Prosthesis positioning methods, devices, electronic equipment and storage media

Abstract

This invention discloses a method, apparatus, electronic device, and storage medium for prosthesis localization. The method involves: identifying a target object; performing geometric data segmentation on the target object to obtain a set of points representing a first cut surface corresponding to the target object; acquiring a candidate prosthesis corresponding to the target object; performing geometric data segmentation on the candidate prosthesis to obtain a set of points representing a second cut surface corresponding to the candidate prosthesis; determining a target transformation matrix corresponding to the candidate prosthesis based on the set of points representing the first and second cut surfaces; adjusting the pose of the candidate prosthesis based on the target transformation matrix to make the point set of the first and second cut surfaces align; determining the number of second cut points outside the first cut surface; and if the number of second cut points is less than or equal to a preset threshold, designating the candidate prosthesis as the target prosthesis corresponding to the target object and determining the target pose of the target prosthesis. This improves the accuracy of prosthesis localization.

Description

Technical Field

[0001] This invention relates to the field of computer application technology, and in particular to a method, apparatus, electronic device, and storage medium for prosthesis positioning. Background Technology

[0002] With the continuous development of the medical field, the requirements for prosthesis matching are becoming increasingly stringent. When matching prosthesis size and orientation, it is generally required that the prosthesis be as large as possible. However, selecting a larger prosthesis size usually increases the difficulty of prosthesis positioning. For example, if the prosthesis size is too large or the angle causes the current size to be acceptable, but the edges will exceed the limit.

[0003] Currently, implant planning can be done manually, but the planning efficiency is low. To improve the planning efficiency, it is now possible to automate the implant planning process, but there is usually some error, resulting in poor accuracy of automated implant planning. Summary of the Invention

[0004] This invention provides a method, apparatus, electronic device, and storage medium for prosthesis positioning to solve the technical problem of poor prosthesis positioning accuracy.

[0005] According to one aspect of the present invention, a method for prosthesis positioning is provided, wherein the method includes:

[0006] Determine the target object, perform geometric data segmentation on the target object, and obtain the point set of the first cutting points of the first cut surface corresponding to the target object;

[0007] Obtain candidate prostheses corresponding to the target object, and perform geometric data segmentation on the candidate prostheses to obtain a set of points of the second cutting points of the second cut surface corresponding to the candidate prostheses;

[0008] Based on the point set of the first cutting point and the point set of the second cutting point, a target transformation matrix corresponding to the candidate prosthesis is determined, and the posture of the candidate prosthesis is adjusted based on the target transformation matrix so that the point set of the first cut surface matches the point set of the second cut surface;

[0009] The number of second cutting points located outside the first cutting surface is determined. If the number of second cutting points is less than or equal to a preset number threshold, the candidate prosthesis is used as the target prosthesis corresponding to the target object, and the target pose corresponding to the target prosthesis is determined.

[0010] According to one aspect of the present invention, a method for prosthesis positioning is provided, wherein the method further includes:

[0011] The step of determining the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point includes:

[0012] A first minimum bounding box is determined based on the set of points of the first cutting points, and a second minimum bounding box is determined based on the set of points of the second cutting points;

[0013] The target transformation matrix corresponding to the candidate prosthesis is determined based on the first minimum bounding box and the second minimum bounding box.

[0014] According to one aspect of the present invention, a method for prosthesis positioning is provided, wherein the method further includes:

[0015] Determine the first principal axis and the second principal axis corresponding to the point set of the first cutting point, and the third principal axis and the fourth principal axis corresponding to the point set of the second cutting point;

[0016] Map the set of points of the first cutting point onto a plane determined based on the first principal axis and the second principal axis to obtain the corresponding first mapping geometric data;

[0017] The point set of the second cutting points is mapped onto the plane determined based on the third principal axis and the fourth principal axis to obtain the corresponding second mapping geometric data;

[0018] Determine the maximum and minimum values ​​of the first mapped geometric data along the first principal axis and the second principal axis respectively, obtain the first target point set corresponding to the maximum and minimum values, and determine the first minimum bounding box of the first mapped geometric data based on the first target point set;

[0019] Determine the extreme values ​​of the second mapping geometric data along the third and fourth principal axes respectively, and obtain the second target point set corresponding to the extreme values.

[0020] The second minimum bounding box of the second mapping geometry is determined based on the second target point set.

[0021] According to one aspect of the present invention, a method for prosthesis positioning is provided, wherein the method further includes:

[0022] Determine the first feature value and the second feature value corresponding to the point set of the first cutting point, and determine the first principal axis and the second principal axis corresponding to the point set of the first cutting point based on the first feature value and the second feature value;

[0023] Determine the third and fourth feature values ​​corresponding to the point set of the second cutting points, and determine the third and fourth principal axes corresponding to the point set of the second cutting points based on the third and fourth feature values.

[0024] According to one aspect of the present invention, a method for prosthesis positioning is provided, wherein the method further includes:

[0025] Rigid registration is performed on the first target point set corresponding to the first minimum bounding box and the second target point set corresponding to the second minimum bounding box to determine the target transformation matrix corresponding to the candidate prosthesis.

[0026] According to one aspect of the present invention, a method for prosthesis positioning is provided, wherein the method further includes:

[0027] Determine the target plane where the second cut surface of the candidate prosthesis is located. On the target plane, rotate the candidate prosthesis along the first direction based on a preset angle. If the number of second cutting points outside the first cut surface decreases, continue to rotate the candidate prosthesis along the first direction to obtain the minimum number of second cutting points outside the first cut surface.

