Joint gap balance estimation method, device, computer equipment, and storage medium

Abstract

This application relates to a method, apparatus, computer device, storage medium, and computer program product for estimating joint space balance. The method includes: acquiring the pressure on the joint when a target moves at an arbitrary angle; the pressure includes medial pressure and lateral pressure; calculating the movement angle value based on the target's position; establishing a correspondence between the pressure and the movement angle value; and analyzing the correspondence to obtain the joint space balance result. This method can accurately evaluate the joint space balance result.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a method, apparatus, computer device, storage medium, and computer program product for estimating joint space balance. Background Art

[0002] Studies have shown that an increasing number of patients with severe knee osteoarthritis require total knee replacement surgery. One of the key aspects of a successful total knee replacement surgery is achieving good joint space balance; therefore, joint space balance is an important indicator for evaluating the success of total knee replacement surgery.

[0003] Traditional techniques often only assess the knee joint gap distance by measuring or visually measuring the pressure values ​​on the inner and outer sides of the knee joint at knee flexion angles of approximately 0, 45, and 90 degrees. This approach cannot effectively and accurately measure the balance of the gap. Summary of the Invention

[0004] Therefore, it is necessary to provide a joint space balance estimation method, apparatus, computer equipment, computer-readable storage medium, and computer program product that can accurately evaluate the joint space balance results in response to the above-mentioned technical problems.

[0005] Firstly, this application provides a method for estimating joint space balance. The method includes:

[0006] The pressure on the joints is obtained when the target moves at any angle; the pressure includes medial pressure and lateral pressure.

[0007] The activity angle value is calculated based on the position of the target.

[0008] Based on the pressure and the angle of motion value, establish a correspondence between the pressure and the angle of motion value;

[0009] The correspondence is analyzed to obtain the gap balance result of the joint.

[0010] In one embodiment, establishing the correspondence between the pressure and the angle of motion based on the pressure and the angle of motion includes:

[0011] Based on the inner pressure, the outer pressure, and the angle of movement, a first correspondence between the inner pressure and the angle of movement and a second correspondence between the outer pressure and the angle of movement are established respectively.

[0012] In one embodiment, the analysis of the correspondence to obtain the joint clearance balance result includes at least one of the following:

[0013] Based on the relationship between the medial pressure and the lateral pressure and the standard pressure range, the joint clearance balance result is obtained; or

[0014] A first trend result is obtained based on the first correspondence and the second correspondence; the gap balance result of the joint is obtained based on the first trend result.

[0015] In one embodiment, establishing a correspondence between the pressure and the angle of motion based on the pressure and the angle of motion includes:

[0016] Calculate the pressure difference between the inner pressure and the outer pressure;

[0017] Establish a third correspondence between the pressure difference and the angle of motion;

[0018] By comparing the pressure difference at the preset active angle, the gap balance result of the joint is obtained.

[0019] In one embodiment, the analysis of the correspondence to obtain the joint clearance balance result includes at least one of the following:

[0020] Based on the third correspondence, the pressure difference corresponding to the preset active angle value is determined, and the joint clearance balance result is obtained based on the pressure difference corresponding to the preset active angle value; or

[0021] Based on the third correspondence, a second trend result is determined regarding the pressure difference and the active angle value; based on the second trend result, the gap balance result of the joint is obtained.

[0022] In one embodiment, the method further includes:

[0023] Obtain the gap distance of the joint under different prosthetic molds;

[0024] Based on the pressure, the angle of movement, and the gap distance, establish the relationship between the changes in pressure, the angle of movement, and the gap distance;

[0025] Based on the aforementioned relationship of change, the gap balance results of the joint under different joint prosthesis trial models are obtained.

[0026] In one embodiment, establishing the relationship between the pressure, the movement angle, and the gap distance based on the pressure, the movement angle value, and the gap distance includes:

[0027] Based on the inner pressure, the outer pressure, the movement angle value, and the gap distance, a first relationship between the inner pressure, the movement angle, and the gap distance, and a second relationship between the outer pressure, the movement angle value, and the gap distance are established respectively.

[0028] In one embodiment, obtaining the joint gap balance result under different joint prosthesis trial models based on the change relationship includes:

[0029] The proportional relationship is obtained based on the first and second change relationships;

[0030] Based on the aforementioned proportional relationship, the joint gap balance results under different joint prosthesis trial models were obtained.

[0031] In one embodiment, calculating the activity angle value based on the target's position includes:

[0032] Obtain the mapping positions of the first target bone and the second target bone;

[0033] The target pose is calculated based on the mapping position information of the first target bone, the mapping position information of the second target bone, and the position of the target.

[0034] The target pose and initial position information are projected to obtain the activity angle value.

