Acetabular coverage determination method, surgical navigation method and device

Abstract

The present invention discloses a method for determining acetabulum coverage, a surgical navigation method and device, an electronic device, and a storage medium. The method for determining acetabulum coverage includes: projecting a three-dimensional model containing a hip ball and acetabulum onto a two-dimensional projection plane; determining the first boundary of the hip ball projection area and the second boundary of the projection overlap area of ​​the hip ball and acetabulum in the two-dimensional projection plane; calculating the first area of ​​the hip ball projection area based on the first boundary, and calculating the second area of ​​the projection overlap area based on the second boundary; and determining the percentage of the ratio of the first area to the second area as the acetabulum coverage. This greatly reduces the amount of calculation, improves the calculation efficiency of the acetabulum coverage, and lays the foundation for intraoperative navigation to achieve real-time calculation of the acetabulum coverage.

Description

Technical Field

[0001] The present invention relates to a method for determining acetabulum coverage, a surgical navigation method and device, electronic equipment, and a storage medium. Background Art

[0002] The hip joint supports the torso above and connects to the lower limbs below. It is the most needed and critical part when people walk, sit or lie down. The hip part of the hip joint is an important hub connecting the human torso and lower limbs. The hip part of the hip joint covers part of the end of the femoral head to ensure the flexibility and stability of the joint. In medical research, it is often necessary to measure and analyze the degree of acetabulum coverage.

[0003] In the existing technology, the calculation method of acetabulum coverage rate is generally based on two-dimensional manual measurement of preoperative X-rays. The accuracy and efficiency need to be improved. It can only be used as an evaluation indicator for preoperative evaluation of the effect, but cannot be used as one of the reference indicators for intraoperative acetabulum adjustment. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of low accuracy and efficiency of the calculation method of acetabulum coverage rate in the prior art, and to provide a method for determining acetabulum coverage rate, a surgical navigation method and device, an electronic device, and a storage medium.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] In a first aspect, a method for determining acetabular coverage is provided, comprising:

[0007] Projecting the three-dimensional model including the hip ball and acetabulum onto a two-dimensional projection plane;

[0008] respectively determining a first boundary of a projection area of ​​the hip ball and a second boundary of an overlapping area of ​​projections of the hip ball and the acetabulum in the two-dimensional projection plane;

[0009] Calculating a first area of ​​the hip ball projection region based on the first boundary, and calculating a second area of ​​the projection overlap region based on the second boundary;

[0010] The acetabular coverage is determined as a percentage of a ratio of the first area to the second area.

[0011] Optionally, projecting the three-dimensional model including the hip ball and acetabulum onto a two-dimensional projection plane includes:

[0012] Determine the normal vector of the two-dimensional projection plane;

[0013] Calculate the transformation matrix from the coordinate system of the three-dimensional model to the coordinate system of the two-dimensional projection plane according to the normal vector and based on the Rodrigues rotation formula;

[0014] The point cloud matrix representing the three-dimensional model of the hip ball and the point cloud matrix representing the three-dimensional model of the acetabulum are both multiplied by the transformation matrix.

[0015] Optionally, determining a first boundary of a hip ball projection area in the two-dimensional projection plane includes:

[0016] For the two-dimensional scattered points with the same vertical coordinate contained in the first point set, the two-dimensional scattered point with the minimum horizontal coordinate is determined as the first left boundary point of the hip ball projection area, and the two-dimensional scattered point with the maximum horizontal coordinate is determined as the first right boundary point of the hip ball projection area, and the first boundary is determined according to the first left boundary point and the first right boundary point; wherein, the first point set is a collection of two-dimensional scattered points representing the three-dimensional model of the hip ball projected onto the two-dimensional projection plane;

[0017] Alternatively, for the two-dimensional scattered points with the same horizontal coordinate included in the first point set, the two-dimensional scattered point with the minimum vertical coordinate is determined as the first lower boundary point of the hip ball projection area, and the two-dimensional scattered point with the maximum vertical coordinate is determined as the first upper boundary point of the hip ball projection area, and the first boundary is determined according to the first lower boundary point and the first upper boundary point;

[0018] The first point set is a set of two-dimensional scattered points projected onto the two-dimensional projection plane from the three-dimensional model representing the hip ball.

[0019] Optionally, determining a second boundary of the projection overlapping area includes:

[0020] For the two-dimensional scattered points with the same ordinate included in the first point set, a set of two-dimensional scattered points whose abscissas are greater than or equal to a minimum value and less than or equal to a maximum value and which belong to the second point set is determined as a third point set representing the projection overlap area; wherein the second point set is a set of two-dimensional scattered points representing the three-dimensional model of the acetabulum projected onto the two-dimensional projection plane;

[0021] For the two-dimensional scattered points with the same ordinate included in the third point set, the two-dimensional scattered point with the minimum abscissa is determined as the second left boundary point of the projected overlapping area, and the two-dimensional scattered point with the maximum abscissa is determined as the second right boundary point of the projected overlapping area, and the second boundary is determined based on the second left boundary point and the second right boundary point; or, for the two-dimensional scattered points with the same abscissa included in the third point set, the two-dimensional scattered point with the minimum ordinate is determined as the second lower boundary point of the projected overlapping area, and the two-dimensional scattered point with the maximum ordinate is determined as the second upper boundary point of the projected overlapping area, and the second boundary is determined based on the second lower boundary point and the second upper boundary point.

[0022] Optionally, determining a second boundary of the projection overlapping area includes:

[0023] Determining a third point set in the two-dimensional projection plane representing the projection overlapping area;

[0024] For two-dimensional scattered points with the same ordinate in the two-dimensional projection plane, if the minimum value of the abscissa of the two-dimensional scattered points belonging to the second point set is less than or equal to the minimum value of the two-dimensional scattered points belonging to the first point set, then the two-dimensional scattered point with the minimum abscissa in the third point set is determined as the second left boundary point of the projection overlap area; otherwise, the two-dimensional scattered point with the minimum abscissa in the second point set is determined as the second left boundary point of the projection overlap area; if the maximum value of the abscissa of the two-dimensional scattered points belonging to the first point set is less than or equal to the maximum value of the two-dimensional scattered points belonging to the second point set, then the two-dimensional scattered point with the maximum abscissa in the third point set is determined as the second right boundary point of the projection overlap area; otherwise, the two-dimensional scattered point with the maximum abscissa in the second point set is determined as the second right boundary point of the projection overlap area;

[0025] The second boundary is determined according to the second left boundary point and the second right boundary point.

