Preoperative planning methods, storage media, products, and surgical systems

Abstract

This application relates to a preoperative planning method, storage medium, product, and surgical system. The method includes: determining the actual anatomical models of the two lower limbs based on actual image data; determining a target model based on the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of the two lower limbs; correcting the force line parameters of the target model to normal if they are abnormal; performing mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs; determining the osteotomy surface of at least one lower limb based on the actual anatomical models and the standard anatomical models of the two lower limbs; and determining the prosthesis contour corresponding to at least one lower limb based on the osteotomy surface of at least one lower limb, thereby obtaining the target prosthesis. This achieves preoperative planning, facilitating improved accuracy of subsequent surgery and resulting in better surgical outcomes.

Description

Technical Field

[0001] This application relates to the field of medical assistive design technology, and in particular to a preoperative planning method, storage medium, product, and surgical system. Background Technology

[0002] With the development of medical technology, computer-assisted joint replacement surgery has emerged. It mainly involves using a surgical robot system and osteotomy guide tools to remove diseased tissue from the joint, and then implanting an artificial knee joint prosthesis onto the cut surface of the joint, thereby improving the patient's quality of life and eliminating the patient's pain.

[0003] In traditional techniques, surgeons perform joint replacement surgery based on their experience. During the procedure, they continuously adjust the size and type of the implant and prosthesis to select the best match for the bone defect. After determining the prosthesis and implant, the surgeon also needs to adjust the prosthesis's offset to ensure the correct position of the joint prosthesis, proper lower limb alignment, and optimal joint function.

[0004] However, in traditional techniques, some patients may have special problems such as congenital leg length discrepancy or acquired disabilities. Therefore, relying solely on the doctor's personal experience to perform the surgery can increase the doctor's workload and reduce the efficiency of the surgery. On the other hand, it may also lead to insufficient precision in the surgery due to over-reliance on the doctor's experience, resulting in poor human factors engineering. Summary of the Invention

[0005] Therefore, it is necessary to provide a preoperative planning method, storage medium, product, and surgical system that can improve the precision of surgery, determine the best preoperative planning scheme for patients, and improve the surgical outcome, in order to address the above-mentioned technical problems.

[0006] A preoperative planning method includes: determining the actual anatomical model of the two lower limbs based on actual image data; determining a target model based on the actual anatomical model of the two lower limbs, wherein the target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of the two lower limbs; if the force line parameters of the target model are abnormal, correcting the force line parameters of the target model to be normal; performing mirror symmetry processing on the target model to obtain a standard anatomical model of the two lower limbs; determining the osteotomy surface of at least one lower limb based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining the prosthesis contour corresponding to at least one lower limb based on the osteotomy surface of at least one lower limb; and obtaining the target prosthesis based on the prosthesis contour.

[0007] In one embodiment, determining the osteotomy surface of at least one lower limb based on the actual anatomical model and the standard anatomical model of the two lower limbs includes: determining osteotomy parameters corresponding to at least one lower limb based on the actual anatomical model and the standard anatomical model of the two lower limbs, wherein the osteotomy parameters include osteotomy distance and osteotomy angle; and performing simulated osteotomy on the actual anatomical model to be osteotomized based on the osteotomy parameters to determine the osteotomy surface.

[0008] In one embodiment, determining the target model based on the actual anatomical models of the two lower limbs includes: if the first lower limb is abnormal and the second lower limb is normal, then the actual anatomical model of the second lower limb is taken as the target model; or, if both the first and second lower limbs are abnormal, then the actual anatomical model of the relatively normal lower limb between the first and second lower limbs is taken as the target model.

[0009] In one embodiment, obtaining the target prosthesis based on the prosthesis outline includes: selecting prostheses with a matching degree that meet the criteria from a prosthesis library based on the prosthesis outline as the target prosthesis; or, fabricating the target prosthesis based on the prosthesis outline.

[0010] In one embodiment, the preoperative planning method further includes: determining the characteristic parameters of the lower limb to be osteotomized based on the actual anatomical model of the lower limb to be osteotomized, wherein the characteristic parameters include the femoral head center position, condylar line, posterior condylar line, femoral anterior-posterior axis, tibio-knee joint center position, ankle joint center position, tibial anterior-posterior axis, and tibial medial-lateral axis; and determining the placement position and angle of the target prosthesis on the actual anatomical model of the lower limb to be osteotomized based on the characteristic parameters of the lower limb to be osteotomized and the parameters of the target prosthesis.