[0035] Secondly, this application also provides a joint space balance estimation device. The device includes:

[0036] The pressure measurement module is used to acquire the medial and lateral pressures of the joint when the target moves at any angle;

[0037] The host computer is configured to: calculate the movement angle value based on the position of the target; and establish a correspondence between the pressure and the movement angle value based on the pressure and the movement angle value; and analyze the correspondence to obtain the joint clearance balance result.

[0038] A computer device includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method described above.

[0039] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0040] A computer program product includes a computer program that, when executed by a processor, implements the steps of the method described above.

[0041] The aforementioned joint clearance balance estimation method, apparatus, computer equipment, storage medium, and computer program product involve the server first acquiring the pressure on the joint when the target moves at any angle, calculating the movement angle value based on the target's position, establishing a correspondence between pressure and movement angle values, and finally obtaining the clearance balance result based on this correspondence. Because the server establishes a correspondence between pressure and movement angle values—meaning it can obtain the relationship between any movement angle value and pressure—and evaluate based on this correspondence, the server can combine the movement angle values ​​with the clearance balance result for a more accurate assessment. Furthermore, since the movement angle value is the angle value when the target moves at any angle, the server can obtain the joint clearance balance result at any angle. Attached Figure Description

[0042] Figure 1 This is a diagram illustrating the application environment of the joint gap balance estimation method in one embodiment;

[0043] Figure 2 This is a flowchart illustrating a joint space balance estimation method in one embodiment;

[0044] Figure 3 This is a diagram showing the relationship between knee flexion angle and medial and lateral pressure on the knee joint in one embodiment.

[0045] Figure 4 This is a schematic diagram of the knee joint space after osteotomy in one embodiment.

[0046] Figure 5 This is a diagram showing the relationship between the knee flexion angle and the pressure difference between the inner and outer sides of the knee joint in one embodiment.

[0047] Figure 6 This is a schematic diagram of the joint gap distance in one embodiment;

[0048] Figure 7 This is a graph showing the relationship between the knee flexion angle and the medial knee joint pressure for different trial prostheses in one embodiment.

[0049] Figure 8 This is a graph showing the relationship between the knee flexion angle and the lateral pressure of the knee joint for different trial prostheses in one embodiment.

[0050] Figure 9 This is a schematic diagram of a knee flexion angle measurement scenario in one embodiment;

[0051] Figure 10 A schematic diagram illustrating the steps of joint space balance estimation in one embodiment;

[0052] Figure 11This is a schematic diagram of the osteotomy in one embodiment;

[0053] Figure 12 This is a schematic diagram of the installation of a prosthesis trial mold in one embodiment;

[0054] Figure 13 This is a schematic diagram of switching prosthetic trial models in one embodiment.

[0055] Figure 14 This is a structural block diagram of a joint clearance balance estimation device in one embodiment;

[0056] Figure 15 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0058] The joint space balance estimation method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown includes a server 102, an optical positioning system 104, and a pressure measuring device 106. The pressure measuring device 106 measures the medial and lateral pressures of the joint when the target moves at any angle, and uploads the measured pressures and lateral forces to the server 102. The optical positioning system 104 works in conjunction with the femoral target 108 and the tibial target 110 to acquire the target's position in real time and uploads the target's position to the server 102. The server 102 calculates the movement angle value based on the target's position, and then establishes a correspondence between the pressure and the movement angle value based on the acquired medial and lateral pressures and the movement angle value. Finally, the correspondence is analyzed to obtain the joint gap balance result, thereby achieving an accurate assessment of the joint gap. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0059] In one embodiment, such as Figure 2 As shown, a joint space balance estimation method is provided, which can be applied to... Figure 1 Taking server 102 as an example, the explanation includes the following steps:

[0060] S202, obtain the pressure on the joint when the target moves at any angle; the pressure includes medial pressure and lateral pressure.

[0061] The target refers to a part of a limb, such as a human's lower leg or upper arm, or it can be a part of another organism's limb, such as an animal's lower leg.

[0062] When a target moves at any angle, the pressure on the corresponding joint changes with the angle of movement. A pressure measuring device can detect the pressure on the joint when the target moves at any angle, and then the pressure testing device uploads the acquired inner and outer pressures to a server in real time.

[0063] Optionally, when the target moves at any angle, the pressure measuring device can detect the inner and outer pressures of the joint when the target moves at any angle.

[0064] S204, calculate the active angle value based on the target's position.

[0065] Since the pressure on the joint is obtained when the target moves at any angle, and the value of its movement angle cannot be obtained through visual observation, an optical positioning system is needed to measure the target's position in real time when the target moves and upload the target's position to the server so that the server can calculate the corresponding movement angle value of the target when it moves based on the target's position.

