the real hard bone surface are the first target point and the corresponding point, respectively, thereby forming a point pair. Or, the first target point is determined on the real cartilage surface by a three-pointed probe, and then the intersection point of the normal vector of the section of the first target point and the real hard bone surface is obtained, thereby forming a point pair. Alternatively, the processor can obtain the hard bone surface information based on the preoperative medical image, and then obtain the first target point by sliding the probe on the real cartilage surface, and then determine the intersection point of the normal vector of the section of the first target point and the hard bone surface obtained from the hard bone surface information, thereby forming a point pair.

[0086] In one embodiment, the first registration relationship is calculated by non-rigid registration. Figure 5 As shown, the hard bone surface information obtained by the processor may include: points on the hard bone surface corresponding to the normal vector of the first target point calculated, or directly intercepting points on the hard bone surface roughly covered by the cartilage surface, or directly using the points on the complete hard bone surface obtained by projecting the preoperative medical image.

[0087] In this way, the processor obtains a velocity field function from the hard bone point to the first target point through non-rigid registration, such as the Coherent Point Drift (CPD) registration method. This function is the first registration relationship.

[0088] For ease of understanding, the above-mentioned non-rigid registration mainly includes two methods: the first is to find the corresponding bone point on the bone surface after obtaining the position information of the first target point, and perform variable registration (non-rigid registration) on these two groups of points. The resulting registration result is the velocity field, which is also the first registration relationship. The second is to use the points of the entire bone surface or the points of the roughly covered bone surface obtained by screening after obtaining the position information of multiple first target points, and perform variable registration (non-rigid registration) on these two groups of points. The resulting registration result is the velocity field, which is also the first registration relationship. In other words, the second method does not find corresponding points, but directly calculates the non-rigid registration of the bone surface to the collected information. For example, the surface information of the bone surface and the collected information (point information) are input into the CPD algorithm to obtain the non-rigid registration relationship (i.e., velocity field) between the collected information and the bone surface, and the velocity field is generated based on the registration.

[0089] S308: Convert the hard bone surface information to obtain cartilage surface information according to the first registration relationship.

[0090] S310: Reconstructing the cartilage surface according to the obtained cartilage surface information to obtain a target cartilage surface.

[0091] Specifically, the hard bone surface information here is the complete hard bone surface information, that is, the point set corresponding to the hard bone surface. The processor converts each point in the point set according to the first registration relationship to obtain the corresponding point on the cartilage surface, that is, the cartilage surface information. Finally, the processor performs surface reconstruction on the points on the cartilage surface to obtain the target cartilage surface, wherein the surface reconstruction algorithm can be any algorithm and is not specifically limited here. For details, please refer to Figure 4 As shown, Figure 4 Schematic diagram of the target cartilage surface in one embodiment. Figure 4 The solid line in the figure represents the actual cartilage surface, and the dotted line represents the target cartilage surface. It can be seen that the reconstructed target cartilage surface basically coincides with the actual cartilage surface.

[0092] In this embodiment, the operator holds a triangular / ordinary probe and moves it on the patient's real cartilage surface; the acquisition device (such as NDI) uses the reflective ball on the probe to obtain the position and posture of the probe during the movement, and determines the cartilage surface area passed by the probe in the world coordinate system through vision; the processor uses the hard bone surface in the three-dimensional model and the cartilage surface area acquired by the probe to perform non-rigid alignment to obtain the cartilage surface.

[0093] The above-mentioned cartilage surface reconstruction method obtains the position information of the first target point on the real cartilage surface through the position of the probe, and obtains a first registration relationship by aligning the position information of the first target point on the real cartilage surface with the hard bone surface information. In this way, the hard bone surface information is converted according to the first registration relationship to obtain the cartilage surface information of the entire cartilage surface. The target cartilage surface can be obtained based on the cartilage surface information. There is no need to collect images through MRI equipment, and only the probe is used for replacement, which reduces costs.

[0094] In one embodiment, obtaining the position information of the target point on the real cartilage surface based on the position of the probe includes at least one of the following: obtaining the acquisition information obtained when the probe passes over the real cartilage surface through an acquisition device; selecting a first target point from the acquisition points in the acquisition information, and obtaining the position information of the first target point; or obtaining the acquisition information obtained when the probe passes over the real cartilage surface through an acquisition device, determining each acquisition point in the acquisition information as the first target point, and obtaining the position information of the first target point.