[0026] Optionally, calculating a first area of ​​the hip sphere projection region based on the first boundary includes:

[0027] performing an integration operation on the function representing the first boundary along the x-axis, and determining a result of the integration operation as the first area;

[0028] Alternatively, performing an integration operation on the function representing the first boundary along the y-axis, and determining a result of the integration operation as the first area;

[0029] Alternatively, performing an integration operation on the function representing the first boundary along the x-axis to obtain a first integration operation result; performing an integration operation on the function representing the first boundary along the y-axis to obtain a second integration operation result; and determining a weighted sum of the first integration operation result and the second integration operation result as the first area;

[0030] Alternatively, the first area is calculated according to the following formula:

[0031] ;

[0032] ;

[0033] in, represents the first area; It represents the maximum value of the abscissa of the two-dimensional scattered point with ordinate i in the hip sphere projection area; represents the minimum value of the horizontal coordinate of the two-dimensional scattered point with the vertical coordinate i in the hip sphere projection area; a and b are determined according to the first boundary; y iIndicates the y-axis coordinate value;

[0034] Calculating a second area of ​​the projected overlapping region based on the second boundary includes:

[0035] performing an integration operation on the function representing the second boundary along the x-axis, and determining a result of the integration operation as the second area;

[0036] Alternatively, performing an integration operation on the function representing the second boundary along the y-axis, and determining a result of the integration operation as the second area;

[0037] Alternatively, performing an integration operation on the function representing the second boundary along the x-axis to obtain a third integration operation result; performing an integration operation on the function representing the second boundary along the y-axis to obtain a fourth integration operation result; and determining a weighted result of the third integration operation result and the fourth integration operation result as the second area;

[0038] Alternatively, the second area is calculated according to the following formula:

[0039] ;

[0040] ;

[0041] in, Indicates the maximum value of the abscissa of the two-dimensional scattered point with ordinate i in the overlapping projection area; Indicates the minimum value of the abscissa of the two-dimensional scattered point with ordinate i in the overlapping projection area; and Determined according to the second boundary; y i Represents the y-axis coordinate value; δ represents the size of the moving sliding window.

[0042] Optionally, the first boundary calculating a first area of ​​the hip sphere projection region includes:

[0043] Using a sliding window to intercept a plurality of first sliders within the hip ball projection area;

[0044] calculating the area of ​​each first slider based on the first boundary within each first slider, and determining a weighted average result of the areas of each first slider as the first area;

[0045] And / or, the second boundary calculates the second area of ​​the hip ball projection area, including:

[0046] Using a sliding window to intercept a plurality of second sliders within the hip ball projection area;

[0047] The area of ​​each second slider is calculated based on the second boundary within each second slider, and a weighted average result of the areas of each second slider is determined as the second area.

[0048] In a second aspect, a surgical navigation method is provided, comprising:

[0049] Obtain a three-dimensional model that is co-registered with the patient's hip ball and acetabulum;

[0050] Calculating the acetabulum coverage of the three-dimensional model using any of the above methods for determining the acetabulum coverage;

[0051] The acetabular coverage is shown; the acetabular coverage is used for surgical navigation.

[0052] In a third aspect, a device for determining acetabular coverage is provided, comprising:

[0053] A projection module, used for projecting the three-dimensional model including the hip ball and the acetabulum onto a two-dimensional projection plane;

[0054] a boundary determination module, configured to respectively determine a first boundary of a projection area of ​​the hip ball and a second boundary of an overlapping area of ​​projections of the hip ball and the acetabulum in the two-dimensional projection plane;

[0055] a calculation module, configured to calculate a first area of ​​the hip ball projection region based on the first boundary, and calculate a second area of ​​the projection overlap region based on the second boundary;

[0056] A result determination module is configured to determine a percentage of a ratio of the first area to the second area as the acetabulum coverage rate.

[0057] In a fourth aspect, a surgical navigation device is provided, comprising:

[0058] An acquisition module, for acquiring a three-dimensional model that is co-registered with the patient's hip ball and acetabulum;

[0059] a calculation module, configured to execute any one of the above methods for determining acetabulum coverage to calculate the acetabulum coverage of the three-dimensional model;

[0060] A display module is used to display the acetabulum coverage rate; the acetabulum coverage rate is used for surgical navigation.

[0061] In a fifth aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-described methods when executing the computer program.

[0062] In a sixth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, any of the methods described above is implemented.

[0063] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0064] The positive progressive effect of the present invention is that: in the embodiment of the present invention, the three-dimensional model is projected onto a two-dimensional projection plane to achieve the purpose of dimensionality reduction, and the first boundary of the hip ball projection area and the second boundary of the overlapping area of ​​the projections of the hip ball and the acetabulum are identified in the two-dimensional projection plane, and then the acetabulum coverage rate is calculated, which can greatly reduce the amount of calculation, improve the calculation efficiency of the acetabulum coverage rate, and lay the foundation for the real-time calculation of the acetabulum coverage rate for intraoperative navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A flowchart of a method for determining acetabulum coverage provided by an exemplary embodiment of the present invention;

[0066] Figure 2 for Figure 1 Flowchart of step 101 in FIG.

[0067] Figure 3 A schematic diagram of the result of projecting a three-dimensional model onto a two-dimensional projection plane provided by an exemplary embodiment of the present invention;

[0068] Figure 4 A schematic diagram of a curve showing the corresponding relationship between the size of a sliding window and the calculation error of acetabulum coverage provided by an exemplary embodiment of the present invention;

[0069] Figure 5 A flowchart of a surgical navigation method provided by an exemplary embodiment of the present invention;

[0070] Figure 6 A schematic diagram of a module of an acetabulum coverage determination device provided by an exemplary embodiment of the present invention;

[0071] Figure 7 A schematic diagram of a module of a surgical navigation device provided by an exemplary embodiment of the present invention;

[0072] Figure 8 The figure is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0073] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0074] Figure 1 A flowchart of a method for determining acetabulum coverage provided by an exemplary embodiment of the present invention, the method comprising the following steps:

[0075] Step 101: Project the three-dimensional model including the hip ball and acetabulum onto a two-dimensional projection plane.