[0028] If the number of the second cutting points increases, the rotation of the candidate prosthesis is interrupted and the candidate prosthesis is restored to the posture before rotation, and then rotated along the second direction to determine the minimum number of the second cutting points located outside the first cutting plane;

[0029] Determine whether the minimum value exceeds a preset number threshold. If the number of second cutting points located outside the first cutting surface is less than or equal to the preset number threshold, then the pose corresponding to the minimum value is taken as the target pose corresponding to the target prosthesis.

[0030] According to one aspect of the present invention, a method for prosthesis positioning is provided, wherein the method further includes:

[0031] If the minimum number of second cutting points located outside the first cutting plane exceeds a preset threshold, then the candidate prosthesis is replaced, and the operation of determining the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point is returned.

[0032] According to another aspect of the present invention, a prosthesis positioning device is provided, wherein the device comprises:

[0033] The first point set determination module is used to determine the target object, perform geometric data cutting on the target object, and obtain a point set of the first cutting points of the first cutting surface corresponding to the target object;

[0034] The second point set determination module is used to obtain candidate prostheses corresponding to the target object, perform geometric data cutting on the candidate prostheses, and obtain a point set of second cutting points of the second cut surface corresponding to the candidate prostheses;

[0035] The transformation matrix determination module is used to determine the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point, and adjust the posture of the candidate prosthesis based on the target transformation matrix so that the point set of the first cut surface matches the point set of the second cut surface;

[0036] The target pose determination module is used to determine the number of second cutting points located outside the first cutting surface of the second cut surface. When the number of second cutting points is less than or equal to a preset number threshold, the candidate prosthesis is used as the target prosthesis corresponding to the target object, and the target pose corresponding to the target prosthesis is determined.

[0037] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0038] At least one processor; and

[0039] A memory communicatively connected to the at least one processor; wherein,

[0040] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the prosthesis positioning method according to any embodiment of the present invention.

[0041] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the prosthesis localization method according to any embodiment of the present invention.

[0042] The technical solution of this invention involves: determining a target object; performing geometric data segmentation on the target object to obtain a set of points for the first cutting points of a first facet corresponding to the target object; obtaining a set of points for the first cutting points corresponding to the target object; obtaining a candidate prosthesis corresponding to the target object; performing geometric data segmentation on the candidate prosthesis to obtain a set of points for the second cutting points of a second facet corresponding to the candidate prosthesis; obtaining a set of points for the second cutting points corresponding to the candidate prosthesis; determining a target transformation matrix corresponding to the candidate prosthesis based on the set of points for the first and second cutting points; adjusting the posture of the candidate prosthesis based on the target transformation matrix to make the point set of the first facet fit the point set of the second facet; obtaining a precise target transformation matrix based on the point set; determining the adjustment parameters of the candidate prosthesis; adjusting the candidate prosthesis to a precise posture; determining the number of second cutting points located outside the first facet; if the number of second cutting points is less than or equal to a preset number threshold, using the candidate prosthesis as the target prosthesis corresponding to the target object; determining the target posture corresponding to the target prosthesis; and further optimizing the model and posture of the candidate prosthesis based on the preset number threshold. Improve the accuracy of implant positioning.

[0043] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a flowchart of a prosthesis positioning method provided according to Embodiment 1 of the present invention;

[0046] Figure 2 This is a flowchart of a prosthesis positioning method provided according to Embodiment 2 of the present invention;

[0047] Figure 3 This is a schematic diagram of the structure of a prosthesis positioning device according to Embodiment 3 of the present invention;

[0048] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the prosthesis positioning method of the present invention. Detailed Implementation

[0049] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0050] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0051] Example 1

[0052] Figure 1 This is a flowchart of a prosthesis positioning method provided in Embodiment 1 of the present invention. This embodiment is applicable to prosthesis matching. The method can be executed by a prosthesis positioning device, which can be implemented in hardware and / or software and can be configured in a computer. Figure 1 As shown, the method includes:

[0053] S110. Determine the target object, perform geometric data cutting on the target object, and obtain the point set of the first cutting points of the first sectional surface corresponding to the target object.

[0054] The target object can be understood as the object to be replaced with a prosthesis. In this embodiment of the invention, the target object can be set according to the needs of the scenario, and is not specifically limited here. Optionally, the target object can be a human skeleton. For example, the target object can be the tibia or femur, etc.

[0055] The first cross section can be understood as a cross section determined based on the feature points of the target object.

[0056] The set of points for the first cutting points can be understood as the set of points obtained by geometrically cutting the first facet corresponding to the target object. Optionally, the set of points for the first cutting points can be the set of points on the cut edge of the target object. Specifically, based on the first facet of the target object, a visualization toolkit (VTK) can be used to perform geometric data cutting on the target object to obtain the set of points for the first cutting points of the first facet corresponding to the target object.

[0057] Optionally, the step of geometrically segmenting the target object to obtain a set of points for the first cutting points of the first cut surface corresponding to the target object includes:

[0058] The spatial coordinate axis corresponding to the target object is determined based on the feature points of the target object, the first cross-section of the target object is determined based on the spatial coordinate axis, and the target object is geometrically cut based on the first cross-section to obtain the point set of the first cutting points corresponding to the first cross-section of the target object.

[0059] The spatial coordinate axis can be understood as the coordinate axis corresponding to the target object, determined based on the feature points of the target object.