[0095] Specifically, combined Figure 6 and Figure 7 As shown, the probe includes a single-tip probe and a triangular probe, as shown Figure 6 As shown, the probe passes over the real cartilage surface. Since there is a reflective ball on the head of the probe, the position of the probe head can be collected by the collection device at this time, and the position of the probe head is used as the collection information of the collection point on the real cartilage. Figure 6Two probes, a single-tip probe and a triangular probe, are given in the text. When the single-tip probe is used, only one acquisition point is collected at a time. When the triangular probe is used, three acquisition points can be collected at a time. Figure 6 The middle dotted line is the sliding trajectory of the probe.

[0096] In this embodiment, the first target point may be all the collection points in the collection information collected by the collection device, or may be obtained by sampling all the collection points in the collection information collected by the collection device.

[0097] Combine Figure 7 As shown, after the probe passes through the real cartilage surface, the acquisition device acquires the acquisition information, and the processor can sample the acquisition points in the acquisition information to obtain the first target point, wherein the first target point is not coplanar and not colinear, as shown in FIG. Figure 7 The five circles in the image are the first target points. In other embodiments, the first target point can be extracted from the collection points in the collection information according to a pre-set sparsity. The sparsity can be input by the user or defaulted by the processor, and is not limited here. In addition, it should be noted that Figure 7 Only five first target points are sampled in the embodiment. In other embodiments, the number of first target points may be other, for example, determined according to a subsequent registration algorithm, and is not specifically limited here.

[0098] For ease of understanding, when using rigid registration, the processor may sample the acquisition points in the acquisition information based on sparsity to obtain a corresponding number of first target points, and then obtain the bone surface intersection points obtained from the bone surface information corresponding to the first target points to form point pairs. When using non-rigid registration, the processor may sample the acquisition points in the acquisition information based on sparsity to obtain a corresponding number of first target points, or may use all acquisition points in the acquisition information as first target points, without specific limitation.

[0099] In the above embodiment, the first target point is determined in a variety of ways, and registration is performed using different registration methods. The operation is diversified to adapt to different scenarios.

[0100] In one embodiment, obtaining hard bone surface information includes: acquiring the position of the probe through an acquisition device to obtain position information of a second target point on the real hard bone surface; acquiring a preoperative medical image, the preoperative medical image including an image hard bone surface corresponding to the real hard bone surface; aligning the position information of the probe and the image hard bone surface to establish a second alignment relationship; and obtaining the hard bone surface information based on the second alignment relationship and the image hard bone surface.

[0101] Specifically, acquiring bone surface information can be viewed as registering the coordinates between the real bone and the bone model in the preoperative medical image. This registration process involves acquiring the second target point and registering it. While the second target point is acquired point by point, the first target point can be acquired simply by scanning with a probe.

[0102] In this embodiment, the probe head is on the real hard bone surface, so the position of the probe is collected by the acquisition device, and the position information of the second target point on the real hard bone surface can be obtained. The number of the second target points can be obtained as needed. Optionally, the number of the second target points is 32, which can be combined with Figure 8 As shown, Figure 8 FIG. 4 is a schematic diagram of a second target point in one embodiment.

[0103] The acquisition device acquires the position information of the second target point using a probe, and then aligns the second target point with the preoperative medical image to obtain a second registration relationship. For ease of understanding, the acquisition process of the second registration relationship is described in two ways: the first is to physically identify multiple second target points on the real hard bone surface, so that the second target points can be acquired during preoperative medical image acquisition, and the second target points can also be accurately determined during intraoperative probe acquisition, thus forming point pairs, and the second registration relationship can be obtained by aligning these point pairs. The second is not to identify multiple second target points on the real hard bone surface, but to perform alignment through iterative matching, that is, to determine the second target point through probe acquisition during surgery, and then to align it with the point set corresponding to the hard bone surface in the preoperative medical image to obtain the second registration relationship.

[0104] After obtaining the second registration relationship, the hard bone surface in the preoperative medical image is mapped according to the second registration relationship to obtain hard bone surface information, so that the cartilage surface is subsequently reconstructed based on the hard bone surface information.

[0105] In one embodiment, after obtaining the hard bone surface information based on the second registration relationship and the hard bone surface of the image, it also includes: selecting target hard bone surface information from the hard bone surface information; obtaining the first registration relationship based on the position information of the first target point and the hard bone surface information, including: obtaining the first registration relationship based on the position information of the first target point and the target hard bone surface information.