[0011] A surgical system includes: an image acquisition module for acquiring actual image data of two lower limbs, wherein the two lower limbs include a first lower limb and a second lower limb; a prosthesis acquisition module for acquiring a target prosthesis; and a processor connected to the image acquisition module and the prosthesis acquisition module, respectively, for determining an actual anatomical model of the two lower limbs based on the actual image data; determining a target model based on the actual anatomical model of the two lower limbs, wherein the target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of the two lower limbs; adjusting the force line parameters of the target model to normal if the force line parameters of the target model are abnormal; performing mirror symmetry processing on the target model to obtain a standard anatomical model of the two lower limbs; determining the osteotomy surface of at least one lower limb based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining the prosthesis contour corresponding to at least one lower limb based on the osteotomy surface of at least one lower limb; and obtaining the target prosthesis through the prosthesis acquisition module based on the prosthesis contour.

[0012] In one embodiment, the processor is further configured to: plan the osteotomy surface of one of the two lower limbs based on the osteotomy parameters corresponding to one of the two lower limbs; and perform osteotomy on one of the two lower limbs using an osteotomy guide tool based on the osteotomy surface of one of the two lower limbs.

[0013] In one embodiment, the image acquisition module is further configured to acquire actual image data of the two lower limbs after osteotomy; the processor is further configured to determine, based on the actual image data of the two lower limbs after osteotomy, whether the osteotomy of one lower limb has met the standard.

[0014] A computer-readable storage medium storing a computer program, which, when executed by a processor, performs the following steps: determining actual anatomical models of the two lower limbs based on actual image data; determining a target model based on the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of the two lower limbs; correcting the force line parameters of the target model to normal if the force line parameters of the target model are abnormal; performing mirror symmetry processing on the target model to obtain a standard anatomical model of the two lower limbs; determining the osteotomy surface of at least one lower limb based on the actual anatomical models and the standard anatomical models of the two lower limbs; determining the prosthesis contour corresponding to at least one lower limb based on the osteotomy surface of the at least one lower limb; and obtaining a target prosthesis based on the prosthesis contour.

[0015] A computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps: determining actual anatomical models of the two lower limbs based on actual image data; determining a target model based on the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of the two lower limbs; correcting the force line parameters of the target model to normal if the force line parameters of the target model are abnormal; performing mirror symmetry processing on the target model to obtain a standard anatomical model of the two lower limbs; determining the osteotomy surface of at least one lower limb based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining the prosthesis contour corresponding to at least one lower limb based on the osteotomy surface of the at least one lower limb; and obtaining a target prosthesis based on the prosthesis contour.

[0016] The aforementioned preoperative planning method, storage medium, product, and surgical system, by acquiring actual image data of both lower limbs, can determine the actual anatomical models of both lower limbs. Then, based on these actual anatomical models, a target model is determined. This target model is the anatomical model of the relatively normal lower limb among the actual anatomical models, thus obtaining a model of the relatively healthy lower limb from both sides of the patient. This facilitates subsequent determination of the healthy models of both lower limbs based on this model. If the force line parameters of the target model are abnormal, they are corrected to be normal, ensuring that the target model conforms to normal human anatomy. The target model is then mirror-symmetric to obtain standard anatomical models of both lower limbs. Mirror symmetry of these standard anatomical models results in standard models that ensure mirror symmetry of both lower limbs, facilitating preoperative planning based on these determined standard anatomical models. This ensures high consistency between the patient's legs, improving surgical outcomes. Then, based on the actual anatomical models and standard anatomical models of the two lower limbs, the osteotomy surface of at least one lower limb is determined; according to the osteotomy surface of at least one lower limb, the corresponding prosthesis contour of at least one lower limb is determined, thereby facilitating subsequent surgical operations and completing preoperative planning. In summary, the method of this application, by determining a patient's leg model that can improve the consistency of the patient's legs before surgery, and by determining the parameters of the prosthesis and preparing the target prosthesis based on the model, achieves preoperative planning, which facilitates the improvement of the accuracy of subsequent surgery and results in better surgical outcomes. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 Here is a flowchart of a preoperative planning method in one embodiment;