[0066] S206, establish the correspondence between pressure and angle of motion based on pressure and angle of motion values.

[0067] Once the server obtains the pressure and activity angle values, it establishes a correspondence between the pressure and the activity angle values, ensuring a one-to-one correspondence between the activity angle values ​​and the pressure. In other words, the pressure corresponding to any activity angle can be obtained through this correspondence.

[0068] Optionally, combined Figure 3 As shown, Figure 3 This is a diagram showing the relationship between knee flexion angle and medial and lateral pressure on the knee joint in one embodiment. Figure 3 It can be seen that when the pressure obtained by the server is the medial pressure and the lateral pressure, the correspondence between the lateral pressure and the range of motion value and the medial pressure and the range of motion value can be established respectively. Through the correspondence, the medial pressure and the lateral pressure corresponding to each knee flexion angle can be obtained.

[0069] S208, analyze the correspondence to obtain the joint gap balance result.

[0070] Here, "gap" refers to the space within a joint. Taking the knee joint as an example, in this embodiment, the knee joint gap refers to the distance between the center of the distal femoral osteotomy plane and the center of the proximal tibial osteotomy plane; the gap balance result refers to whether the joint gap is balanced. Combined with... Figure 4 , Figure 4 This is a schematic diagram of the knee joint space after osteotomy in one embodiment, where the gap between the osteotomy plane of the distal femur and the osteotomy plane of the proximal tibia is the joint space.

[0071] Specifically, the server analyzes the corresponding relationships, that is, the relationship between the inner pressure, the outer pressure, and the angle of movement, to make a more direct and accurate assessment of the gap balance.

[0072] Optionally, the server can analyze the medial and lateral pressures corresponding to the same range of motion to obtain the relationship between the medial and lateral pressures at the same range of motion, thereby obtaining the joint clearance balance result. For example, at a specific range of motion, the lateral pressure is a certain value greater than the medial pressure.

[0073] Optionally, the server can analyze the trends of the inner and outer pressures within a preset range of motion angles, obtain the trends of the inner and outer pressures within the preset range of motion angles, and obtain the gap balance result based on the trends.

[0074] In the aforementioned joint clearance balance estimation method, the server first obtains the pressure on the joints when the target moves at any angle, and calculates the movement angle value based on the target's position. Then, based on the pressure and movement angle value, a correspondence is established between the pressure and the movement angle value. Finally, based on this correspondence, the clearance balance result is obtained. Because the server establishes a correspondence between pressure and movement angle value, it can obtain the relationship between any movement angle value and pressure, and evaluate based on this correspondence. Therefore, the server can combine the movement angle value and pressure to evaluate the clearance balance result, thus providing a more accurate evaluation result. Secondly, since the movement angle value is the angle value when the target moves at any angle, the server can obtain the joint clearance balance result at any angle.

[0075] In one embodiment, establishing a correspondence between pressure and angle of motion based on pressure and angle of motion includes: establishing a first correspondence between inner pressure and angle of motion and a second correspondence between outer pressure and angle of motion based on inner pressure, outer pressure and angle of motion, respectively.

[0076] The first correspondence is the correspondence established based on the inner pressure and the angle of movement; the second correspondence is the correspondence established based on the outer pressure and the angle of movement.

[0077] Optionally, the server can set the X-axis to the active angle value and the Y-axis to the pressure value, which can be combined with... Figure 3 , Figure 3 The X-axis represents the knee flexion angle, and the Y-axis represents the pressure value.

[0078] In the above embodiments, the server establishes a first correspondence and a second correspondence respectively, which can intuitively display the relationship between the pressure values ​​of the inside and outside at any angle within the normal range of activity. Furthermore, establishing the first correspondence and the second correspondence facilitates subsequent analysis of the correspondence.

[0079] In one embodiment, analyzing the correspondence to obtain the joint clearance balance result includes at least one of the following: obtaining the joint clearance balance result based on the relationship between the medial pressure and the lateral pressure and the pressure standard range; or obtaining a first trend result based on a first correspondence and a second correspondence; and obtaining the joint clearance balance result based on the first trend result.

[0080] The pressure standard range refers to the pre-set pressure range used to judge the clearance balance result. It can be a numerical range or a single value.

[0081] Optionally, the server can compare the difference between the outer and inner pressures to a standard pressure range to obtain the joint clearance balance result. For example, the server can compare whether the difference between the outer and inner pressures is greater than a standard pressure range to obtain the joint clearance balance relationship.