[0106] Specifically, the hard bone surface information mainly includes two functions: one is the calculation of the first registration relationship, and the other is the calculation of the cartilage surface information. Wherein, when calculating the first registration relationship, the entire hard bone surface information can be used to participate in the calculation, or the target hard bone surface information can be selected from the hard bone surface information to participate in the calculation, which can be determined specifically by the registration method. For example, if rigid registration is adopted, the target hard bone surface information corresponding to the first target point can be selected from the hard bone surface information. If non-rigid registration is adopted, the entire hard bone surface information can be used to participate in the calculation, or the target hard bone surface information corresponding to the first target point can be selected from the hard bone surface information, without specific limitation.

[0107] In one embodiment, after reconstructing the cartilage surface according to the obtained cartilage surface information to obtain the target cartilage surface, it includes: converting the target cartilage surface according to the second registration relationship to obtain the cartilage surface to be processed; fusing the cartilage surface to be processed with the preoperative medical image to obtain the target medical image.

[0108] Specifically, the second registration relationship can also be used to map the target cartilage surface to the preoperative medical image to obtain the target medical image, and output it for display to prompt the operator, so that the operator can understand the situation in real time before or during the operation.

[0109] One thing that needs to be explained is that the subsequent embodiments also include a process of updating the target cartilage surface. In this way, before mapping the target cartilage surface to the preoperative medical image, the target cartilage surface is first updated, and the updated target cartilage surface is mapped to the preoperative medical image to obtain the target medical image, thereby making the displayed cartilage surface more accurate.

[0110] In one embodiment, after reconstructing the cartilage surface based on the obtained cartilage surface information to obtain the target cartilage surface, it includes: updating the target cartilage surface based on the acquired information, the acquired information is acquired when obtaining the position information of the first target point on the real cartilage surface, and / or acquired according to the operator's update instructions after outputting the target medical image.

[0111] Specifically, the target cartilage surface may be updated based on the position information of the first target point after the target cartilage surface is generated, or the target cartilage surface may be updated based on the position information of the first target point after the target medical image is output and the operator further collects points on the real cartilage surface using a probe.

[0112] Specifically, after generating the target cartilage surface, the processor can automatically update the target cartilage surface based on the position information of the first target point and output the updated target cartilage surface. If the operator finds any problems after reviewing it, the probe can be used to collect points on the actual cartilage surface of the problematic area, and the processor can then update the target cartilage surface again based on the collected points.

[0113] In the above embodiment, after obtaining the cartilage surface information through the hard bone surface information and then reconstructing the target cartilage surface based on the cartilage surface information, the target cartilage surface is also updated based on the target points on the real cartilage surface collected by the probe, so that the obtained target cartilage surface is more accurate. In particular, the probe can be used to update the cartilage shape in real time, which can more accurately display the cartilage surface of patients with cartilage damage.

[0114] In one embodiment, the target cartilage surface is updated according to the acquired information, including: calculating the points to be processed in the target cartilage surface corresponding to the acquired points in the acquired information; replacing the points to be processed with the acquired points and determining the replacement area; and performing surface reconstruction processing or reconstruction processing and smoothing processing on the replacement area.

[0115] Specifically, during the updating process, the corresponding points to be processed in the target cartilage surface can be replaced by the acquisition points in the acquisition information. In order to determine the points to be processed corresponding to the acquisition points in the acquisition information, the processor can first obtain the normal vector of the acquisition points in the acquisition information. The intersection of this direction quantity and the target cartilage surface is the point to be processed. In this way, the point to be processed is replaced by the acquisition point. After the replacement is completed, the replacement area is obtained. The replacement area is subjected to surface reconstruction processing or reconstruction processing and smoothing processing to obtain a smooth target cartilage surface.

[0116] Specifically, combined Figure 9 As shown, Figure 9 The figure is a schematic diagram of the replacement area in one embodiment. In this embodiment, the dotted circle is the local replacement area. With the acquisition information as the center, the local surface reconstruction is completed using the moving least squares method. The solid line of the surface reconstruction process is the target cartilage surface obtained after rigid alignment using at least five points, and the dotted line is the replaced acquisition information. In this embodiment, the acquisition information replaces the corresponding part of the target cartilage surface, and the dotted circle is the local replacement area. With the acquisition information as the center, the local surface fitting is completed using the moving least squares method. Finally, the surface reconstruction is performed after the replacement.