[0019] Figure 2 This is a flowchart of a method for determining the prosthesis contour in one embodiment;

[0020] Figure 3 This is a schematic diagram of the prosthesis outline in one embodiment;

[0021] Figure 4 A flowchart of a preoperative planning method in another embodiment;

[0022] Figure 5 This is an example of a three-dimensional model of the lower limb in one embodiment;

[0023] Figure 6 This is a schematic diagram illustrating the process of determining a lower limb image in one embodiment;

[0024] Figure 7 This is a schematic diagram of an abnormal lower limb in one embodiment;

[0025] Figure 8 This is a schematic diagram of an abnormal lower limb in another embodiment;

[0026] Figure 9 This is a schematic diagram of a normal lower limb in one embodiment;

[0027] Figure 10 This is a flowchart of a method for determining the pose of a prosthesis in one embodiment;

[0028] Figure 11 This is a structural diagram of the surgical system in one embodiment;

[0029] Figure 12 This is a structural diagram of the surgical system in another embodiment;

[0030] Figure 13 This is a schematic diagram of a target prosthesis being installed on one lower limb in one embodiment;

[0031] Figure 14 This is a schematic diagram illustrating the installation process of the target prosthesis in one embodiment;

[0032] Figure 15 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0033] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0035] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0036] In one embodiment, such as Figure 1 As shown, a preoperative planning method is provided, which includes:

[0037] Step S100: Determine the actual anatomical model of the two lower limbs based on the actual image data of the two lower limbs.

[0038] The two lower limbs include the first lower limb and the second lower limb, and the two lower limbs are mirror symmetrical, that is, the first lower limb and the second lower limb are mirror symmetrical.

[0039] The actual image data of the two lower limbs can be obtained through computed tomography (CT) or magnetic resonance imaging (MR).

[0040] Specifically, based on the actual image data of the two lower limbs, the images can be segmented to find the characteristic parts in the images, such as the femur and tibia in the coronal, sagittal, and transverse planes. Then, a three-dimensional digital model can be created based on the parameters in the images to realize the three-dimensional reconstruction of the two lower limbs and obtain the actual anatomical model of the two lower limbs.

[0041] Step S110: Determine the target model based on the actual anatomical model of the two lower limbs.

[0042] The target model is the actual anatomical model of the relatively normal lower limb in the actual anatomical model of the two lower limbs.

[0043] For example, the scanned image can be segmented using a segmentation algorithm, dividing it into regions of different granularities as needed, such as the femur and tibia regions, or further segmenting it into the femur, tibia, fibula, and patella regions. Then, the segmented images of each region can be reconstructed in three dimensions to obtain a three-dimensional model of both lower limbs. Thus, based on the actual image data of the two lower limbs, an actual anatomical model of the two lower limbs can be constructed.

[0044] Specifically, doctors can determine the relatively normal lower limb based on the actual situation. Alternatively, they can use parameters of both lower limbs, such as the location information of characteristic points like the center of the hip joint, the center of the knee joint, and the center of the ankle joint, as well as the angle between the lines connecting the hip joint center and the knee joint center and the ankle joint center, and then compare them with the biological characteristics of a normal human body. The lower limb that is closer to the biological characteristics of a normal human body is selected as the relatively normal lower limb, and its actual anatomical model is used as the target model.

[0045] Step S120: If the force line parameters of the target model are abnormal, then correct the force line parameters of the target model to be normal.

[0046] Specifically, based on the biological characteristics of a normal human body, the target model is adjusted so that the line connecting the center of the hip joint, the center of the knee joint, and the center of the ankle joint is adjusted to be closer to a straight line, thus obtaining a normal target model. This target model is obtained based on the biological characteristics of a normal human body and therefore conforms to the normal human anatomy.

[0047] Step S130: Perform mirror symmetry processing on the target model to obtain a standard anatomical model of the two lower limbs.