[0082] Optionally, at a preset angle, the joint clearance balance is obtained based on the relationship between the medial pressure, lateral pressure, and the standard pressure range. The preset angle is a pre-defined range of motion value, such as -10° or 120°. For example, if the lateral pressure is greater than the medial pressure at the preset angle, the joint clearance is considered balanced.

[0083] The first trend result refers to the result obtained based on the trend of the first correspondence and the second correspondence. The first trend result can be convergent or amplified.

[0084] Optionally, the joint clearance balance result can be obtained based on the first trend result within a preset angle range. For example, the changes in medial and lateral pressures with the increase of the range of motion can be analyzed within the preset angle range to obtain the first trend result. For example, the medial and lateral pressures converge as the range of motion increases. Finally, the joint balance result is obtained based on the first trend result. For example, convergence indicates balance.

[0085] In the above embodiments, by analyzing the correspondence from multiple angles, that is, based on the relationship between the medial pressure and the lateral pressure and the pressure standard range, as well as based on the first correspondence and the second correspondence, an accurate joint space balance result can be obtained.

[0086] In one embodiment, establishing a correspondence between pressure and movement angle values ​​based on pressure and movement angle values ​​includes: calculating the pressure difference between the inner and outer pressures; establishing a third correspondence between the pressure difference and movement angle values; and comparing the pressure difference under a preset movement angle to obtain the joint clearance balance result.

[0087] The third correspondence refers to the relationship established based on the pressure difference and the angle of movement, ensuring a one-to-one correspondence between the pressure difference and the angle of movement, combined with... Figure 5 , Figure 5 This is a diagram showing the relationship between the knee flexion angle and the pressure difference between the inner and outer sides of the knee joint in one embodiment. The dashed line in the diagram represents the third correspondence between the pressure difference and the range of motion value. Through the third correspondence, the pressure difference under any range of motion value and the range of motion value corresponding to any pressure difference can be obtained.

[0088] Specifically, the server first calculates the pressure difference between the inner and outer pressures, then establishes a third correspondence between the pressure difference and the range of motion value, ensuring a one-to-one correspondence between the pressure difference and the range of motion value. Then, it compares the pressure difference at a preset range of motion angle to obtain the joint clearance balance result.

[0089] Optionally, the assessment can be performed by comparing whether the pressure difference is within a threshold range, where the threshold range refers to a pre-defined index used to assess joint space balance based on the pressure difference. For example, if the pressure difference is greater than 60N (the default normal pressure difference threshold is 60N) or less than -60N, it indicates that the knee joint space balance is poor.

[0090] In the above embodiments, the gap balance effect is obtained by evaluating the gap balance of the joint from the perspective of pressure difference.

[0091] In one embodiment, analyzing the correspondence to obtain the joint clearance balance result includes at least one of the following: determining the pressure difference corresponding to the preset movement angle value based on the third correspondence, and obtaining the joint clearance balance result based on the pressure difference corresponding to the preset movement angle value; or determining the second trend result of the pressure difference and movement angle value based on the third correspondence; and obtaining the joint clearance balance result based on the second trend result.

[0092] Among them, the preset active angle value refers to the value that is set in advance and used to determine the gap balance result based on the pressure difference; the second trend result refers to the trend change obtained based on the pressure difference and the active angle value.

[0093] Optionally, the server determines the pressure difference corresponding to the preset active angle value based on the third correspondence. Since the correspondence between all active angle values ​​and pressure differences has been obtained through the third correspondence, after determining the preset active angle value, the pressure difference corresponding to the preset active angle value can be directly obtained from the third correspondence. Then, the pressure difference corresponding to the preset active angle value is analyzed to obtain the joint clearance balance result.

[0094] Optionally, the joint gap balance result can be obtained by comparing the pressure difference corresponding to a preset range of motion value with a target threshold. The target threshold refers to a theoretical value proven experimentally to indicate that gap balance can be determined at that value. For example, gap balance can be assessed by analyzing whether the pressure difference between the inner and outer sides of the knee joint at certain specific knee flexion angles, such as 45° and 90°, is close to the target threshold.

[0095] Optionally, since the relationship between all movement angle values ​​and pressure difference can be obtained through the third correspondence, the changes between pressure difference and movement angle values ​​can be analyzed based on the third correspondence to obtain the second trend result, and the joint clearance balance result can be obtained based on the second trend result.

[0096] For example, the gap balance can be assessed by analyzing the pressure difference between the inner and outer sides of the knee joint within a certain range of the knee flexion angle, and whether the pressure difference between the inner and outer sides shows a slight increasing or decreasing trend.

[0097] In the above embodiments, the balance of the gap is comprehensively evaluated by analyzing the pressure difference under the preset active angle value or the second trend result determined based on the pressure difference and the active angle value.