[0076] The 3D model can be, but is not limited to, a model reconstructed from a CT (computed tomography) image. The 3D model includes voxel data representing the hip ball and acetabulum. Voxel data contains constant scalar or vector information representing a three-dimensional region, including the origin, spacing, dimension, and number of voxels that divide the 3D data. Although voxel information itself does not contain spatial positional data (i.e., coordinates), its relative coordinates can be used to determine the unit's position within the data structure. In the algorithm, this is represented by pointers that can be used to retrieve and write data stored within each voxel unit to meet imaging and data processing requirements. In the clinical application of periacetabular osteotomy surgery, the bone model of each patient does not undergo significant changes during surgery, and the size and orientation of the acetabulum are always limited to a specific region. Therefore, when calculating the voxel values ​​of the 3D reconstructed bone model, it is not necessary to search the entire model space. Instead, a reasonable index region can be set to improve computational speed.

[0077] In one embodiment, see Figure 2 Projecting the three-dimensional model including the hip ball and acetabulum onto a two-dimensional projection plane includes the following steps:

[0078] Step 101-1: Determine the normal vector of the two-dimensional projection plane.

[0079] The two-dimensional projection plane can be selected according to the actual situation, for example, a vector plane can be selected as the two-dimensional projection plane. After the two-dimensional projection plane is determined, the normal vector of the two-dimensional projection plane can be determined according to the principle of geometry. For example, three points can be randomly selected on the two-dimensional projection plane. 、 and , the normal vector of the two-dimensional projection plane can be obtained by the following formula .

[0080] ;

[0081] in, 、 、 are any three points in the projection plane;

[0082] Step 101 - 2 : Calculate the transformation matrix from the coordinate system of the three-dimensional model to the coordinate system of the two-dimensional projection plane according to the normal vector and based on the Rodrigues rotation formula.

[0083] Since the obtained two-dimensional projection plane forms an angle with the world coordinate system of the three-dimensional model, the rotation angle θ and the rotation axis k can be obtained based on the normal vector n of the projection plane and the z-axis direction vector z of the world coordinate system:

[0084] ;

[0085] ;

[0086] According to the Rodrigues rotation formula, the rotation matrix R can be obtained as:

[0087] ;

[0088] in, is the identity matrix, S k To spin the rotor:

[0089] ;

[0090] Step 101 - 3 : multiply the point cloud matrix of the three-dimensional model representing the hip ball and the point cloud matrix of the three-dimensional model representing the acetabulum by the transformation matrix.

[0091] If the point cloud matrix of the 3D model is Said that Multiplying by the transformation matrix, the three-dimensional model is projected onto the two-dimensional projection plane. The formula is as follows:

[0092] .

[0093] Among them, r represents the point cloud matrix The rth element in ; A set of points representing two-dimensional scattered points in a two-dimensional projective plane.

[0094] In an embodiment of the present invention, the three-dimensional model is projected onto a two-dimensional projection plane to achieve the purpose of dimensionality reduction. The acetabulum coverage rate is subsequently calculated based on the two-dimensional projection plane, which can greatly reduce the amount of calculation, improve the calculation efficiency of the acetabulum coverage rate, and realize real-time calculation of the acetabulum coverage rate.

[0095] Step 102: Determine a first boundary of a projection area of ​​the hip ball and a second boundary of an overlapping area of ​​projections of the hip ball and acetabulum in a two-dimensional projection plane.

[0096] In one embodiment, when determining the first boundary, for the two-dimensional scattered points with the same vertical coordinate contained in the first point set, the two-dimensional scattered point with the minimum horizontal coordinate is determined as the first left boundary point of the hip ball projection area, and the two-dimensional scattered point with the maximum horizontal coordinate is determined as the first right boundary point of the hip ball projection area. The first boundary is determined based on the first left boundary point and the first right boundary point, that is, the set of the first left boundary point and the first right boundary point is the point set of the first boundary.

[0097] The first point set is a collection of two-dimensional scattered points representing the projection of the three-dimensional model representing the hip ball onto the two-dimensional projection plane. The point clouds representing the hip ball and acetabulum can be annotated separately in the three-dimensional model, thereby determining the point sets representing the projection area of ​​the hip ball and the point sets representing the projection area of ​​the acetabulum in the two-dimensional projection plane.

[0098] The following combination Figure 3 The process of determining the first boundary is further explained. For example, in the figure, Pa~Pd are two-dimensional scattered points with the same vertical coordinate, among which, among the four two-dimensional scattered points, the horizontal coordinate of Pa is the minimum, then Pa is determined as the first left boundary point; in the figure, Pe~Pg are two-dimensional scattered points with the same vertical coordinate, among which, among the three two-dimensional scattered points, the horizontal coordinate of Pe is the minimum, then Pe is determined as the first left boundary point; and so on, all the first left boundary points in the two-dimensional projection plane can be determined. Similarly, all the first right boundary points can be determined. The area surrounded by all the first left boundary points and all the first right boundary points is the hip ball projection area. The first boundary of the hip ball projection area can be determined based on the first left boundary point and the first right boundary point. The curve L in the figure P1 Indicates part of the first boundary. In addition to the two-dimensional scattered points Pa~Pg, the unlabeled points in the figure also represent two-dimensional scattered points.

[0099] In one embodiment, when determining the first boundary, for the two-dimensional scattered points with the same horizontal coordinate included in the first point set, the two-dimensional scattered point with the smallest vertical coordinate is determined as the first lower boundary point of the hip ball projection area, and the two-dimensional scattered point with the largest horizontal coordinate is determined as the first upper boundary point of the hip ball projection area. The first boundary is then determined based on the first lower boundary point and the first upper boundary point. In other words, the set of the first upper boundary point and the first lower boundary point is the point set of the first boundary.

[0100] In one embodiment, when determining the second boundary, a third set of two-dimensional scattered points representing the projection overlap area is first determined, and then the second boundary of the projection overlap area is determined.

[0101] The projection overlap area is the overlap area between the projection area of ​​the hip ball and the projection area of ​​the acetabulum in the two-dimensional projection plane. The point set of the two-dimensional scattered points representing the overlap area should meet the following conditions:

[0102] (a) The point set in the hip sphere projection area is a proper subset of the point set in the hip joint projection area;

[0103] (b) The points of the hip joint are located within the hip ball.

[0104] In one implementation, when determining the third set, for the two-dimensional scattered points in the first point set that have the same ordinate, the set of two-dimensional scattered points whose abscissas are greater than or equal to a minimum value and less than or equal to a maximum value and that also belong to the second point set is determined as the third point set representing the projection overlap region. The second point set is the set of two-dimensional scattered points representing the projection of the three-dimensional model of the acetabulum onto the two-dimensional projection plane.

[0105] The third point set is expressed as follows:

[0106] ;

[0107] in, represents the third point set; Represents a two-dimensional scattered point with ordinate i and abscissa j in the third point set; Represents the minimum value of the abscissa among all two-dimensional scattered points with abscissa j in the first set; Represents the maximum value of the abscissa among all two-dimensional scattered points with abscissa j in the first set; Represents the second set.