[0117] Specifically, combined Figure 10 and Figure 11 As shown, Figure 10 is a schematic diagram of local smoothing processing in one embodiment, Figure 11 FIG. 1 is a schematic diagram of overall smoothing processing in one embodiment. In this embodiment, after the collection points of the initialized cartilage surface are replaced by using at least one collection information, a smoothing process is formed. Figure 10 The sudden change curve shown in the circle. Therefore, this sudden change curve needs to be smoothed, that is, connected through surface reconstruction. Figure 11The solid line in the middle is after smoothing, and the dashed line is before smoothing. One way to smooth the surface is to use a curvature-based surface smoothing algorithm. This algorithm is based on the Laplace smoothing algorithm, but the difference is that curvature-based smoothing moves points along the line containing their normal vectors, rather than moving each point to the average position of its neighbors.

[0118] Specifically, combined Figure 12 As shown, Figure 12 Figure 1 is a schematic diagram of an updated target cartilage surface in one embodiment. After updating the target cartilage surface based on the acquired information, surface reconstruction and smoothing are performed to obtain the target cartilage surface. The solid line represents the actual cartilage surface obtained by capturing the entire cartilage surface using the probe; the dashed line represents the calculated cartilage surface. This demonstrates that this embodiment can restore cartilage surface data with high accuracy.

[0119] In one embodiment, before calculating the points to be processed in the target cartilage surface corresponding to the acquisition points in the acquisition information, the method further includes: expanding the acquisition information; calculating the points to be processed in the target cartilage surface corresponding to the acquisition points in the acquisition information, including: calculating the points to be processed in the target cartilage surface corresponding to each acquisition point in the expanded acquisition information.

[0120] Specifically, when collecting data through a single-tip probe, only one collection point can be obtained in one operation. In order to ensure sufficient data, the processor can also expand the collection information, so that the target cartilage surface can be updated through each collection point in the expanded collection information, so that the updated target cartilage surface is more closely aligned with the real cartilage surface.

[0121] In one embodiment, the acquisition information is expanded, including: determining a normal vector and a velocity vector of an acquisition point in the acquisition information; determining a reference vector based on the normal vector and the velocity vector of the acquisition point; and adding a new acquisition point along a positive direction and / or a negative direction of the reference vector with the acquisition point as the origin, and adding the new acquisition point to the acquisition information.

[0122] Specifically, combined Figure 13 As shown, Figure 13 FIG. 1 is a schematic diagram of a collection point expansion process in an embodiment. In this embodiment, Figure 13 Here, xyz is a coordinate system, perpendicular to each other. z is the normal vector of the corresponding acquisition point, and x is the velocity vector of the sliding trajectory of the acquisition point. Both can be obtained from the point cloud and measurement. The y vector is calculated based on these two vectors. This y vector is tangent to the actual cartilage surface. Adding two points to this y vector can increase the width of the acquisition path and enrich the information. In other embodiments, other numbers of points can be added to the y vector to expand the acquisition points. This is not specifically limited here.

[0123] Among them, see Figure 14 As shown, Figure 14 Schematic diagram of the expanded acquisition points in one embodiment. In this embodiment, the acquisition of the probe not only obtains at least 5 first target points, but also includes the acquisition information of the real cartilage surface, that is, at least a portion of the acquired cartilage surface, such as the Figure 14 As shown by the thick dashed line, it can be seen that there is a deviation between the cartilage surface before the update and the collected cartilage surface. To this end, the processor can update the target cartilage surface using the expanded collection points to make the target cartilage surface more consistent with the actual cartilage surface. The updating process can be seen above and will not be repeated here.

[0124] In one embodiment, after acquiring the acquisition information obtained when the probe passes over the real cartilage surface through the acquisition device, the method further includes: calculating the cartilage thickness based on the acquisition information and the hard bone surface information.

[0125] Specifically, when the probe is placed on the cartilage surface, the probe needs to be perpendicular to the cartilage surface. In this way, the acquisition device determines the position of the probe head based on the reflective ball, and uses the position of the probe to calculate the normal vector of the plane where the probe head is located. By mapping the normal vector on the hard bone surface to obtain the intersection of the normal vector and the hard bone surface, the cartilage thickness here can be obtained through the position of the probe head and the distance between the intersection of the normal vector and the hard bone surface.

[0126] Specifically, the processor obtains the position information of the probe collected by the acquisition device in real time, and uses the position information and the preset physical structure data of the probe to determine the normal plane vector of the cartilage contacted by the probe; and uses the pre-aligned hard bone surface information and the normal plane vector to calculate the cartilage thickness.