[0048] Step S140: Based on the actual anatomical model and standard anatomical model of the two lower limbs, determine the osteotomy surface of at least one lower limb.

[0049] Specifically, by simulating and superimposing the actual anatomical model and the standard anatomical model—that is, by comparing the actual anatomical model and the standard anatomical model—the osteotomy of the two lower limbs corresponding to the actual anatomical model is determined to resemble the two lower limbs in the standard anatomical model, and the amount and angle of osteotomy are planned. Thus, the osteotomy parameters for one lower limb can be determined.

[0050] For example, after determining the characteristic parameters of the bones of the two lower limbs, the osteotomy thickness, osteotomy distance, osteotomy angle, etc. of each part can be calculated according to the osteotomy parameters, and multiple osteotomy surfaces can be determined. Then, osteotomy can be performed on one side of the lower limb according to the multiple osteotomy surfaces.

[0051] Step S150: Determine the prosthesis contour corresponding to at least one of the two lower limbs based on the osteotomy surface of at least one of the two lower limbs.

[0052] Specifically, after determining the actual anatomical model and the standard anatomical model of both lower limbs, the actual anatomical model and the standard anatomical model are simulated and superimposed to perform simulated osteotomy. After osteotomy of the actual anatomical model is completed according to the standard anatomical model, the outer contour of the completed osteotomy model can be used as the inner contour of the prosthesis. Because the prosthesis needs to be installed on the outer side of both lower limbs, the inner side of the prosthesis needs to fit into the outer side of the two lower limbs after osteotomy. Therefore, the inner contour of the prosthesis can be determined based on the outer contour of the two lower limbs. The outer contour of the prosthesis can be obtained directly from the lower leg. The inner contour of the prosthesis and the outer contour of the prosthesis are combined to obtain the prosthesis contour.

[0053] Step S160: Obtain the target prosthesis based on the prosthesis outline.

[0054] Specifically, after determining the inner and outer contours of the implant, the target implant can be obtained by following these contours. The outer contour of the target implant should match the determined outer contour, and the inner contour should match the determined inner contour. Alternatively, they may not be completely identical, with slight deviations, but as long as the matching requirement is met, it is acceptable.

[0055] For example, a prosthesis similar to the inner and outer contours of the prosthesis can be selected from the prosthesis library. The library contains various types of prostheses, and each type has multiple models of 3D bone prosthesis models. For instance, the types of 3D femoral prosthesis models include ATTUNE-PS, ATTUNE-CR, and SIGMA-PS150, with ATTUNE-PS models available in 1, 2, 3, 3N, 4, 4N, 5, 5N, 6, and 6N.

[0056] Specifically, after obtaining the target prosthesis, it is also necessary to determine the orientation of the target prosthesis when it is installed on one lower limb. At this point, based on the anatomical parameters of the mirrored target model, it is necessary to determine how the target prosthesis should be installed, that is, to determine the orientation of the target prosthesis.

[0057] For example, the more important skeletal dimensions of the two lower limbs may include the left-right diameter of the femur, the anteroposterior diameter of the femur, the left-right diameter of the tibia, and the anteroposterior diameter of the tibia. The left-right diameter of the femur is determined by the line connecting the medial and lateral borders of the femur, the anteroposterior diameter of the femur is determined by the tangent of the anterior cortex of the femur and the tangent of the posterior condyle of the femur, the left-right diameter of the tibia is determined by the line connecting the medial and lateral borders of the tibia, and the anteroposterior diameter of the tibia is determined by the line connecting the anterior and posterior borders of the tibia, etc. After determining these important dimensions through the target model and its mirrored model data, the key angles of the bones are then determined based on these dimensions. Thus, based on the dimensions and key angles of the bones, the installation posture of the target prosthesis can be determined.