[0108] In one implementation, when determining the third set, for the two-dimensional scattered points with the same horizontal coordinate included in the first point set, a set of two-dimensional scattered points whose vertical coordinates are greater than or equal to the minimum value and less than or equal to the maximum value and which belong to the second point set is determined as the third point set representing the projection overlapping area.

[0109] In one embodiment, when determining the second boundary of the projection overlap area, for the two-dimensional scattered points with the same vertical coordinate included in the third point set, the two-dimensional scattered point with the minimum horizontal coordinate is determined as the second left boundary point of the projection overlap area, and the two-dimensional scattered point with the maximum horizontal coordinate is determined as the second right boundary point of the projection overlap area, and the second boundary is determined based on the second left boundary point and the second right boundary point.

[0110] In one embodiment, when determining the second boundary of the projection overlap area, for the two-dimensional scattered points with the same horizontal coordinate included in the third point set, the two-dimensional scattered point with the minimum vertical coordinate is determined as the second lower boundary point of the projection overlap area, and the two-dimensional scattered point with the maximum horizontal coordinate is determined as the second upper boundary point of the projection overlap area, and the second boundary is determined based on the second lower boundary point and the second upper boundary point.

[0111] In the process of determining the second boundary, due to the influence of point density, see Figure 3 , since the point set density is not high, the boundary L of the third point set P3 P3 and the boundary L of the first point set P1 P1 They do not overlap, but are located inside the first point set P1. Therefore, in one embodiment, the second boundary is also optimized, specifically:

[0112] After the third point set is determined, for the two-dimensional scattered points with the same vertical coordinate in the two-dimensional projection plane: if the minimum value of the horizontal coordinate of the two-dimensional scattered points belonging to the second point set is less than or equal to the minimum value of the two-dimensional scattered points belonging to the first point set, then the two-dimensional scattered point with the minimum horizontal coordinate in the third point set is determined as the second left boundary point of the projection overlap area; otherwise, the two-dimensional scattered point with the minimum horizontal coordinate in the second point set is determined as the second left boundary point of the projection overlap area.

[0113] Similarly, for two-dimensional scattered points with the same ordinate in the two-dimensional projection plane: if the maximum value of the abscissa of the two-dimensional scattered points belonging to the first point set is less than or equal to the maximum value of the two-dimensional scattered points belonging to the second point set, then the two-dimensional scattered point with the maximum abscissa in the third point set is determined as the second right boundary point of the projection overlap area; otherwise, the two-dimensional scattered point with the maximum abscissa in the second point set is determined as the second right boundary point of the projection overlap area;

[0114] The pseudo code is as follows:

[0115]

[0116]

[0117]

[0118]

[0119] end

[0120]

[0121]

[0122]

[0123]

[0124] end

[0125] in, Represents the minimum value of the abscissa of all two-dimensional scattered points with ordinate i in the second point set; Represents the minimum value of the abscissa of all two-dimensional scattered points with ordinate i in the first point set; It represents the minimum value of the abscissa of all two-dimensional scattered points with ordinate i in the third point set; Indicates the maximum value of the abscissa of all two-dimensional scattered points with ordinate i in the second point set; Indicates the maximum value of the abscissa of all two-dimensional scattered points with ordinate i in the first point set; It represents the maximum value of the abscissa of all two-dimensional scattered points with ordinate i in the third point set.

[0126] In the embodiment of the present invention, after the second boundary is optimized, the interference caused by the excessively large scatter point interval is reduced, the accuracy of second boundary recognition can be improved, and the robustness of the two-dimensional image area calculation can be improved.

[0127] Step 103: Calculate a first area of ​​the hip ball projection region based on the first boundary, and calculate a second area of ​​the projection overlap region based on the second boundary.

[0128] In one embodiment, when calculating the first area, an integration operation is performed on the function representing the first boundary along the x-axis, and the result of the integration operation is determined as the first area. The calculation formula is as follows:

[0129] ;

[0130] The function that characterizes the first boundary can be obtained by, but is not limited to, fitting the first left boundary point and the first right boundary point. In the case of irregular boundary points, Characterized by at least two sub-functions, taking the function of the first boundary obtained by fitting the first left boundary point and the first right boundary point as an example, = , the area calculation formula is as follows:

[0131] ;

[0132] in, represents the sub-function obtained by fitting based on the first right boundary point, Represents the sub-function obtained by fitting based on the first left boundary point; [ , ] is the value range of x, which is determined by the maximum and minimum values ​​of the horizontal coordinates of the two-dimensional scattered points in the first point set.

[0133] In one embodiment, when calculating the first area, the function representing the first boundary is integrated along the y-axis, and the result of the integration operation is determined as the first area. The area calculation formula is as follows:

[0134] ;

[0135] The function that characterizes the first boundary can be obtained by, but is not limited to, fitting the first upper boundary point and the first lower boundary point. In the case of irregular boundary points, Characterized by at least two sub-functions, taking the function of the first boundary obtained by fitting the first upper boundary point and the first lower boundary point as an example, = , the area calculation formula is as follows:

[0136] ;

[0137] in, represents the sub-function obtained by fitting based on the first upper boundary point, represents the sub-function obtained by fitting based on the first lower boundary point; [ , ] is the value range of y, which is determined by the maximum and minimum values ​​of the vertical coordinates of the two-dimensional scattered points in the first point set.

[0138] In one embodiment, when calculating the first area, the function representing the first boundary is integrated along the x-axis to obtain a first integration operation result S1; the function representing the first boundary is integrated along the y-axis to obtain a second integration operation result S2; the weighted result of the first integration operation result and the second integration operation result is determined as the first area. The formula is as follows:

[0139] ;

[0140] in, 、 They are The calculation method of S1 and S2 refers to the above embodiment and will not be repeated here. 、 You can set it according to the actual situation, for example, set it to 0.5.

[0141] In one embodiment, a sliding window is used to intercept multiple first sliders within the hip ball projection area, and the area of ​​each first slider is calculated based on the first boundary within each first slider. The weighted average of the areas of each first slider is then determined as the first area. The area of ​​each first slider can be calculated using any of the aforementioned methods for calculating the first area, that is, the area of ​​each first slider can be obtained by integrating the first boundary within each first slider along the x-axis, the area of ​​each first slider can be obtained by integrating the first boundary within each first slider along the y-axis, or the area of ​​each first slider can be obtained by weighting the results of the two integration operations.