[0060] The feature points can be understood as feature points used to determine the spatial coordinate axes corresponding to the target object. In this embodiment of the invention, the feature points can be preset according to scene requirements, and are not specifically limited here. Optionally, the feature points can be feature points on the target object. For example, in a scenario where the target object is the tibia, the feature points can be the tibial apex, tibial tuberosity, tibial plateau, medial malleolus point, and / or lateral malleolus point, etc.

[0061] S120. Obtain a candidate prosthesis corresponding to the target object, and perform geometric data cutting on the candidate prosthesis to obtain a set of points of the second cutting points of the second cut surface corresponding to the candidate prosthesis.

[0062] In this invention, the candidate prosthesis can be understood as a prosthesis that may serve as the target prosthesis for the target object. In this embodiment, the candidate prosthesis can be preset according to scenario requirements, and is not specifically limited here. Optionally, in a scenario where the target object is the tibia, the candidate prosthesis can be a preset model of tibial prosthesis. It is understood that in medical scenarios, the tibial prosthesis can include multiple different models. Specifically, typically, the femoral model is first determined; further, a preset model is added to the femoral model to determine the candidate model; the tibial prosthesis corresponding to the candidate model is used as the candidate prosthesis. The preset model is preset according to scenario requirements and is not specifically limited here. Optionally, the preset model can be 2, 3, or 5, etc.

[0063] The second cross section can be understood as a cross section determined based on the preset position of the candidate prosthesis.

[0064] The set of points for the second cutting point can be understood as the set of points obtained by geometrically cutting the second section corresponding to the candidate prosthesis.

[0065] Optionally, the geometric data segmentation of the candidate prosthesis includes:

[0066] The candidate prosthesis is geometrically segmented based on a preset position to obtain a set of points corresponding to the second segmentation points of the candidate prosthesis.

[0067] The preset position can be understood as the position used to determine the position of the second section corresponding to the candidate prosthesis. In this embodiment of the invention, the preset position can be preset according to the needs of the scenario, and is not specifically limited here. Optionally, the preset position can be the position of the upper platform of the tibial support on the vertical column plane.

[0068] Specifically, based on the second cross-section of the candidate prosthesis, the candidate prosthesis can be geometrically segmented using a visualization toolkit (VTK) to obtain a set of points for the second cutting points of the second cross-section corresponding to the candidate prosthesis.

[0069] S130. Determine a target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point, and adjust the posture of the candidate prosthesis based on the target transformation matrix so that the point set of the first cut surface matches the point set of the second cut surface.

[0070] The target transformation matrix can be understood as a matrix containing information about the adjusted rotation angle and displacement of the candidate prosthesis.

[0071] Optionally, the step of making the point set of the first cut surface fit with the point set of the second cut surface can be to minimize the average distance between the point set of the first cut surface and the point set of the second cut surface. In this embodiment of the invention, making the point set of the first cut surface fit with the point set of the second cut surface can achieve the effect of making the candidate prosthesis more suitable.

[0072] In this embodiment of the invention, specifically, by adjusting the posture of the candidate prosthesis based on the target transformation matrix, the target plane of the second cross-section corresponding to the candidate prosthesis can be determined. Furthermore, based on the target plane, the candidate prosthesis can be rotated further to adjust its position.

[0073] S140. Determine the number of second cutting points located outside the first cutting surface of the second cut surface. If the number of second cutting points is less than or equal to a preset number threshold, use the candidate prosthesis as the target prosthesis corresponding to the target object, and determine the target pose corresponding to the target prosthesis.

[0074] The preset quantity threshold can be understood as a threshold for determining whether the candidate prosthesis can be used as the target prosthesis corresponding to the target object. In this embodiment of the invention, the preset quantity threshold can be preset according to the needs of the scenario, and is not specifically limited here. Optionally, the preset quantity threshold can be the number of cutting points. For example, the preset quantity threshold can be 6, 8, or 10, etc.

[0075] The number of the second cutting points can be understood as the number of points located outside the first cut surface in the point set of the second cutting points. In other words, the number of the second cutting points can be understood as the number of points in the second cutting points that are not covered by the first cut surface.

[0076] It is understandable that if the current candidate prosthesis model does not meet the conditions, that is, if the number of the second cutting points located on the outer side of the first cut surface is greater than the preset number threshold, then the model of the candidate prosthesis can be reduced based on the current candidate prosthesis model, and the tibial prosthesis corresponding to the reduced model can be updated as the candidate prosthesis.

[0077] It should be understood that, in this embodiment of the invention, the planning is carried out from the larger tibial prosthesis to the smaller tibial prosthesis, and the larger candidate prosthesis that meets the automatic prosthesis planning requirements is taken as the target prosthesis.

[0078] Optionally, determining the target pose corresponding to the target prosthesis includes:

[0079] Determine the target plane where the second cut surface of the candidate prosthesis is located. On the target plane, rotate the candidate prosthesis along the first direction based on a preset angle. If the number of second cutting points outside the first cut surface decreases, continue to rotate the candidate prosthesis along the first direction to obtain the minimum number of second cutting points outside the first cut surface.

[0080] If the number of the second cutting points increases, the rotation of the candidate prosthesis is interrupted and the candidate prosthesis is restored to the posture before rotation. Instead, it is rotated along the second direction based on a preset angle to determine the minimum number of the second cutting points located outside the first cutting plane.

[0081] Determine whether the minimum value exceeds a preset number threshold. If the number of second cutting points located outside the first cutting surface is less than or equal to the preset number threshold, then the pose corresponding to the minimum value is taken as the target pose corresponding to the target prosthesis.