[0058] In this embodiment, by acquiring actual image data of both lower limbs, the actual anatomical models of the two lower limbs can be determined. Then, based on the actual anatomical models of the two lower limbs, a target model is determined. The target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of the two lower limbs, thus obtaining a model of the relatively healthy lower limb among the patient's two lower limbs. This model facilitates the subsequent determination of the healthy models of the patient's two lower limbs. If the force line parameters of the target model are abnormal, the force line parameters of the target model are corrected to be normal, thereby ensuring that the target model conforms to normal human anatomy. Then, the target model is mirror-symmetric to obtain the standard anatomical models of the two lower limbs. The mirror symmetry of the standard anatomical models of the two lower limbs can obtain a standard model that makes the patient's two lower limbs mirror-symmetric, which facilitates preoperative planning according to the determined standard anatomical models of the two lower limbs, resulting in a high degree of consistency between the patient's two legs and improving the subsequent surgical outcome. Then, based on the actual anatomical models and standard anatomical models of the two lower limbs, the osteotomy surface of at least one lower limb is determined; according to the osteotomy surface of at least one lower limb, the corresponding prosthesis contour of at least one lower limb is determined, thereby facilitating subsequent surgical operations and completing preoperative planning. In summary, the method of this application, by determining a patient's leg model that can improve the consistency of the patient's legs before surgery, and by determining the parameters of the prosthesis and preparing the target prosthesis based on the model, achieves preoperative planning, which facilitates the improvement of the accuracy of subsequent surgery and results in better surgical outcomes.

[0059] In one embodiment, such as Figure 2 As shown, step S140 involves determining the osteotomy surface of at least one lower limb based on the actual anatomical model and the standard anatomical model of both lower limbs. This includes:

[0060] Step S200: Based on the actual anatomical models and standard anatomical models of the two lower limbs, determine the osteotomy parameters corresponding to at least one lower limb.

[0061] Among them, osteotomy parameters include osteotomy distance and osteotomy angle.

[0062] Specifically, by simulating and superimposing the actual anatomical model with a standard anatomical model—that is, by comparing the actual anatomical model with the standard anatomical model—the osteotomy of the two lower limbs corresponding to the actual anatomical model is determined, specifying which areas need osteotomy, as well as the amount and angle of osteotomy. This allows the determination of the osteotomy parameters for the two lower limbs.

[0063] Step S210: Based on the osteotomy parameters, simulate osteotomy on the actual anatomical model of the required osteotomy to determine the osteotomy surface.

[0064] For example, based on the actual anatomical model, the characteristic parameters of the two lower limb bones can be determined, such as the femoral head center, condylar line, posterior condyle line, femoral anterior-posterior axis, tibia-knee joint center, ankle joint center, tibia anterior-posterior axis, tibia medial-lateral axis, femoral osteotomy point, tibia osteotomy point, etc.

[0065] For example, key skeletal axes and angles can be determined as follows: the tibial mechanical axis is determined from the center of the tibial knee joint (center of the intercondylar spine) to the center of the tibial ankle joint (midpoint of the line connecting the lateral cortical bone of the medial and lateral malleoli); the tibial anatomical axis is determined by the centerline of the tibial shaft, with the tibial mechanical axis and tibial anatomical axis being parallel. One endpoint of the femoral anatomical axis is the center point of the femoral shaft, located between the distal end (the highest point of the femoral head) and the proximal end (the distal portion of the medial femoral condyle), and the other endpoint is 10 cm on the knee joint surface, bisecting the medial and lateral cortical bone. One endpoint of the femoral mechanical axis is located at the center of the hip joint, and the other endpoint is located at the center point of the femoral knee joint (apex of the intercondylar fossa). The posterior condylar line is obtained by connecting the lowest points of the medial and lateral posterior condyles of the femur, and the condylar line is obtained by connecting the highest point of the medial condyle and the lateral condyle. The tibial angle is obtained based on the angle formed by the mechanical axis of the femur and the mechanical axis of the tibia; the distal femoral angle is obtained based on the angle between the mechanical axis of the femur and the anatomical axis. The posterior femoral condyle angle is obtained based on the angle between the projection lines of the line connecting the femoral condyles and the posterior condyles on the transverse section.

[0066] For example, after determining the characteristic parameters of the bones of the two lower limbs, the osteotomy thickness, osteotomy distance, osteotomy angle, etc. of each part can be calculated according to the osteotomy parameters. Thus, the osteotomy of the two lower limbs can be performed according to the osteotomy parameters to obtain multiple osteotomy surfaces. After determining the multiple osteotomy surfaces of the two lower limbs, the inner contour of the prosthesis can be obtained by combining the multiple osteotomy surfaces.