[0142] In one embodiment, the first area is calculated according to the following formula:

[0143] ;

[0144] ;

[0145] in, It represents the maximum value of the abscissa of the two-dimensional scattered point with ordinate i in the hip sphere projection area; represents the minimum value of the abscissa of the two-dimensional scattered point with ordinate i in the hip sphere projection area; a and b are determined according to the first boundary; Indicates the Y-axis coordinate value; Indicates the size of the moving window.

[0146] In the embodiment of the present invention, the continuous terms are discretized to avoid the need to perform data interpolation and fitting on the extracted boundary point set after the boundary point set is determined, which can greatly reduce the complexity of the calculation and improve the calculation accuracy.

[0147] In one embodiment, the first slider of the hip ball projection area D is integrated along y, and the area of ​​the hip ball projection area D is expressed as:

[0148] ;

[0149] ;

[0150] Discretizing the continuous terms yields:

[0151] ;

[0152] ;

[0153] Where a and b are the lower and upper bounds of the hip sphere projection area D in the Y-axis direction respectively; Characterizes the size of the sliding window. Indicates the moving step size of the sliding window; , are respectively the maximum and minimum values ​​of the abscissa of the two-dimensional scattered point with ordinate i in the hip sphere projection area D.

[0154] You can set it according to the actual situation. Figure 4 , the horizontal axis in the figure is (unit 0.01), the vertical axis is the calculation error of acetabular coverage (unit %). After testing, it is known that when When the value range of is 0.8~1.2, the calculated area is relatively stable and accurate.

[0155] You can set it according to the actual situation, for example The value range of is set to 0.01~0.1; after testing, it is known that the results of m being 0.1 and 0.01 are not much different. In order to shorten the calculation time, m=0.1 is taken.

[0156] In another implementation, the first slider of the hip sphere projection area D is integrated along y, and the area of ​​the hip sphere projection area D is expressed as:

[0157] ;

[0158] ;

[0159] Discretizing the continuous terms yields:

[0160] ;

[0161] .

[0162] are the maximum and minimum values ​​of the abscissa of the two-dimensional scattered points with abscissa j in the hip sphere projection area D, respectively.

[0163] Calculating the first area based on a sliding window ensures the stability of the calculation results. Discretizing continuous terms avoids the need to interpolate and fit the data after determining the boundary point set, significantly reducing the complexity of the calculation and improving the accuracy.

[0164] In one embodiment, when calculating the second area, the function representing the second boundary is integrated along the x-axis, and the result of the integration operation is determined as the second area. The specific implementation process is similar to that of calculating the first area and will not be repeated here.

[0165] In one embodiment, when calculating the second area, the function representing the second boundary is integrated along the y-axis, and the result of the integration operation is determined as the second area. The specific implementation process is similar to that of calculating the first area and will not be repeated here.

[0166] In one embodiment, when calculating the second area, the function representing the second boundary is integrated along the x-axis to obtain a third integral result; the function representing the second boundary is integrated along the y-axis to obtain a fourth integral result; and the weighted sum of the third integral result and the fourth integral result is determined as the second area. The specific implementation process is similar to that for calculating the first area and is not further described here.

[0167] In one embodiment, the second area is calculated according to the following formula: :

[0168] ;

[0169] ;

[0170] in, Indicates the maximum value of the abscissa of the two-dimensional scattered point with ordinate i in the overlapping projection area; Indicates the minimum value of the abscissa of the two-dimensional scattered point with ordinate i in the overlapping projection area; and Determined according to the second boundary; y i Represents the y-axis coordinate value; δ represents the size of the moving sliding window.

[0171] In one embodiment, a sliding window is used to intercept multiple second sliders within the hip ball projection area, and the area of ​​each second slider is calculated based on the second boundary within each second slider, and the weighted average of the areas of each second slider is determined as the second area. The area of ​​each second slider can be calculated using any two of the above-mentioned methods for calculating the second area, that is, the area of ​​each second slider can be obtained by integrating the second boundary within each second slider along the x-axis, the area of ​​each second slider can be obtained by integrating the second boundary within each second slider along the y-axis, or the area of ​​each second slider can be obtained by weighting the results of the two integration operations. The specific implementation process is similar to that of calculating the first area and will not be repeated here.

[0172] Step 104: Determine the percentage of the ratio of the second area to the first area as the acetabulum coverage rate.

[0173] The calculation formula of acetabular coverage is as follows:

[0174] ;

[0175] in, Indicates the first side; represents the second area; represents the acetabular coverage.

[0176] The acetabulum coverage rate determination method provided in an embodiment of the present invention is used to calculate the acetabulum coverage rate by simulating hip ball projections with radii of R=25mm, R=27mm, and R=30mm in different two-dimensional projection planes and at different relative positions of the hip ball and acetabulum. The calculation error of the acetabulum coverage rate is shown in the following table.

[0177]

[0178] Among them, ERR1 represents the percentage error of the calculation result obtained by using the existing technology to calculate the acetabulum coverage rate, and ERR2 is the percentage error calculated by sampling the acetabulum coverage rate determination method provided in the embodiment of the present invention. Based on the above table, the average value, variance, and maximum value of ERR1 are 0.32, 0.46, and 1.15, respectively, and the average value, variance, and maximum value of ERR2 are 0.03, 0.15, and 0.46, respectively. The average value, variance, and maximum value of ERR2 are all smaller than the corresponding average value, variance, and maximum value of ERR1, indicating that the accuracy and stability of the acetabulum coverage rate determination method provided in the embodiment of the present invention are good.

[0179] Figure 5 A flowchart of a surgical navigation method provided by an exemplary embodiment of the present invention, the surgical navigation method comprising the following steps:

[0180] Step 501: Acquire a three-dimensional model that is co-registered with the patient's hip ball and acetabulum.

[0181] Linked registration means that when the patient's posture changes, causing the relative position of the hip ball and acetabulum to change, the corresponding relative positions of the hip ball and acetabulum in the 3D model will also change. Linked registration of 3D models can be achieved using related technologies, such as deploying trackers on the hip ball and / or acetabulum. The specific implementation process is not detailed here.

[0182] Step 502: Calculate the acetabulum coverage of the three-dimensional model.

[0183] The acetabulum coverage of the three-dimensional model is calculated using the acetabulum coverage determination method provided in any of the above embodiments.

[0184] Step 503: Display the acetabulum coverage rate.

[0185] The acetabular coverage is displayed to facilitate medical staff to perform periacetabular osteotomy based on the acetabular coverage.