[0098] In one embodiment, the method further includes: obtaining the joint gap distance under different prosthesis molds; establishing the relationship between pressure, movement angle and gap distance based on pressure, movement angle and gap distance; and obtaining the gap balance result of the joint under different joint prosthesis molds based on the relationship.

[0099] The joint clearance distance under different prosthetic molds refers to the joint clearance distance after the prosthetic mold is installed. Specific details can be found in conjunction with... Figure 6 As shown, Figure 6 This is a schematic diagram of the joint gap distance in one embodiment. The gap distance is equal to the thickness of the prosthesis mold (i.e., the inner liner in the diagram) plus the thickness of the pressure measuring device. Since the thickness of the pressure measuring device is constant, the gap distance changes with the thickness of the prosthesis mold.

[0100] The variation relationship refers to the relationship established by the server based on the medial pressure, lateral pressure, range of motion, and gap distance. This variation relationship allows the server to determine the relationship between the medial pressure, lateral pressure, and range of motion under different gap distances. After obtaining this variation relationship, the server further analyzes it to obtain the gap balance results of the joint under different prosthetic molds.

[0101] Optionally, the server can analyze the trend of the changing relationship to obtain the joint gap balance results under different prosthetic molds.

[0102] In the above embodiments, the accuracy of gap balance assessment is improved by further combining the relationship between gap distance, active angle value, and inner and outer pressure.

[0103] In one embodiment, establishing the relationship between pressure, movement angle, and gap distance based on inner pressure, outer pressure, movement angle value, and gap distance includes: establishing a first relationship between inner pressure, movement angle value, and gap distance, and a second relationship between outer pressure, movement angle value, and gap distance, respectively.

[0104] The first relationship refers to the relationship established based on the inner pressure, the angle of movement, and the clearance distance. This first relationship allows us to obtain a one-to-one correspondence between the angle of movement, the inner pressure, and the clearance distance. (This can be further elaborated upon in conjunction with...) Figure 7 As shown, Figure 7 This is a graph showing the relationship between the knee flexion angle and the medial knee pressure of different trial prostheses in one embodiment.

[0105] The second relationship refers to the relationship established based on the outer pressure, the angle of movement, and the clearance distance. This second relationship allows us to obtain a one-to-one correspondence between the angle of movement, the outer pressure, and the clearance distance. This can be further elaborated upon in conjunction with... Figure 8 As shown, Figure 8 This is a graph showing the relationship between the knee flexion angle and the lateral pressure of the knee joint for different trial prostheses in one embodiment.

[0106] In the above embodiments, the server establishes a first change relationship and a second change relationship respectively to clearly demonstrate the first change relationship between the gap distance, inner pressure, and movement angle value, and the second change relationship between the gap distance, outer pressure, and movement angle value. Furthermore, establishing the first change relationship and the second change relationship separately facilitates subsequent analysis of the change relationships.

[0107] In one embodiment, obtaining the joint clearance balance result under different joint prosthesis molds according to the change relationship includes: obtaining a proportional relationship based on a first change relationship and a second change relationship; and obtaining the joint clearance balance result under different joint prosthesis molds according to the proportional relationship.

[0108] Specifically, the server analyzes the first and second change relationships to obtain the proportional relationship between them, and then uses this proportional relationship to determine the joint clearance balance under different joint prosthesis trial models. For example, if the proportional relationship between the first and second change relationships is positively proportional, then balance is determined.

[0109] Alternatively, the balance of the gap can be assessed by analyzing the proportional relationship between the inner and outer pressures and the gap distance at the same angle of movement. For example, whether the inner and outer pressures and the gap distance are proportional at all angle of movement.

[0110] Alternatively, the balance of the gap can be assessed by analyzing the proportional relationship between the movement angle value and the inner and outer pressures at the same gap distance. For example, whether the inner and outer pressures and the movement angle value are directly proportional at the same gap distance.

[0111] Alternatively, the balance of the clearance can be assessed by analyzing the proportional relationship between the movement angle value and the clearance distance under the same inner pressure. For example, whether the movement angle value and the clearance distance are directly proportional under the same inner pressure.

[0112] Alternatively, the balance of the clearance can be assessed by analyzing the proportional relationship between the movement angle value and the clearance distance under the same external pressure, for example, whether the movement angle value and the clearance distance are directly proportional under the same external pressure.

[0113] In the above embodiments, the gap balance result of the joint under different joint prosthesis trial molds is determined by the proportional relationship between the first change relationship and the second change relationship.

[0114] In one embodiment, calculating the active angle value based on the target's position includes: obtaining the mapped position of a first target bone and the mapped position of a second target bone; calculating the target pose based on the mapped position information of the first target bone, the mapped position information of the second target bone, and the target's position; and projecting the target pose and initial position information to obtain the active angle value.