[0067] For example, the osteotomy angles include varus / valgus angles, internal / external rotation angles, and anteroposterior tilt angles. Specifically: Varus / valgus angles: In the coronal plane, these angles are determined based on the angles between the mechanical axes of the femur and tibia and the distal plane of the femoral prosthesis, and the proximal plane of the tibia, respectively. Internal / external rotation angles: In the transverse plane, these angles are determined based on the angles between the femoral condyle line, the anteroposterior axis of the tibia and the transverse axis of the femoral prosthesis, and the transverse axis of the tibia, respectively. Anteroposterior tilt angles: In the sagittal plane, these angles are determined based on the angles between the femoral force line, the tibial force line and the distal plane of the femoral prosthesis, and the tibial plateau.

[0068] For example, the osteotomy surface includes the distal femoral resection surface, the posterior distal femoral resection surface, the posterior distal femoral section, the anterior distal femoral section, the anterior oblique distal femoral section, the anterior oblique distal femoral section, and the proximal tibia resection surface.

[0069] Specifically, based on the standard anatomical model, the outer contour of the corrected normal bone can be determined from the standard anatomical model, and the outer contour of the normal bone can be directly used as the outer contour of the prosthesis.

[0070] For example, such as Figure 3 As shown, the inner side of the prosthesis 20 fits into the outer side of the bone 10, so the inner contour 100 of the prosthesis corresponds to the outer contour 101 of the bone, while the outer contour 200 of the prosthesis is obtained from a standard anatomical model.

[0071] In this embodiment, multiple osteotomy surfaces of the two lower limbs were determined based on actual anatomical models of the two lower limbs. Based on these osteotomy surfaces, the contours of the two lower limbs were determined. Then, the medial contour of the prosthesis to fit into these contours was determined. Finally, the lateral contour of the prosthesis was determined based on the lateral contour of the normal bone, thus obtaining the medial and lateral contours of the prosthesis. Since both the medial and lateral contours of the prosthesis are derived from actual anatomical models of the two lower limbs, the matching degree with the two lower limbs is extremely high, allowing for personalized prosthesis customization tailored to the patient's specific situation. The prosthesis is perfectly matched to the patient, facilitating improved surgical outcomes.

[0072] In one embodiment, such as Figure 4 As shown, step S110 involves determining the target model based on the actual anatomical model of the two lower limbs. This includes:

[0073] Step S400: If the first lower limb is abnormal and the second lower limb is normal, then the actual anatomical model of the second lower limb is used as the target model.

[0074] For example, Figure 5 This is a 3D reconstruction of the patient's lower limbs. Preoperatively, the patient underwent a full-length CT scan of both lower limbs with a slice thickness ≤1mm. The CT scan covered the entire length of both lower limbs, including the entire length of the femur and tibia / fibula. After the CT scan, the patient's CT image data was imported into computer-aided design software in DICOM format, and a 3D model of the patient's lower limbs was reconstructed within the software. Figure 5 -① is a three-dimensional model of the normal side femur. Figure 5 -② is a three-dimensional model of the normal lateral tibia. Figure 5 -③ is a three-dimensional model of the normal side fibula. Figure 5 -④ is a three-dimensional model of the abnormal femur. Figure 5 -⑤ is a three-dimensional model of the abnormal tibia. Figure 5 -⑥ is a three-dimensional model of the abnormal side of the fibula.

[0075] For example, such as Figure 6As shown, when the actual anatomical model 11 of the first lower limb is abnormal and the actual anatomical model 12 of the second lower limb is normal, the actual anatomical model 12 of the second lower limb is used as the target model and mirrored to obtain the standard anatomical model 13 of the first lower limb. Then, the standard anatomical model 13 of the first lower limb and the actual anatomical model 12 of the second lower limb are combined to obtain the standard anatomical models of both lower limbs. Subsequently, the actual anatomical model 11 of the first lower limb and the standard anatomical model 13 of the first lower limb are simulated and compared to determine the parts requiring osteotomy.

[0076] Specifically, determining whether an actual anatomical model is normal or abnormal is based on comparing the biological parameters of the actual anatomical model with those of a normal human body structure.