[0127] Specifically, the cartilage thickness is calculated based on the acquisition information and the hard bone surface information, including at least one of the following: obtaining a cross-section of the acquisition point in the acquisition information, determining the corresponding point on the hard bone surface based on the normal vector of the cross-section and the hard bone surface information, and calculating the cartilage thickness based on the acquisition point and the corresponding point; or obtaining a plane tangent to the cartilage surface determined in the acquisition information, determining the corresponding point on the hard bone surface based on the normal vector of the plane and the hard bone surface information, and calculating the cartilage thickness based on the acquisition point and the corresponding point.

[0128] Combine Figure 15 and Figure 16 As shown, Figure 15 FIG. 1 is a schematic diagram of calculating cartilage thickness using a single-tip probe 101 in one embodiment. Figure 16 FIG. 1 is a schematic diagram of using a triangular probe 101 to calculate cartilage thickness in one embodiment.

[0129] exist Figure 15In the method, the head of the probe carries a target, such as a reflective ball, so that the position information of the probe head can be obtained when the acquisition device is used to collect data, and then the position information of the first target point on the real cartilage surface can be obtained, wherein the end head of the probe contacts the real cartilage surface, so that the probe is perpendicular to the cross-section A of the cartilage point A, and the normal vector of the probe coincides with the normal vector of the A surface. In this way, the direction of the normal vector of the A surface in the coordinate system where the hard bone surface is located is calculated and mapped to the hard bone surface to determine the corresponding point on the hard bone surface. In this way, the cartilage thickness can be obtained according to the position of point A and the corresponding point on the hard bone surface.

[0130] exist Figure 16 In the method, the head of the probe carries a target, such as a reflective ball, so that the position information of the head of the probe can be obtained when the acquisition device is used to collect data, and then the position information of the first target point on the real cartilage surface can be obtained, wherein the three heads at the end of the triangular probe are relatively close (in order to ensure that the three heads are in the same plane and can touch the cartilage surface at approximately the same time), and the cartilage thickness is measured using the triangular probe. Specifically, the triangular probe is placed on the real cartilage surface to ensure that the three heads touch the cartilage surface to form a plane tangent to the cartilage surface here, and the acquisition device is used to obtain the position and posture information of the triangular probe, and the position information of the three heads is obtained according to the probe design data, and the plane where the three heads are located is calculated, and the normal vector of the plane is calculated, and the normal vector is mapped to the hard bone surface to obtain the cartilage thickness.

[0131] In one embodiment, after the cartilage thickness is calculated based on the collected information and the hard bone surface information, the method includes: obtaining a thickness range; and outputting an alarm message when the cartilage thickness is not within the thickness range.

[0132] Specifically, when using a single-pointed probe, the operator needs to be reminded to place the probe perpendicular to the actual cartilage surface. If this is not done, a threshold can be set to avoid excessive errors (the threshold is the expected cartilage thickness range). When using a triangular probe, the user only needs to be reminded to place all three corners on the cartilage surface. If this is not done, the threshold setting method can also be used.

[0133] Specifically, the processor can obtain the measured cartilage thickness and then determine whether the cartilage thickness is within the thickness range. When the cartilage thickness is not within the thickness range, an alarm message is output to facilitate the operator to correct the posture of the probe.

[0134] For easier understanding, see Figure 17 As shown, Figure 17This is a flowchart of a cartilage surface reconstruction method in another embodiment. In this embodiment, bone registration is first performed. Specifically, a probe is clicked on a real bone surface to capture and locate the probe's position using a capture device. This information is then used to determine the position of a certain number of second target points. These second target points are then registered with the bone surface in the preoperative medical image to obtain a second registration relationship, thereby completing bone registration. After bone registration is completed, bone surface information can be obtained based on the second registration relationship and the bone surface in the preoperative medical image. Specifically, the point set on the bone surface in the preoperative medical image is mapped according to the second registration relationship to obtain the bone surface information.

[0135] Secondly, the probe is passed across the cartilage surface and can be dragged multiple times on the cartilage surface, so that the acquisition device can obtain acquisition information through the position of the head of the acquisition probe, and the acquisition information includes the position information of multiple acquisition points on the real cartilage surface.

[0136] The processor may obtain all acquisition points in the acquisition information as first target points according to the registration method, or sample a certain number of first target points from all acquisition points in the acquisition information according to the sparsity requirement for subsequent calculation of the first registration relationship.

[0137] During the acquisition process, the processor can obtain the cross-section of the acquisition point on the real cartilage surface, and then calculate the intersection of the normal vector of the cross-section and the hard bone surface determined by the hard bone surface information. The cartilage thickness at the acquisition point can be determined based on the distance between the acquisition point and the intersection.