[0186] In this embodiment of the present invention, acetabular coverage can be calculated in real time with high accuracy, providing guidance to medical personnel during periacetabular osteotomy surgery. Furthermore, there is no need to capture real-time medical images of the patient during surgery, which can reduce the radiation dose to the patient during surgery.

[0187] Corresponding to the aforementioned embodiments of the method for determining acetabular coverage and the surgical navigation method, the present invention also provides embodiments of an apparatus for determining acetabular coverage and a surgical navigation apparatus.

[0188] Figure 6 A schematic diagram of a module of a device for determining acetabulum coverage provided by an exemplary embodiment of the present invention, the device comprising:

[0189] A projection module 61 is used to project the three-dimensional model including the hip ball and acetabulum onto a two-dimensional projection plane;

[0190] a boundary determination module 62, configured to respectively determine a first boundary of a projection area of ​​the hip ball and a second boundary of an overlapping area of ​​projections of the hip ball and the acetabulum in the two-dimensional projection plane;

[0191] a calculation module 63, configured to calculate a first area of ​​the hip ball projection region based on the first boundary, and calculate a second area of ​​the projection overlap region based on the second boundary;

[0192] The result determination module 64 is configured to determine the percentage of the ratio of the first area to the second area as the acetabulum coverage rate.

[0193] Optionally, projecting the three-dimensional model including the hip ball and acetabulum onto a two-dimensional projection plane includes:

[0194] Determine the normal vector of the two-dimensional projection plane;

[0195] Calculate the transformation matrix from the coordinate system of the three-dimensional model to the coordinate system of the two-dimensional projection plane according to the normal vector and based on the Rodrigues rotation formula;

[0196] The point cloud matrix representing the three-dimensional model of the hip ball and the point cloud matrix representing the three-dimensional model of the acetabulum are both multiplied by the transformation matrix.

[0197] Optionally, when determining the first boundary of the hip ball projection area in the two-dimensional projection plane, the boundary determination module is configured to:

[0198] For the two-dimensional scattered points with the same vertical coordinate contained in the first point set, the two-dimensional scattered point with the minimum horizontal coordinate is determined as the first left boundary point of the hip ball projection area, and the two-dimensional scattered point with the maximum horizontal coordinate is determined as the first right boundary point of the hip ball projection area, and the first boundary is determined according to the first left boundary point and the first right boundary point; wherein, the first point set is a collection of two-dimensional scattered points representing the three-dimensional model of the hip ball projected onto the two-dimensional projection plane;

[0199] Alternatively, for the two-dimensional scattered points with the same horizontal coordinate included in the first point set, the two-dimensional scattered point with the minimum vertical coordinate is determined as the first lower boundary point of the hip ball projection area, and the two-dimensional scattered point with the maximum vertical coordinate is determined as the first upper boundary point of the hip ball projection area, and the first boundary is determined according to the first lower boundary point and the first upper boundary point;

[0200] The first point set is a set of two-dimensional scattered points projected onto the two-dimensional projection plane from the three-dimensional model representing the hip ball.

[0201] Optionally, when determining the second boundary of the projection overlapping area, the boundary determination module is configured to:

[0202] For the two-dimensional scattered points with the same ordinate included in the first point set, a set of two-dimensional scattered points whose abscissas are greater than or equal to a minimum value and less than or equal to a maximum value and which belong to the second point set is determined as a third point set representing the projection overlap area; wherein the second point set is a set of two-dimensional scattered points representing the three-dimensional model of the acetabulum projected onto the two-dimensional projection plane;

[0203] For the two-dimensional scattered points with the same ordinate included in the third point set, the two-dimensional scattered point with the minimum abscissa is determined as the second left boundary point of the projected overlapping area, and the two-dimensional scattered point with the maximum abscissa is determined as the second right boundary point of the projected overlapping area, and the second boundary is determined based on the second left boundary point and the second right boundary point; or, for the two-dimensional scattered points with the same abscissa included in the third point set, the two-dimensional scattered point with the minimum ordinate is determined as the second lower boundary point of the projected overlapping area, and the two-dimensional scattered point with the maximum ordinate is determined as the second upper boundary point of the projected overlapping area, and the second boundary is determined based on the second lower boundary point and the second upper boundary point.

[0204] Optionally, when determining the second boundary of the projection overlapping area, the boundary determination module is configured to:

[0205] Determining a third point set in the two-dimensional projection plane representing the projection overlapping area;

[0206] For two-dimensional scattered points with the same ordinate in the two-dimensional projection plane, if the minimum value of the abscissa of the two-dimensional scattered points belonging to the second point set is less than or equal to the minimum value of the two-dimensional scattered points belonging to the first point set, then the two-dimensional scattered point with the minimum abscissa in the third point set is determined as the second left boundary point of the projection overlap area; otherwise, the two-dimensional scattered point with the minimum abscissa in the second point set is determined as the second left boundary point of the projection overlap area; if the maximum value of the abscissa of the two-dimensional scattered points belonging to the first point set is less than or equal to the maximum value of the two-dimensional scattered points belonging to the second point set, then the two-dimensional scattered point with the maximum abscissa in the third point set is determined as the second right boundary point of the projection overlap area; otherwise, the two-dimensional scattered point with the maximum abscissa in the second point set is determined as the second right boundary point of the projection overlap area;

[0207] The second boundary is determined according to the second left boundary point and the second right boundary point.

[0208] Optionally, when calculating the first area of ​​the hip ball projection area based on the first boundary, the calculation module is configured to:

[0209] performing an integration operation on the function representing the first boundary along the x-axis, and determining a result of the integration operation as the first area;

[0210] Alternatively, performing an integration operation on the function representing the first boundary along the y-axis, and determining a result of the integration operation as the first area;

[0211] Alternatively, performing an integration operation on the function representing the first boundary along the x-axis to obtain a first integration operation result; performing an integration operation on the function representing the first boundary along the y-axis to obtain a second integration operation result; and determining a weighted sum of the first integration operation result and the second integration operation result as the first area;

[0212] Alternatively, the first area is calculated according to the following formula:

[0213] ;

[0214] ;

[0215] in, represents the first area; It represents the maximum value of the abscissa of the two-dimensional scattered point with ordinate i in the hip sphere projection area; represents the minimum value of the horizontal coordinate of the two-dimensional scattered point with the vertical coordinate i in the hip sphere projection area; a and b are determined according to the first boundary; y i Indicates the y-axis coordinate value;

[0216] When calculating the second area of ​​the projection overlapping region based on the second boundary, the calculation module is used to:

[0217] performing an integration operation on the function representing the second boundary along the x-axis, and determining a result of the integration operation as the second area;

[0218] Alternatively, performing an integration operation on the function representing the second boundary along the y-axis, and determining a result of the integration operation as the second area;

[0219] Alternatively, performing an integration operation on the function representing the second boundary along the x-axis to obtain a third integration operation result; performing an integration operation on the function representing the second boundary along the y-axis to obtain a fourth integration operation result; and determining a weighted result of the third integration operation result and the fourth integration operation result as the second area;

[0220] Alternatively, the second area is calculated according to the following formula:

[0221] ;

[0222] ;

[0223] in, Indicates the maximum value of the abscissa of the two-dimensional scattered point with ordinate i in the overlapping projection area; Indicates the minimum value of the abscissa of the two-dimensional scattered point with ordinate i in the overlapping projection area; and Determined according to the second boundary; y i Represents the y-axis coordinate value; δ represents the size of the moving sliding window.

[0224] Optionally, when calculating the first area of ​​the hip ball projection area based on the first boundary, the calculation module is configured to:

[0225] Using a sliding window to intercept a plurality of first sliders within the hip ball projection area;

[0226] calculating the area of ​​each first slider based on the first boundary within each first slider, and determining a weighted average result of the areas of each first slider as the first area;

[0227] And / or, the second boundary calculates the second area of ​​the hip ball projection area, including:

[0228] Using a sliding window to intercept a plurality of second sliders within the hip ball projection area;

[0229] The area of ​​each second slider is calculated based on the second boundary within each second slider, and a weighted average result of the areas of each second slider is determined as the second area.

[0230] Figure 7 This is a module diagram of a surgical navigation device provided by an exemplary embodiment of the present invention, the surgical navigation device comprising:

[0231] An acquisition module 71 is used to acquire a three-dimensional model that is co-registered with the patient's hip ball and acetabulum;

[0232] a calculation module 72, configured to execute the method for determining acetabulum coverage provided in any of the above embodiments to calculate the acetabulum coverage of the three-dimensional model;

[0233] The display module 73 is used to display the acetabulum coverage rate.

[0234] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present invention. A person of ordinary skill in the art can understand and implement the present invention without inventive work.

[0235] Figure 8 This is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention, showing a block diagram of an exemplary electronic device 80 suitable for implementing the embodiments of the present invention. Figure 8 The electronic device 80 shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0236] like Figure 8 As shown, the electronic device 80 may be a general-purpose computing device, such as a server device. Components of the electronic device 80 may include, but are not limited to, the at least one processor 81, the at least one memory 82, and a bus 83 connecting different system components (including the memory 82 and the processor 81).

[0237] The bus 83 includes a data bus, an address bus, and a control bus.

[0238] The memory 82 may include a volatile memory, such as a random access memory (RAM) 821 and / or a cache memory 822 , and may further include a read-only memory (ROM) 823 .

[0239] The memory 82 may also include a program tool 825 (or utility) having a set (at least one) of program modules 824, such program modules 824 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0240] The processor 81 executes various functional applications and data processing by running the computer program stored in the memory 82, such as the method provided in any of the above embodiments.

[0241] The electronic device 80 can also communicate with one or more external devices 84 (e.g., a keyboard, pointing device, etc.). This communication can occur via an input / output (I / O) interface 85. Furthermore, the model-generating electronic device 80 can also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 86. As shown, the network adapter 86 communicates with other modules of the model-generating electronic device 80 via a bus 83. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the model-generating electronic device 80, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID (RAID) systems, tape drives, and data backup storage systems.

[0242] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more units / modules described above may be embodied in a single unit / module. Conversely, the features and functions of a single unit / module described above may be further divided and embodied by multiple units / modules.

[0243] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method provided in any of the above embodiments is implemented.

[0244] The readable storage medium may include, but is not limited to, a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0245] In a possible implementation manner, the embodiment of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute a method for implementing any of the above embodiments.

[0246] The program code for executing the present invention may be written in any combination of one or more programming languages, and may be executed entirely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or entirely on the remote device.

[0247] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A method for determining acetabulum coverage, characterized in that: include: Projecting the three-dimensional model including the hip ball and acetabulum onto a two-dimensional projection plane; respectively determining a first boundary of a projection area of ​​the hip ball and a second boundary of an overlapping area of ​​projections of the hip ball and the acetabulum in the two-dimensional projection plane; Calculating a first area of ​​the hip ball projection region based on the first boundary, and calculating a second area of ​​the projection overlap region based on the second boundary; determining the acetabular coverage as a percentage of a ratio of the first area to the second area; Projecting the 3D model containing the hip ball and acetabulum onto a 2D projection plane includes: Determine the normal vector of the two-dimensional projection plane; Calculate the transformation matrix from the coordinate system of the three-dimensional model to the coordinate system of the two-dimensional projection plane according to the normal vector and based on the Rodrigues rotation formula; The point cloud matrix representing the three-dimensional model of the hip ball and the point cloud matrix representing the three-dimensional model of the acetabulum are both multiplied by the transformation matrix.

2. The method for determining acetabulum coverage according to claim 1, wherein: Determining a first boundary of a hip ball projection area in the two-dimensional projection plane includes: For the two-dimensional scattered points with the same vertical coordinate contained in the first point set, the two-dimensional scattered point with the minimum horizontal coordinate is determined as the first left boundary point of the hip ball projection area, and the two-dimensional scattered point with the maximum horizontal coordinate is determined as the first right boundary point of the hip ball projection area, and the first boundary is determined according to the first left boundary point and the first right boundary point; wherein, the first point set is a collection of two-dimensional scattered points representing the three-dimensional model of the hip ball projected onto the two-dimensional projection plane; Alternatively, for the two-dimensional scattered points with the same horizontal coordinate included in the first point set, the two-dimensional scattered point with the minimum vertical coordinate is determined as the first lower boundary point of the hip ball projection area, and the two-dimensional scattered point with the maximum vertical coordinate is determined as the first upper boundary point of the hip ball projection area, and the first boundary is determined according to the first lower boundary point and the first upper boundary point; The first point set is a set of two-dimensional scattered points projected onto the two-dimensional projection plane from the three-dimensional model representing the hip ball.