[0082] The target plane can be understood as the plane containing the second section when the candidate prosthesis is rotated. Specifically, the plane containing the second section of the candidate prosthesis after adjusting its posture based on the target transformation matrix can be used as the target plane. It is understood that in this embodiment of the invention, when the candidate prosthesis is rotated, the plane containing the second section remains unchanged; in other words, the posture of the candidate prosthesis is adjusted while ensuring that the normal vector of the plane containing the tibial prosthesis remains unchanged, to achieve the effect of fitting the candidate prosthesis.

[0083] The preset angle can be understood as the angle by which the candidate prosthesis rotates along the first direction. In this embodiment of the invention, the preset angle can be preset according to the needs of the scenario, and is not specifically limited here. Optionally, the preset angle can be 1° or 2°, etc. The first direction can be understood as the rotation direction of the candidate prosthesis. Optionally, the first direction can be a clockwise direction or a counterclockwise direction. It is understood that when the first direction is a clockwise direction, the second direction can be a counterclockwise direction; when the first direction is a counterclockwise direction, the second direction can be a clockwise direction. It should be understood that the preset angle for rotation along the first direction and the preset angle for rotation along the second direction can be the same or different.

[0084] Optionally, the prosthesis positioning method further includes:

[0085] If the minimum number of second cutting points located outside the first cutting plane exceeds a preset threshold, then the candidate prosthesis is replaced, and the operation of determining the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point is returned.

[0086] For example, the preset angle is set to 1°, the first direction is clockwise, the second direction is counterclockwise, and the preset quantity threshold is 10. Specifically, the candidate prosthesis is rotated clockwise by 1° each time, and the change in the number of second cutting points outside the first slicing plane is determined. If the number decreases, the candidate prosthesis is rotated further, and the minimum value of the number of second cutting points outside the first slicing plane is determined. If the minimum value is 8, the candidate prosthesis is used as the target prosthesis, and the pose corresponding to the minimum value is used as the target pose of the target prosthesis. If the minimum value is 11, the candidate prosthesis is replaced, and the operation of determining the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting points and the point set of the second cutting points is returned.

[0087] If the number increases, the rotation of the candidate prosthesis is interrupted and the candidate prosthesis is restored to its previous posture before rotation. Instead, it is rotated in a counterclockwise direction. If the number increases while rotating in a counterclockwise direction, the number of second cutting points currently located outside the first cutting plane is taken as the minimum value.

[0088] If the number decreases when rotating counterclockwise, then the minimum number of second cutting points located outside the first cutting plane is determined; if the minimum value is 10, then the candidate prosthesis is taken as the target prosthesis, and the pose corresponding to the minimum value is taken as the target pose corresponding to the target prosthesis; if the minimum value is 12, then the candidate prosthesis is replaced, and the operation of determining the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point is returned.

[0089] The technical solution of this invention involves: determining a target object; performing geometric data segmentation on the target object to obtain a set of points for the first cutting points of a first facet corresponding to the target object; obtaining a set of points for the first cutting points corresponding to the target object; obtaining a candidate prosthesis corresponding to the target object; performing geometric data segmentation on the candidate prosthesis to obtain a set of points for the second cutting points of a second facet corresponding to the candidate prosthesis; obtaining a set of points for the second cutting points corresponding to the candidate prosthesis; determining a target transformation matrix corresponding to the candidate prosthesis based on the set of points for the first and second cutting points; adjusting the posture of the candidate prosthesis based on the target transformation matrix to make the point set of the first facet fit the point set of the second facet; obtaining a precise target transformation matrix based on the point set; determining the adjustment parameters of the candidate prosthesis; adjusting the candidate prosthesis to a precise posture; determining the number of second cutting points located outside the first facet; if the number of second cutting points is less than or equal to a preset number threshold, using the candidate prosthesis as the target prosthesis corresponding to the target object; determining the target posture corresponding to the target prosthesis; and further optimizing the model and posture of the candidate prosthesis based on the preset number threshold. Improve the accuracy of implant positioning.

[0090] Example 2

[0091] Figure 2 This is a flowchart of a prosthesis localization method provided in Embodiment 2 of the present invention. This embodiment refines the determination of the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point described in the above embodiments. Figure 2 As shown, the method includes:

[0092] S210. Determine the target object, perform geometric data cutting on the target object, and obtain the point set of the first cutting points of the first cut surface corresponding to the target object.

[0093] S220. Obtain a candidate prosthesis corresponding to the target object, and perform geometric data segmentation on the candidate prosthesis to obtain a point set of the second cutting points of the second facet corresponding to the candidate prosthesis.

[0094] S230. Determine a first minimum bounding box based on the point set of the first cutting points, and determine a second minimum bounding box based on the point set of the second cutting points.

[0095] The first minimum bounding box can be a minimum bounding box determined based on the set of points of the first cut points. Optionally, the first minimum bounding box can be a rectangle determined based on the set of points of the first cut points.

[0096] The second minimum bounding box can be the minimum bounding box determined based on the set of points of the second cut points. Optionally, the second minimum bounding box can be a rectangle determined based on the set of points of the second cut points.