[0138] If a rigid registration approach is used, the intersection point and the acquisition point form a point pair, and a first registration relationship can be calculated by obtaining multiple point pairs. In other embodiments, if a non-rigid registration approach is used, the intersection point and the acquisition point form a point pair, and the first registration relationship can be calculated using the point pairs, or the first registration relationship can be directly obtained by iteratively registering the acquisition point with points in the entire hard bone surface information.

[0139] After calculating the first registration relationship, the processor may expand the acquisition information to expand the acquisition points on the actual cartilage surface.

[0140] The processor obtains a point to be processed on the target cartilage surface corresponding to the target cartilage surface information of the acquisition point in the acquisition information, replaces the point to be processed with the acquisition point, and determines a replacement area.

[0141] The processor performs local surface reconstruction on the replacement area and then performs smoothing to obtain target cartilage surface information. In this way, the processor maps the target cartilage surface information to the preoperative medical image according to the second registration relationship to obtain the target medical image and outputs the target medical image.

[0142] The operator can view the target medical image to determine whether the target cartilage surface meets the requirements. If not, the operator can further collect points on the real cartilage surface using the probe, and then replace the corresponding points to be processed on the target cartilage surface based on the further collected points on the real cartilage surface, and determine the replacement area. Subsequently, the replacement area is further subjected to local surface reconstruction processing, and then smoothed to obtain the target cartilage surface information. In this way, the processor maps the target cartilage surface information to the preoperative medical image according to the second registration relationship to obtain the target medical image, and outputs the target medical image until the output target medical image meets the requirements.

[0143] In the above embodiment, the hard bone surface in the preoperative medical image is used as the basis for cartilage surface reconstruction. Since the shapes of the hard bone surface and the cartilage surface are basically the same, the target cartilage surface obtained is also relatively accurate. The points on the target cartilage surface are fused with the collection points on the real cartilage surface obtained by the probe, which can more accurately display the cartilage surface of patients with cartilage damage. The acquired cartilage surface collection points are used to perform local surface reconstruction on the target cartilage surface. For unsatisfactory or damaged cartilage surfaces, real-time updates are performed by clicking on the corresponding parts until satisfaction is achieved. Using deformable registration, the hard bone surface is transformed into a cartilage surface using the collection points collected on the cartilage surface, which is more accurate.

[0144] In addition, a simple trackable triangular probe / single-tip probe is used to replace other complex multi-sensor probes to reduce probe costs and the complexity of information interaction. The use of a simple trackable triangular probe / single-tip probe avoids the introduction of redundant interfaces and equipment, reduces the difficulty of use, and uses the method of projecting the normal vector onto the bone surface to calculate the cartilage thickness, which can more accurately reflect the thickness information and is less likely to be affected by the probe angle problem. The display of the entire cartilage surface is helpful for osteotomy accuracy, and the entire cartilage surface is displayed to provide more reference information for prosthesis implantation. Doctors can use the triangular probe / single-tip probe to update the cartilage shape in real time, which can more accurately display the cartilage surface of patients with cartilage damage. The use of local surface reconstruction methods can more accurately update the established cartilage surface.

[0145] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0146] Based on the same inventive concept, embodiments of the present application also provide a cartilage surface reconstruction device for implementing the aforementioned cartilage surface reconstruction method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more cartilage surface reconstruction device embodiments provided below can be found in the above-described limitations of the cartilage surface reconstruction method and will not be further elaborated here.

[0147] In one embodiment, Figure 18 As shown, a cartilage surface reconstruction device is provided, comprising: a hard bone surface information acquisition module 1801, a first target point position information acquisition module 1802, a first registration relationship establishment module 1803, a cartilage surface information acquisition module 1804 and a reconstruction module 1805, wherein:

[0148] The hard bone surface information acquisition module 1801 is used to acquire hard bone surface information.

[0149] The first target point position information acquisition module 1802 is used to acquire the position information of the first target point on the actual cartilage surface according to the position of the probe.

[0150] The first registration relationship establishing module 1803 is configured to obtain a first registration relationship based on the position information of the first target point and the hard bone surface information.

[0151] The cartilage surface information acquisition module 1804 is used to convert the hard bone surface information into cartilage surface information according to the first registration relationship.

[0152] The reconstruction module 1805 is used to reconstruct the cartilage surface according to the obtained cartilage surface information to obtain the target cartilage surface.