3. The method for determining acetabulum coverage according to claim 1, wherein: Determining a second boundary of the projection overlapping area includes: For the two-dimensional scattered points with the same ordinate included in the first point set, a set of two-dimensional scattered points whose abscissas are greater than or equal to a minimum value and less than or equal to a maximum value and which belong to the second point set is determined as a third point set representing the projection overlap area; wherein the second point set is a set of two-dimensional scattered points representing the three-dimensional model of the acetabulum projected onto the two-dimensional projection plane; For the two-dimensional scattered points with the same ordinate included in the third point set, the two-dimensional scattered point with the minimum abscissa is determined as the second left boundary point of the projected overlapping area, and the two-dimensional scattered point with the maximum abscissa is determined as the second right boundary point of the projected overlapping area, and the second boundary is determined based on the second left boundary point and the second right boundary point; or, for the two-dimensional scattered points with the same abscissa included in the third point set, the two-dimensional scattered point with the minimum ordinate is determined as the second lower boundary point of the projected overlapping area, and the two-dimensional scattered point with the maximum ordinate is determined as the second upper boundary point of the projected overlapping area, and the second boundary is determined based on the second lower boundary point and the second upper boundary point.

4. The method for determining acetabulum coverage according to claim 1, wherein: Determining a second boundary of the projection overlapping area includes: Determining a third point set in the two-dimensional projection plane representing the projection overlapping area; For two-dimensional scattered points with the same ordinate in the two-dimensional projection plane, if the minimum value of the abscissa of the two-dimensional scattered points belonging to the second point set is less than or equal to the minimum value of the two-dimensional scattered points belonging to the first point set, then the two-dimensional scattered point with the minimum abscissa in the third point set is determined as the second left boundary point of the projection overlap area; otherwise, the two-dimensional scattered point with the minimum abscissa in the second point set is determined as the second left boundary point of the projection overlap area; if the maximum value of the abscissa of the two-dimensional scattered points belonging to the first point set is less than or equal to the maximum value of the two-dimensional scattered points belonging to the second point set, then the two-dimensional scattered point with the maximum abscissa in the third point set is determined as the second right boundary point of the projection overlap area; otherwise, the two-dimensional scattered point with the maximum abscissa in the second point set is determined as the second right boundary point of the projection overlap area; The second boundary is determined according to the second left boundary point and the second right boundary point.

5. The method for determining acetabulum coverage according to claim 1, wherein: Calculating a first area of ​​the hip sphere projection region based on the first boundary includes: performing an integration operation on the function representing the first boundary along the x-axis, and determining a result of the integration operation as the first area; Alternatively, performing an integration operation on the function representing the first boundary along the y-axis, and determining a result of the integration operation as the first area; Alternatively, performing an integration operation on the function representing the first boundary along the x-axis to obtain a first integration operation result; performing an integration operation on the function representing the first boundary along the y-axis to obtain a second integration operation result; and determining a weighted sum of the first integration operation result and the second integration operation result as the first area; Alternatively, the first area is calculated according to the following formula: ； ； in, represents the first area; It represents the maximum value of the abscissa of the two-dimensional scattered point with ordinate i in the hip sphere projection area; represents the minimum value of the horizontal coordinate of the two-dimensional scattered point with the vertical coordinate i in the hip sphere projection area; a and b are determined according to the first boundary; y i Indicates the y-axis coordinate value; Calculating a second area of ​​the projected overlapping region based on the second boundary includes: performing an integration operation on the function representing the second boundary along the x-axis, and determining a result of the integration operation as the second area; Alternatively, performing an integration operation on the function representing the second boundary along the y-axis, and determining a result of the integration operation as the second area; Alternatively, performing an integration operation on the function representing the second boundary along the x-axis to obtain a third integration operation result; performing an integration operation on the function representing the second boundary along the y-axis to obtain a fourth integration operation result; and determining a weighted result of the third integration operation result and the fourth integration operation result as the second area; Alternatively, the second area is calculated according to the following formula: ； ； in, Indicates the maximum value of the abscissa of the two-dimensional scattered point with ordinate i in the overlapping projection area; Indicates the minimum value of the abscissa of the two-dimensional scattered point with ordinate i in the overlapping projection area; and Determined according to the second boundary; y i Represents the y-axis coordinate value; δ represents the size of the moving sliding window.

6. The method for determining acetabulum coverage according to any one of claims 1 to 5, characterized in that: The first boundary calculates a first area of ​​the hip sphere projection region, comprising: Using a sliding window to intercept a plurality of first sliders within the hip ball projection area; calculating the area of ​​each first slider based on the first boundary within each first slider, and determining a weighted average result of the areas of each first slider as the first area; And / or, the second boundary calculates the second area of ​​the hip ball projection area, including: Using a sliding window to intercept a plurality of second sliders within the hip ball projection area; The area of ​​each second slider is calculated based on the second boundary within each second slider, and a weighted average result of the areas of each second slider is determined as the second area.

7. A surgical navigation method, characterized in that: include: Obtain a three-dimensional model that is co-registered with the patient's hip ball and acetabulum; Calculating the acetabulum coverage of the three-dimensional model using the acetabulum coverage determination method according to any one of claims 1 to 6; The acetabular coverage is shown; the acetabular coverage is used for surgical navigation.

8. A device for determining acetabulum coverage, characterized in that: include: A projection module, used for projecting the three-dimensional model including the hip ball and the acetabulum onto a two-dimensional projection plane; Projecting a three-dimensional model including a hip ball and an acetabulum onto a two-dimensional projection plane, including: determining a normal vector of the two-dimensional projection plane; calculating a transformation matrix from a coordinate system of the three-dimensional model to a coordinate system of the two-dimensional projection plane according to the normal vector and based on a Rodrigues rotation formula; multiplying a point cloud matrix of the three-dimensional model representing the hip ball and a point cloud matrix of the three-dimensional model representing the acetabulum by the transformation matrix; a boundary determination module, configured to respectively determine a first boundary of a projection area of ​​the hip ball and a second boundary of an overlapping area of ​​projections of the hip ball and the acetabulum in the two-dimensional projection plane; a calculation module, configured to calculate a first area of ​​the hip ball projection region based on the first boundary, and calculate a second area of ​​the projection overlap region based on the second boundary; A result determination module is configured to determine a percentage of a ratio of the first area to the second area as the acetabulum coverage rate.

9. A surgical navigation device, characterized in that: include: An acquisition module, for acquiring a three-dimensional model that is co-registered with the patient's hip ball and acetabulum; a calculation module, configured to execute the method for determining acetabulum coverage according to any one of claims 1 to 6 to calculate the acetabulum coverage of the three-dimensional model; A display module is used to display the acetabulum coverage rate; the acetabulum coverage rate is used for surgical navigation.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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