[0097] Optionally, determining the first minimum bounding box based on the set of points of the first cutting points, and determining the second minimum bounding box based on the set of points of the second cutting points, includes:

[0098] Determine the first principal axis and the second principal axis corresponding to the point set of the first cutting point, and the third principal axis and the fourth principal axis corresponding to the point set of the second cutting point;

[0099] Map the set of points of the first cutting point onto a plane determined based on the first principal axis and the second principal axis to obtain the corresponding first mapping geometric data;

[0100] The point set of the second cutting points is mapped onto the plane determined based on the third principal axis and the fourth principal axis to obtain the corresponding second mapping geometric data;

[0101] Determine the maximum and minimum values ​​of the first mapped geometric data along the first principal axis and the second principal axis respectively, obtain the first target point set corresponding to the maximum and minimum values, and determine the first minimum bounding box of the first mapped geometric data based on the first target point set;

[0102] Determine the maximum and minimum values ​​of the second mapping geometric data along the third principal axis and the fourth principal axis respectively, obtain the second target point set corresponding to the maximum and minimum values, and determine the second minimum bounding box of the second mapping geometric data based on the second target point set.

[0103] The first principal axis and the second principal axis can be understood as two principal axes determined by Principal Component Analysis (PCA) based on the point set of the first cutting points. In this embodiment of the invention, a coordinate system can be established based on the first principal axis and the second principal axis, and the point set of the first cutting points can be mapped into the coordinate system established based on the first principal axis and the second principal axis to obtain the first mapped geometric data.

[0104] The first mapped geometric data can be understood as the mapped geometric data obtained by mapping the point set of the first cutting points onto a plane determined based on the first principal axis and the second principal axis. Optionally, the first mapped geometric data can be the point set obtained by mapping the point set of the first cutting points onto a plane determined based on the first principal axis and the second principal axis.

[0105] Furthermore, the maximum and minimum values ​​of the first mapped geometric data along the first principal axis are determined to identify two target points on the first principal axis; the maximum and minimum values ​​of the first mapped geometric data along the second principal axis are determined to identify two target points on the second principal axis, that is, the first target point set is obtained, which is the four coordinate points corresponding to the first mapped geometric data on the first principal axis and the second principal axis.

[0106] Furthermore, based on the first set of target points, the rectangle corresponding to the first mapped geometric data can be determined as the first minimum bounding box.

[0107] Similarly, the second minimum bounding box can be determined based on the point set of the second cutting point.

[0108] Optionally, determining the first principal axis and second principal axis corresponding to the point set of the first cutting points, and the third principal axis and fourth principal axis corresponding to the point set of the second cutting points, includes:

[0109] Determine the first feature value and the second feature value corresponding to the point set of the first cutting point, and determine the first principal axis and the second principal axis corresponding to the point set of the first cutting point based on the first feature value and the second feature value;

[0110] Determine the third and fourth feature values ​​corresponding to the point set of the second cutting points, and determine the third and fourth principal axes corresponding to the point set of the second cutting points based on the third and fourth feature values.

[0111] It is important to understand that the PCA algorithm can obtain the two largest eigenvalues ​​corresponding to the point set of the first cut point, namely the first eigenvalue and the second eigenvalue, as well as the eigenvector pointing to the first eigenvalue and the second eigenvalue. Based on the eigenvector pointing to the first eigenvalue and the second eigenvalue, the first principal axis and the second principal axis corresponding to the point set of the first cut point can be determined.

[0112] Similarly, the third and fourth principal axes corresponding to the point set of the second cutting point can be determined using the PCA algorithm.

[0113] It should be understood that the minimum bounding box of the candidate prosthesis can be determined and saved before prosthesis localization, without the need for real-time calculation during matching. This allows computing resources to be reused, improves the calculation efficiency of the target transformation matrix, and saves computing resources.

[0114] S240. Determine the target transformation matrix corresponding to the candidate prosthesis based on the first minimum bounding box and the second minimum bounding box.

[0115] Optionally, determining the target transformation matrix corresponding to the candidate prosthesis based on the first minimum bounding box and the second minimum bounding box includes:

[0116] Rigid registration is performed on the first target point set corresponding to the first minimum bounding box and the second target point set corresponding to the second minimum bounding box to determine the target transformation matrix corresponding to the candidate prosthesis.

[0117] Specifically, rigid registration is performed on the first target point set corresponding to the first minimum bounding box and the second target point set corresponding to the second minimum bounding box to determine the rotation angle and displacement information corresponding to the candidate prosthesis, i.e., the target transformation matrix.

[0118] S250. Adjust the pose of the candidate prosthesis based on the target transformation matrix so that the point set of the first section is aligned with the point set of the second section.

[0119] S260. Determine the number of second cutting points located outside the first cutting surface. If the number of second cutting points is less than or equal to a preset threshold, designate the candidate prosthesis as the target prosthesis corresponding to the target object, and determine the target pose corresponding to the target prosthesis. The technical solution of this embodiment of the invention determines a first minimum bounding box based on the point set of the first cutting points, and a second minimum bounding box based on the point set of the second cutting points; it then determines a target transformation matrix corresponding to the candidate prosthesis based on the first and second minimum bounding boxes. By accurately obtaining the target transformation matrix, the candidate prosthesis can be accurately located.

[0120] Specifically, in this embodiment of the invention, the overall process of the prosthesis positioning method can be as follows:

[0121] 1. Calculate the xyz axes of the tibia based on the physical coordinates of the feature points of the target object;

[0122] 2. Calculate the first section of the tibia based on the xyz axes and the feature points of the target object;

[0123] 3. Based on the first cut surface, perform geometric data cutting on the tibia to obtain the point set of the first cutting point;

[0124] 4. Perform geometric data segmentation on the preset position of the candidate prosthesis to obtain the point set of the second segmentation point;

[0125] 5. Based on the positional information of the point sets in the first and second cut points, use PCA to calculate the two perpendicular coordinate axes corresponding to the point information of the two cut points, i.e., the principal axes. There are two principal axes. Since the point sets are on the same plane, the principal axes represent the main directions of the point sets, which are pointed to by the eigenvectors corresponding to the two largest eigenvalues.