[0115] The mapping position information of the first target bone refers to the position information of the first target bone between different coordinate systems. For example, the mapping position information of the first target bone can be a matrix from the first target bone target coordinate system to the second target bone target coordinate system. The mapping position information of the second target bone refers to the position information of the second target bone between different coordinate systems. For example, the mapping position information of the second target bone can be a matrix from the second target bone target coordinate system to the second target bone target coordinate system.

[0116] For example, if the joint corresponding to the current target is the knee joint, then the first target bone and the second target bone are the femur and the tibia, respectively. The mapping position information of the first target bone is a matrix from the femur target coordinate system to the femur CT real-time coordinate system, and the mapping position information of the second target bone is a matrix from the tibia target coordinate system to the tibia CT real-time coordinate system.

[0117] The initial position information refers to the position information of the joint corresponding to the current target in a specified coordinate system. For example, the initial position information can be the tibial force line vector and the femoral force line vector in the original CT coordinate system. The target pose refers to the real-time pose from the first target bone coordinate system to the second target bone coordinate system.

[0118] Specifically, the optical positioning system uploads the acquired target position to the server, and the bone registration system uploads the acquired mapping position information of the first target bone and the second target bone to the server. The server first calculates the target pose based on the mapping positions of the first and second target bones and the target position, and then projects the target pose and initial position information to obtain the activity angle value. Optionally, the activity angle value can be obtained using the law of cosines.

[0119] Optionally, the server can pre-acquire CT images of the target and then calculate the initial position information in the original CT coordinate system using CT markers.

[0120] Optionally, combined Figure 9 As shown, Figure 9 This is a schematic diagram of a knee flexion angle measurement scenario in one embodiment. Using CT markers, the tibial force vector V in the original CT coordinate system is calculated. T femoral force vector V F The matrix from the tibial target coordinate system to the femoral target coordinate system is obtained through an optical positioning system. The matrix from the femoral target coordinate system to the real-time femoral CT coordinate system is obtained through bone registration. Obtain the matrix from the tibial target coordinate system to the tibial CT coordinate system through bone registration. Real-time pose from tibial coordinate system to femoral coordinate system: Real-time tibial force vector: The angle between the femoral force vector and the real-time tibial force vector projected onto the sagittal plane is the knee flexion angle, which can be calculated using the law of cosines.

[0121] In the above embodiments, the active angle value of the target at any angle can be accurately calculated through the optical positioning system and bone registration.

[0122] In one embodiment, a joint space balance estimation method is provided, which can be specifically combined with Figure 10 As shown, Figure 10 This is a schematic diagram illustrating the steps of joint space balance estimation in one embodiment.

[0123] Combination Figure 11 As shown, after the femur and tibia are osteotomized, under the condition of balanced tension in the medial and lateral collateral ligaments of the knee joint (i.e., equal medial and lateral pressures), the distal femoral osteotomy plane and the proximal tibial osteotomy plane are not necessarily parallel. Therefore, a prosthesis trial model needs to be added to the joint to make the distal femoral plane and the tibial plane approximately parallel. Combined with... Figure 12 As shown, Figure 12 This is a schematic diagram of the prosthesis trial installation in one embodiment. After osteotomy and prosthesis trial installation, the distal planes of femur 1202 and tibia 1204 are approximately parallel under the action of the prosthesis trial structure 1206. The medial and lateral collateral ligaments of the knee joint can be approximated as two springs, with their stretching proportional to their tension (F = kx). After osteotomy and prosthesis installation, the gap between the medial and lateral sides is widened to the same distance by the prosthesis. If the tension of one side's ligament is greater (manifested as a larger pressure value measured by the pressure sensor), it indicates that the collateral ligament on that side has been stretched longer. Therefore, the gap status after osteotomy can be evaluated by measuring the pressure values ​​on the medial and lateral sides.

[0124] Specifically, after the osteotomy, the prosthesis trial model 1206 is installed, and a pressure sensor matching the prosthesis trial model number is inserted between the femur and tibia of the knee joint. Within the normal knee flexion range (-10 to 120°), the surgeon slowly moves the lower leg of the operated limb. At this time, the pressure sensor reads the medial and lateral pressure of the knee joint at the current angle in real time and uploads it to the computer. The computer reads the relative posture of the femoral and tibial targets monitored by the optical positioning system in real time and calculates the real-time knee flexion angle. The calculation of the knee flexion angle can be referred to in the section on calculating the movement angle value, and will not be repeated here. Then, a motion trajectory-pressure curve is plotted based on the real-time curve angle at any angle and the pressure at the corresponding angle to determine whether the joint space under the current prosthesis trial model 1206 is balanced. The specific process for determining whether the joint space is balanced can refer to the steps of the method in any of the above embodiments. If it is unbalanced, the prosthesis trial model 1206 is replaced until the joint space under the prosthesis trial model 1206 is balanced. Figure 13 As shown, Figure 13This is a schematic diagram of switching prosthesis trial models in one embodiment. Figure 13 The sample includes prosthesis molds of 10mm, 8mm and 6mm.