[0153] In one embodiment, the first target point position information acquisition module 1802 is used to obtain the first target point position information based on at least one of the following: obtaining the acquisition information obtained when the probe passes over the real cartilage surface through the acquisition device; selecting the first target point from the acquisition points in the acquisition information, and obtaining the position information of the first target point; or obtaining the acquisition information obtained when the probe passes over the real cartilage surface through the acquisition device, determining each acquisition point in the acquisition information as the first target point, and obtaining the position information of the first target point.

[0154] In one embodiment, the hard bone surface information acquisition module 1801 includes:

[0155] The second target point position information acquisition unit is used to acquire the position of the probe through an acquisition device to acquire the position information of the second target point on the real hard bone surface.

[0156] The preoperative medical image acquisition unit is used to acquire a preoperative medical image, wherein the preoperative medical image includes an image hard bone surface corresponding to a real hard bone surface.

[0157] The second registration relationship establishing unit is used to register the position information of the probe and the hard bone surface of the image to establish a second registration relationship.

[0158] The hard bone surface information acquisition unit is used to obtain the hard bone surface information according to the second registration relationship and the hard bone surface of the image.

[0159] In one embodiment, the hard bone surface information acquisition module 1701 further includes:

[0160] The selection unit is used to select target hard bone surface information from the hard bone surface information.

[0161] The first registration relationship establishing module 1803 is further configured to obtain a first registration relationship based on the position information of the first target point and the target hard bone surface information.

[0162] In one embodiment, the above-mentioned cartilage surface reconstruction device further comprises:

[0163] The conversion module is used to convert the target cartilage surface according to the second registration relationship to obtain the cartilage surface to be processed.

[0164] The fusion module is used to fuse the cartilage surface to be processed with the preoperative medical image to obtain the target medical image.

[0165] In one embodiment, the above-mentioned cartilage surface reconstruction device further comprises:

[0166] The update module is used to update the target cartilage surface according to the collected information. The collected information is collected when obtaining the position information of the first target point on the real cartilage surface, and / or collected according to the operator's update instructions after outputting the target medical image.

[0167] In one embodiment, the update module includes:

[0168] The to-be-processed point determination unit is used to calculate the to-be-processed points in the target cartilage surface that correspond to the acquisition points in the acquisition information.

[0169] The replacement unit is used to replace the points to be processed by the collected points and determine the replacement area.

[0170] The post-processing unit is used to perform surface reconstruction processing on the replacement area or perform smoothing processing after surface reconstruction processing.

[0171] In one embodiment, the above-mentioned cartilage surface reconstruction device further comprises:

[0172] Extension module, used to expand the collected information.

[0173] The aforementioned to-be-processed point determination unit is further configured to calculate the to-be-processed points in the target cartilage surface corresponding to the respective acquisition points in the expanded acquisition information.

[0174] In one embodiment, the expansion module includes:

[0175] The first vector determination unit is used to determine the normal vector and velocity vector of the acquisition point in the acquisition information.

[0176] The second vector determining unit is configured to determine a reference vector according to the normal vector and the velocity vector of the acquisition point.

[0177] The expansion unit is used to add new acquisition points along the positive direction and / or reverse direction of the reference vector with the acquisition point as the origin, and add the new acquisition points to the acquisition information.

[0178] In one embodiment, the above-mentioned cartilage surface reconstruction device further comprises:

[0179] The cartilage thickness calculation module is used to calculate the cartilage thickness based on the collected information and the hard bone surface information.

[0180] In one embodiment, the cartilage thickness calculation module is used to calculate the cartilage thickness based on at least one of the following: obtaining a cross-section of a collection point in the collection information, determining corresponding points on the hard bone surface based on the normal vector of the cross-section and the hard bone surface information, and calculating the cartilage thickness based on the collection point and the corresponding point; or obtaining a plane tangent to the cartilage surface determined in the collection information, determining corresponding points on the hard bone surface based on the normal vector of the plane and the hard bone surface information, and calculating the cartilage thickness based on the collection point and the corresponding point.

[0181] In one embodiment, the above-mentioned cartilage surface reconstruction device further comprises:

[0182] The alarm module is used to obtain the thickness range; when the cartilage thickness is not within the thickness range, an alarm message is output.