[0126] 6. For the point sets of the first and second cutting points, project the point sets onto the corresponding principal axes according to the first and second principal axes, as well as the third and fourth principal axes, and calculate the maximum and minimum values ​​along the corresponding first and second principal axes. This allows us to calculate the four points of the minimum bounding box of the point set of the first cutting point. Similarly, calculate the four points of the minimum bounding box of the point set of the second cutting point (since all points in a point set are on the same plane, this minimum bounding box is equivalent to a directed bounding box. For the point sets of the first and second cutting points, we obtain two rectangles, each represented by four points).

[0127] 7. Based on the point set of the first cutting point and the point set of the second cutting point, the four corner points of the first minimum bounding box and the second minimum bounding box are used to calculate the target transformation matrix for displacement and angular rotation through rigid registration;

[0128] 8. Transform the candidate prosthesis to a position aligned with the bone cut surface using the target transformation matrix, and calculate the number of second cutting points located outside the first cut surface of the second cut surface;

[0129] 9. Rotate clockwise by 1° each time, and repeat the rotation. Calculate the number of second cutting points that are outside the first cutting surface of the second cutting surface. If the trend is increasing, stop the rotation and return to the position before the rotation. If the trend is decreasing, find the minimum number of second cutting points that are outside the first cutting surface of the second cutting surface.

[0130] 10. Same as 9, but processed counterclockwise;

[0131] 11. Determine whether the minimum quantity meets the preset quantity threshold. If it does, return to the conversion. If it does not meet the quantity requirement, reduce the candidate prosthesis model by one (considering that it exceeds the model range). Calculate and recalculate the target conversion matrix according to steps 4, 5, 6, and 7. Repeat until the requirement is met. Determine the target prosthesis corresponding to the target object and the target pose corresponding to the target prosthesis.

[0132] The technical solution of this invention calculates the target transformation matrix, so that the prosthesis is planned to the correct position through rotation and displacement, and achieves accurate positioning by using PCA combined with registration.

[0133] Example 3

[0134] Figure 3 This is a schematic diagram of a prosthesis positioning device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a first point set determination module 310, a second point set determination module 320, a transformation matrix determination module 330, and a target attitude determination module 340.

[0135] The first point set determination module 310 is used to determine the target object, perform geometric data cutting on the target object, and obtain a point set of the first cutting points of the first cutting surface corresponding to the target object.

[0136] The second point set determination module 320 is used to obtain a candidate prosthesis corresponding to the target object, perform geometric data cutting on the candidate prosthesis, and obtain a point set of the second cutting points of the second cut surface corresponding to the candidate prosthesis;

[0137] The transformation matrix determination module 330 is used to determine the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point, and adjust the posture of the candidate prosthesis based on the target transformation matrix so that the point set of the first cut surface and the point set of the second cut surface fit together;

[0138] The target pose determination module 340 is used to determine the number of second cutting points located outside the first cutting surface of the second cut surface. When the number of second cutting points is less than or equal to a preset number threshold, the candidate prosthesis is used as the target prosthesis corresponding to the target object, and the target pose corresponding to the target prosthesis is determined.

[0139] The technical solution of this invention involves: determining a target object; performing geometric data segmentation on the target object to obtain a set of points for the first cutting points of a first facet corresponding to the target object; obtaining a set of points for the first cutting points corresponding to the target object; obtaining a candidate prosthesis corresponding to the target object; performing geometric data segmentation on the candidate prosthesis to obtain a set of points for the second cutting points of a second facet corresponding to the candidate prosthesis; obtaining a set of points for the second cutting points corresponding to the candidate prosthesis; determining a target transformation matrix corresponding to the candidate prosthesis based on the set of points for the first and second cutting points; adjusting the posture of the candidate prosthesis based on the target transformation matrix to make the point set of the first facet fit the point set of the second facet; obtaining a precise target transformation matrix based on the point set; determining the adjustment parameters of the candidate prosthesis; adjusting the candidate prosthesis to a precise posture; determining the number of second cutting points located outside the first facet; if the number of second cutting points is less than or equal to a preset number threshold, using the candidate prosthesis as the target prosthesis corresponding to the target object; determining the target posture corresponding to the target prosthesis; and further optimizing the model and posture of the candidate prosthesis based on the preset number threshold. Improve the accuracy of implant positioning.

[0140] Optionally, the transformation matrix determination module 330 includes: a minimum bounding box determination submodule and a target transformation matrix determination submodule.

[0141] The minimum bounding box determination submodule is used to determine a first minimum bounding box based on the point set of the first cutting points, and to determine a second minimum bounding box based on the point set of the second cutting points.

[0142] The target transformation matrix determination submodule is used to determine the target transformation matrix corresponding to the candidate prosthesis based on the first minimum bounding box and the second minimum bounding box.

[0143] Optionally, the minimum bounding box determination submodule includes: a main axis determination unit, a first point set mapping unit, a second point set mapping unit, a first minimum bounding box determination unit, and a second minimum bounding box determination unit.

[0144] The main axis determining unit is used to determine the first and second main axes corresponding to the point set of the first cutting points, and the third and fourth main axes corresponding to the point set of the second cutting points.