[0125] In the above embodiments, firstly, using a pressure sensor to measure the knee joint gap pressure can obtain a more accurate and objective gap balance assessment; secondly, it can accurately display the pressure and pressure change trend at any angle (normal range of knee joint activity: -10 to 120°) from multiple angles, improving the accuracy of the assessment; thirdly, it combines the relationship between gap distance and pressure to further supplement the gap assessment and improve the accuracy of the assessment.

[0126] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0127] Based on the same inventive concept, this application also provides a joint space balance estimation device for implementing the joint space balance estimation method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations of one or more joint space balance estimation device embodiments provided below can be found in the limitations of the joint space balance estimation method described above, and will not be repeated here.

[0128] In one embodiment, such as Figure 14 As shown, a joint clearance balance estimation device is provided, comprising: a pressure testing module 100 and a host computer 200, wherein:

[0129] The pressure testing module 100 is used to acquire the pressure on the joints of the target when it moves at any angle; the pressure includes medial pressure and lateral pressure.

[0130] The host computer 200 is used to calculate the movement angle value based on the target's position; and to establish the correspondence between pressure and movement angle value based on pressure and movement angle value; and to obtain the joint clearance balance result based on the analysis of the correspondence.

[0131] In one embodiment, the host computer 200 includes:

[0132] The relationship analysis unit is used to establish a first correspondence between the inner pressure and the movement angle value and a second correspondence between the outer pressure and the movement angle value, based on the inner pressure, outer pressure and movement angle value, respectively.

[0133] In one embodiment, the host computer 200 includes:

[0134] The pressure balancing unit is used to obtain the joint clearance balance result based on the relationship between the inner and outer pressures and the standard pressure range.

[0135] The relational balancing unit is used to obtain a first trend result based on a first correspondence and a second correspondence; and to obtain a joint gap balancing result based on the first trend result.

[0136] In one embodiment, the host computer 200 includes:

[0137] The calculation unit is used to calculate the pressure difference between the inner and outer pressures.

[0138] The pressure difference unit is used to establish a third correspondence between the pressure difference and the active angle value.

[0139] The comparison unit is used to compare the pressure difference at a preset angle of motion to obtain the joint clearance balance result.

[0140] In one embodiment, the comparison unit includes:

[0141] The pressure difference balancing unit is used to determine the pressure difference corresponding to a preset movement angle value based on a third correspondence, and to obtain the joint clearance balance result based on the pressure difference corresponding to the preset movement angle value.

[0142] The trend balancing unit is used to determine the second trend result of the pressure difference and the angle of motion based on the third correspondence; based on the second trend result, the joint clearance balancing result is obtained.

[0143] In one embodiment, the above-mentioned apparatus further includes:

[0144] The gap acquisition module is used to obtain the gap distance of the joint under different prosthesis molds.

[0145] The variation relationship module is used to establish the variation relationship between pressure, movement angle, and gap distance based on the inner pressure, outer pressure, movement angle value, and gap distance.

[0146] The trial molding balancing module is used to obtain the joint gap balance results under different joint prosthesis trial moldings based on the changing relationship.

[0147] In one embodiment, the aforementioned change relationship module includes:

[0148] The variation analysis unit is used to establish a first variation relationship between the inner pressure, the outer pressure, the movement angle value, and the gap distance, as well as a second variation relationship between the outer pressure, the movement angle value, and the gap distance, based on the inner pressure, the outer pressure, the movement angle value, and the gap distance.

[0149] In one embodiment, the above-mentioned trial molding balancing module includes:

[0150] A proportional unit is used to obtain a proportional relationship based on a first change relationship and a second change relationship.

[0151] The proportional balancing unit is used to obtain the joint gap balance results under different joint prosthesis test models based on the proportional relationship.

[0152] In one embodiment, the host computer 200 includes:

[0153] The location acquisition unit is used to acquire the mapping location of the first target bone and the mapping location of the second target bone.

[0154] The pose calculation unit is used to calculate the target pose based on the mapping position information of the first target bone, the mapping position information of the second target bone, and the position of the target.

[0155] The angle calculation unit is used to project the target pose and initial position information to obtain the active angle value.