[0183] Each module in the above-mentioned cartilage surface reconstruction device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0184] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 19 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a cartilage surface reconstruction method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0185] Those skilled in the art will understand that Figure 19 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0186] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0187] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0188] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0189] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0190] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0191] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for cartilage surface reconstruction, characterized in that: The method comprises: Acquiring hard bone surface information includes: acquiring the position of a probe by an acquisition device to acquire position information of a second target point on the real hard bone surface; acquiring a preoperative medical image, the preoperative medical image including an image hard bone surface corresponding to the real hard bone surface; registering the position information of the probe and the image hard bone surface to establish a second registration relationship; and obtaining hard bone surface information based on the second registration relationship and the image hard bone surface; Acquire the position information of the first target point on the real cartilage surface according to the position of the probe; Obtaining a first registration relationship according to the position information of the first target point and the hard bone surface information; Converting the hard bone surface information to obtain cartilage surface information according to the first registration relationship; The cartilage surface is reconstructed based on the obtained cartilage surface information to obtain the target cartilage surface.

2. The method according to claim 1, characterized in that The acquiring of the position information of the target point on the real cartilage surface according to the position of the probe includes at least one of the following: Acquiring, by an acquisition device, acquisition information obtained when a probe passes over a real cartilage surface; selecting a first target point from acquisition points in the acquisition information, and acquiring position information of the first target point; or The acquisition information obtained when the probe passes over the real cartilage surface is acquired through an acquisition device, each acquisition point in the acquisition information is determined to be a first target point, and position information of the first target point is acquired.

3. The method according to claim 1, characterized in that After obtaining the hard bone surface information according to the second registration relationship and the hard bone surface of the image, the method further includes: Selecting target hard bone surface information from the hard bone surface information; The obtaining of a first registration relationship based on the position information of the first target point and the hard bone surface information includes: A first registration relationship is obtained according to the position information of the first target point and the target hard bone surface information.

4. The method according to claim 1, wherein After reconstructing the cartilage surface according to the obtained cartilage surface information to obtain the target cartilage surface, the method includes: Converting the target cartilage surface according to the second registration relationship to obtain a cartilage surface to be processed; The cartilage surface to be processed is fused with the preoperative medical image to obtain a target medical image.

5. The method according to claim 4, characterized in that After reconstructing the cartilage surface according to the obtained cartilage surface information to obtain the target cartilage surface, the method includes: The target cartilage surface is updated according to the collected information, where the collected information is collected when obtaining the position information of the first target point on the real cartilage surface, and / or is collected according to the operator's update instruction after outputting the target medical image.

6. The method according to claim 5, characterized in that The updating of the target cartilage surface according to the collected information includes: Calculating points to be processed in the target cartilage surface corresponding to the collection points in the collection information; Replacing the to-be-processed point with the collection point and determining a replacement area; The replacement area is subjected to a curved surface reconstruction process or a curved surface reconstruction process followed by a smoothing process.

7. The method according to claim 6, characterized in that Before calculating the points to be processed in the target cartilage surface corresponding to the collection points in the collection information, the method further includes: Expanding the collected information; The calculating of the points to be processed in the target cartilage surface corresponding to the collection points in the collection information includes: Calculate the points to be processed in the target cartilage surface corresponding to the respective acquisition points in the expanded acquisition information.

8. The method according to claim 7, characterized in that The expanding the collected information includes: Determining a normal vector and a velocity vector of a collection point in the collection information; Determine a reference vector according to the normal vector of the acquisition point and the velocity vector; Taking the acquisition point as the origin, new acquisition points are added along the positive direction and / or the reverse direction of the reference vector, and the new acquisition points are added to the acquisition information.

9. The method according to any one of claims 2 to 8, characterized in that After acquiring the collected information obtained when the probe passes over the real cartilage surface through the collection device, the method further includes: The cartilage thickness is calculated based on the collected information and the hard bone surface information.

10. The method according to claim 9, characterized in that The calculating of the cartilage thickness based on the collected information and the hard bone surface information includes at least one of the following: Obtaining a section of the acquisition point in the acquisition information, determining corresponding points on the hard bone surface according to the normal vector of the section and the hard bone surface information, and calculating the cartilage thickness according to the acquisition point and the corresponding point; or A plane tangent to the cartilage surface determined in the collected information is obtained, corresponding points on the hard bone surface are determined based on the normal vector of the plane and the hard bone surface information, and the cartilage thickness is calculated based on the collected points and the corresponding points.

11. The method according to claim 9, characterized in that After the cartilage thickness is calculated based on the collected information and the hard bone surface information, the method includes: Get thickness range; When the cartilage thickness is not within the thickness range, an alarm message is output.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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