[0145] The first point set mapping unit is used to map the point set of the first cutting point onto a plane determined based on the first principal axis and the second principal axis to obtain the corresponding first mapping geometric data;

[0146] The second point set mapping unit is used to map the point set of the second cutting point onto a plane determined based on the third principal axis and the fourth principal axis to obtain the corresponding second mapping geometric data;

[0147] The first minimum bounding box determination unit is used to determine the maximum and minimum values ​​of the first mapped geometric data along the first principal axis and the second principal axis, respectively, to obtain a first target point set corresponding to the maximum and minimum values, and to determine the first minimum bounding box of the first mapped geometric data based on the first target point set.

[0148] The second minimum bounding box determination unit is used to determine the maximum and minimum values ​​of the second mapping geometric data along the third principal axis and the fourth principal axis respectively, obtain the second target point set corresponding to the maximum and minimum values, and determine the second minimum bounding box of the second mapping geometric data based on the second target point set.

[0149] Optionally, the spindle determining unit is used for:

[0150] Determine the first feature value and the second feature value corresponding to the point set of the first cutting point, and determine the first principal axis and the second principal axis corresponding to the point set of the first cutting point based on the first feature value and the second feature value;

[0151] Determine the third and fourth feature values ​​corresponding to the point set of the second cutting points, and determine the third and fourth principal axes corresponding to the point set of the second cutting points based on the third and fourth feature values.

[0152] Optionally, the target transformation matrix determination submodule is used for:

[0153] Rigid registration is performed on the first minimum bounding box and the second minimum bounding box corresponding to the first prosthesis to determine the target transformation matrix corresponding to the candidate prosthesis.

[0154] Optionally, the target attitude determination module 340 is used for:

[0155] Determine the target plane where the second cut surface of the candidate prosthesis is located. On the target plane, rotate the candidate prosthesis along the first direction based on a preset angle. If the number of second cutting points outside the first cut surface decreases, continue to rotate the candidate prosthesis along the first direction to obtain the minimum number of second cutting points outside the first cut surface.

[0156] If the number of the second cutting points increases, the rotation of the candidate prosthesis is interrupted and the candidate prosthesis is restored to the posture before rotation, and then rotated along the second direction to determine the minimum number of the second cutting points located outside the first cutting plane;

[0157] Determine whether the minimum value exceeds a preset number threshold. If the number of second cutting points located outside the first cutting surface is less than or equal to the preset number threshold, then the pose corresponding to the minimum value is taken as the target pose corresponding to the target prosthesis.

[0158] Optionally, the target attitude determination module 340 is also used for:

[0159] If the minimum number of second cutting points located outside the first cutting plane exceeds a preset threshold, then the candidate prosthesis is replaced, and the operation of determining the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point is returned.

[0160] Optionally, the first point set determination module 310 is used for:

[0161] The spatial coordinate axis corresponding to the target object is determined based on the feature points of the target object, the first cross-section of the target object is determined based on the spatial coordinate axis, and the target object is geometrically cut based on the first cross-section to obtain the point set of the first cutting points corresponding to the first cross-section of the target object.

[0162] Optionally, the second point set determination module 320 is used for:

[0163] The candidate prosthesis is geometrically segmented based on a preset position to obtain a set of points corresponding to the second segmentation points of the candidate prosthesis.

[0164] The prosthesis positioning device provided in the embodiments of the present invention can execute the prosthesis positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0165] Example 4

[0166] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0167] like Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0168] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0169] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as prosthesis localization methods.

[0170] In some embodiments, the prosthesis localization method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the prosthesis localization method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the prosthesis localization method by any other suitable means (e.g., by means of firmware).

[0171] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0172] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0173] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0174] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0175] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0176] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0177] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0178] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for prosthesis positioning, characterized in that, include: Determine the target object, perform geometric data segmentation on the target object, and obtain the point set of the first cutting points of the first cut surface corresponding to the target object; Obtain candidate prostheses corresponding to the target object, and perform geometric data segmentation on the candidate prostheses to obtain a set of points of the second cutting points of the second cut surface corresponding to the candidate prostheses; Based on the point set of the first cutting point and the point set of the second cutting point, a target transformation matrix corresponding to the candidate prosthesis is determined, and the posture of the candidate prosthesis is adjusted based on the target transformation matrix so that the point set of the first cut surface matches the point set of the second cut surface; The number of second cutting points located outside the first cutting surface is determined. If the number of second cutting points is less than or equal to a preset number threshold, the candidate prosthesis is taken as the target prosthesis corresponding to the target object, and the target pose corresponding to the target prosthesis is determined. The step of determining the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point includes: A first minimum bounding box is determined based on the set of points of the first cutting points, and a second minimum bounding box is determined based on the set of points of the second cutting points; The target transformation matrix corresponding to the candidate prosthesis is determined based on the first minimum bounding box and the second minimum bounding box; The step of determining a first minimum bounding box based on the set of points of the first cutting points, and determining a second minimum bounding box based on the set of points of the second cutting points, includes: Determine the first principal axis and the second principal axis corresponding to the point set of the first cutting point, and the third principal axis and the fourth principal axis corresponding to the point set of the second cutting point; Map the set of points of the first cutting point onto a plane determined based on the first principal axis and the second principal axis to obtain the corresponding first mapping geometric data; The point set of the second cutting points is mapped onto the plane determined based on the third principal axis and the fourth principal axis to obtain the corresponding second mapping geometric data; Determine the maximum and minimum values ​​of the first mapped geometric data along the first principal axis and the second principal axis respectively, obtain the first target point set corresponding to the maximum and minimum values, and determine the first minimum bounding box of the first mapped geometric data based on the first target point set; Determine the maximum and minimum values ​​of the second mapping geometric data along the third principal axis and the fourth principal axis respectively, obtain the second target point set corresponding to the maximum and minimum values, and determine the second minimum bounding box of the second mapping geometric data based on the second target point set.