[0156] Each module in the aforementioned joint clearance balance estimation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0157] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 15As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores the medial and lateral pressures of the joints when the target moves at any angle. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a joint clearance balance estimation method.

[0158] Those skilled in the art will understand that Figure 15 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.

[0159] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0160] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0161] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0162] 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.

[0163] 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.

[0164] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for estimating joint space balance, characterized in that, The method includes: The pressure on the joints is obtained when the target moves at any angle; the pressure includes medial pressure and lateral pressure. The activity angle value is calculated based on the position of the target. Based on the pressure and the angle of motion value, establish the correspondence between the pressure and the angle of motion value; The correspondence is analyzed to obtain the joint clearance balance result; The step of calculating the activity angle value based on the target's position includes: Obtain the mapping position of the first target bone and the mapping position of the second target bone; the mapping position information of the first target bone is a matrix from the femoral target coordinate system to the femoral CT real-time coordinate system, and the mapping position information of the second target bone is a matrix from the tibial target coordinate system to the tibial CT real-time coordinate system. The target pose is calculated based on the mapping position information of the first target bone, the mapping position information of the second target bone, and the position of the target. The target pose and initial position information are projected to obtain the activity angle value; the initial position information is the tibial force line vector in the original CT coordinate system.

2. The method according to claim 1, characterized in that, Based on the pressure and the angle of motion value, establish the correspondence between the pressure and the angle of motion value, including: Based on the inner pressure, the outer pressure, and the angle of movement, a first correspondence between the inner pressure and the angle of movement and a second correspondence between the outer pressure and the angle of movement are established respectively.

3. The method according to claim 2, characterized in that, Analyzing the correspondence yields the joint clearance balance result, including at least one of the following: The joint clearance balance result is obtained based on the relationship between the inner pressure and the outer pressure and the standard pressure range; or The first trend result is obtained based on the first correspondence and the second correspondence; Based on the first trend result, the gap balance result of the joint is obtained.

4. The method according to claim 1, characterized in that, Based on the pressure and the angle of motion value, establish the correspondence between the pressure and the angle of motion value, including: Calculate the pressure difference between the inner pressure and the outer pressure; Establish a third correspondence between the pressure difference and the angle of motion; By comparing the pressure difference at the preset active angle, the gap balance result of the joint is obtained.

5. The method according to claim 4, characterized in that, Analyzing the correspondence yields the joint clearance balance result, including at least one of the following: Based on the third correspondence, the pressure difference corresponding to the preset active angle value is determined, and the gap balance result of the joint is obtained based on the pressure difference corresponding to the preset active angle value. or Based on the third correspondence, a second trend result is determined regarding the relationship between the pressure difference and the active angle value; Based on the second trend result, the gap balance result of the joint is obtained.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the gap distance of the joint under different prosthetic molds; Based on the pressure, the angle of movement, and the gap distance, establish the relationship between the changes in the pressure, the angle of movement, and the gap distance; Based on the aforementioned relationship of change, the gap balance results of the joint under different joint prosthesis trial models were obtained.

7. The method according to claim 6, characterized in that, Based on the pressure, the angle of movement, and the gap distance, establish the relationship between the changes in the pressure, the angle of movement, and the gap distance, including: Based on the inner pressure, the outer pressure, the movement angle value, and the gap distance, a first relationship between the inner pressure, the movement angle value, and the gap distance, and a second relationship between the outer pressure, the movement angle value, and the gap distance are established respectively.

8. The method according to claim 7, characterized in that, The step of obtaining the joint gap balance result under different joint prosthesis trial models based on the aforementioned change relationship includes: The proportional relationship is obtained based on the first and second change relationships; Based on the aforementioned proportional relationship, the gap balance results of the joint under different joint prosthesis trial models are obtained.

9. A joint space balance estimation device, characterized in that, The device includes: The pressure measurement module is used to acquire the pressure on the joints of the target when it moves at any angle; the pressure includes the inner pressure and the outer pressure. The host computer is configured to: calculate the active angle value based on the position of the target; and establish a correspondence between the pressure and the active angle value based on the force and the active angle value; and analyze the correspondence to obtain the joint clearance balance result; the calculation of the active angle value based on the position of the target includes: obtaining the mapping position of a first target bone and the mapping position of a second target bone; the mapping position information of the first target bone is a matrix from the femoral target coordinate system to the femoral CT real-time coordinate system, and the mapping position information of the second target bone is a matrix from the tibial target coordinate system to the tibial CT real-time coordinate system; calculate the target pose based on the mapping position information of the first target bone, the mapping position information of the second target bone, and the position of the target; project the target pose and the initial position information to obtain the active angle value; the initial position information is the tibial force line vector in the original CT coordinate system.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

Images