2. The method according to claim 1, characterized in that, The step of determining the first principal axis and second principal axis corresponding to the point set of the first cutting points, and the third principal axis and fourth principal axis corresponding to the point set of the second cutting points, includes: Determine the first feature value and the second feature value corresponding to the point set of the first cutting point, and determine the first principal axis and the second principal axis corresponding to the point set of the first cutting point based on the first feature value and the second feature value; Determine the third and fourth feature values ​​corresponding to the point set of the second cutting points, and determine the third and fourth principal axes corresponding to the point set of the second cutting points based on the third and fourth feature values.

3. The method according to claim 1, characterized in that, The step of determining the target transformation matrix corresponding to the candidate prosthesis based on the first minimum bounding box and the second minimum bounding box includes: Rigid registration is performed on the first target point set corresponding to the first minimum bounding box and the second target point set corresponding to the second minimum bounding box to determine the target transformation matrix corresponding to the candidate prosthesis.

4. The method according to claim 1, characterized in that, Determining the target pose corresponding to the target prosthesis includes: Determine the target plane where the second cut surface of the candidate prosthesis is located. On the target plane, rotate the candidate prosthesis along the first direction based on a preset angle. If the number of second cutting points outside the first cut surface decreases, continue to rotate the candidate prosthesis along the first direction to obtain the minimum number of second cutting points outside the first cut surface. If the number of the second cutting points increases, the rotation of the candidate prosthesis is interrupted and the candidate prosthesis is restored to the posture before rotation, and then rotated along the second direction to determine the minimum number of the second cutting points located outside the first cutting plane; Determine whether the minimum value exceeds a preset number threshold. If the number of second cutting points located outside the first cutting surface is less than or equal to the preset number threshold, then the pose corresponding to the minimum value is taken as the target pose corresponding to the target prosthesis.

5. The method according to claim 4, characterized in that, Also includes: If the minimum number of second cutting points located outside the first cutting plane exceeds a preset threshold, then the candidate prosthesis is replaced, and the operation of determining the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point is returned.

6. The method according to claim 1, characterized in that, The step of geometrically segmenting the target object to obtain a set of points for the first cutting points of the first cut surface corresponding to the target object includes: The spatial coordinate axis corresponding to the target object is determined based on the feature points of the target object, the first cross-section of the target object is determined based on the spatial coordinate axis, and the target object is geometrically cut based on the first cross-section to obtain the point set of the first cutting points corresponding to the first cross-section of the target object.

7. The method according to claim 1, characterized in that, The geometric data segmentation of the candidate prosthesis includes: The candidate prosthesis is geometrically segmented based on a preset position to obtain a set of points corresponding to the second segmentation points of the candidate prosthesis.

8. A prosthesis positioning device, characterized in that, include: The first point set determination module is used to determine the target object, perform geometric data cutting on the target object, and obtain a point set of the first cutting points of the first cutting surface corresponding to the target object; The second point set determination module is used to obtain candidate prostheses corresponding to the target object, perform geometric data cutting on the candidate prostheses, and obtain a point set of second cutting points of the second cut surface corresponding to the candidate prostheses; The transformation matrix determination module is used to determine the target transformation matrix corresponding to the candidate prosthesis based on the point set of the first cutting point and the point set of the second cutting point, and adjust the posture of the candidate prosthesis based on the target transformation matrix so that the point set of the first cut surface matches the point set of the second cut surface; The target pose determination module is used to determine the number of second cutting points located outside the first cutting surface of the second cut surface. When the number of second cutting points is less than or equal to a preset number threshold, the candidate prosthesis is taken as the target prosthesis corresponding to the target object, and the target pose corresponding to the target prosthesis is determined. The transformation matrix determination module includes: a minimum bounding box determination submodule and a target transformation matrix determination submodule; The minimum bounding box determination submodule is used to determine a first minimum bounding box based on the point set of the first cutting points, and to determine a second minimum bounding box based on the point set of the second cutting points. The target transformation matrix determination submodule is used to determine the target transformation matrix corresponding to the candidate prosthesis based on the first minimum bounding box and the second minimum bounding box; The minimum bounding box determination submodule includes: a main axis determination unit, a first point set mapping unit, a second point set mapping unit, a first minimum bounding box determination unit, and a second minimum bounding box determination unit; The main axis determining unit is used to determine the first and second main axes corresponding to the point set of the first cutting points, and the third and fourth main axes corresponding to the point set of the second cutting points. The first point set mapping unit is used to map the point set of the first cutting point onto a plane determined based on the first principal axis and the second principal axis to obtain the corresponding first mapping geometric data; The second point set mapping unit is used to map the point set of the second cutting point onto a plane determined based on the third principal axis and the fourth principal axis to obtain the corresponding second mapping geometric data; The first minimum bounding box determination unit is used to determine the maximum and minimum values ​​of the first mapped geometric data along the first principal axis and the second principal axis, respectively, to obtain a first target point set corresponding to the maximum and minimum values, and to determine the first minimum bounding box of the first mapped geometric data based on the first target point set. The second minimum bounding box determination unit is used to determine the maximum and minimum values ​​of the second mapping geometric data along the third principal axis and the fourth principal axis respectively, obtain the second target point set corresponding to the maximum and minimum values, and determine the second minimum bounding box of the second mapping geometric data based on the second target point set.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the prosthesis positioning method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the prosthesis localization method according to any one of claims 1-7.

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