[0077] Step S410: If both the first and second lower limbs are abnormal, then the actual anatomical model of the relatively normal lower limb between the first and second lower limbs is used as the target model.

[0078] Among them, the first target lower limb is the relatively normal lower limb between the first and second lower limbs.

[0079] Specifically, such as Figure 7 , 8 As shown, if both the first and second lower limbs are abnormal, the model of the relatively normal lower limb is selected as the target model. The specific determination of which lower limb is relatively normal is made by the doctor.

[0080] Specifically, based on the actual anatomical model of the first target lower limb, characteristic parameters in the first target lower limb are determined, such as the positional information of characteristic points like the center of the hip joint, the center of the knee joint, and the center of the ankle joint. Then, the angle between the line connecting the center of the hip joint and the center of the knee joint and the center of the ankle joint is measured. Afterward, based on the biological characteristics of a normal human body, the actual anatomical model of the first target lower limb is adjusted so that the line connecting the center of the hip joint, the center of the knee joint, and the center of the ankle joint is adjusted to be closer to a straight line, thus obtaining the standard anatomical model of the first target lower limb. This standard anatomical model is obtained based on the biological characteristics of a normal human body and therefore conforms to normal human anatomy.

[0081] The second target lower limb is the other lower limb between the first and second lower limbs, excluding the first target lower limb. The standard anatomical model of the first target lower limb is mirror-symmetrical to the standard anatomical model of the second target lower limb.

[0082] Specifically, after determining the standard anatomical model of the first target lower limb, the standard anatomical model of the first target lower limb is mirrored to obtain the standard anatomical model of the second target lower limb.

[0083] Specifically, by combining the standard anatomical models of the first and second target lower limbs, we can obtain standard anatomical models of both lower limbs. This facilitates subsequent simulation and comparison between the standard anatomical models of the two lower limbs and their actual anatomical models, thus determining the areas requiring osteotomy.

[0084] For example, a standard anatomical model of the two lower limbs is as follows: Figure 9 As shown.

[0085] In this embodiment, if only one lower limb of the patient is abnormal, the image data of the abnormal lower limb is obtained based on the principle of mirror symmetry using the other normal lower limb. This ensures mirror symmetry between the patient's two lower limbs, guaranteeing the consistency of the patient's lower limbs. Subsequent osteotomy and prosthesis fabrication are based on this consistency, improving surgical outcomes. Furthermore, this process pre-determines a standard anatomical model, enhancing surgical precision. If both lower limbs are abnormal, the image of the relatively normal lower limb is adjusted using normal human biological characteristics to obtain a standard anatomical model of that limb, which serves as the target model. Based on the principle of mirror symmetry, a standard anatomical model of the other lower limb is then obtained. This ensures mirror symmetry between the patient's two lower limbs, guaranteeing the consistency of the patient's lower limbs. Subsequent osteotomy and prosthesis fabrication are based on this consistency, improving surgical outcomes. Maintaining consistency between the patient's two lower limbs makes the patient more coordinated and flexible. This process also pre-determines a standard anatomical model, enhancing surgical precision.

[0086] In one embodiment, step S160 involves obtaining the target prosthesis based on the prosthesis outline. Specifically, this includes: selecting prostheses with a matching degree from a prosthesis library as the target prosthesis based on the prosthesis outline; or, fabricating the target prosthesis based on the prosthesis outline.

[0087] Specifically, a 3D model of the prosthesis can be generated based on the inner and outer contours of the prosthesis. A suitable prosthesis can then be selected from a prosthesis library, and its dimensions can be set. After selection, the chosen prosthesis is compared with its 3D model to determine the fit. Only prostheses that meet the fit standard can be used as the target prosthesis. A good fit standard is defined as the error between the selected prosthesis's contour and the 3D model's contour being within a preset range.

[0088] For example, a prosthesis similar to the inner and outer contours of the prosthesis can be selected from the prosthesis library. The library contains various types of prostheses, and each type has multiple models of 3D bone prosthesis models. For instance, the types of 3D femoral prosthesis models include ATTUNE-PS, ATTUNE-CR, and SIGMA-PS150, with ATTUNE-PS models available in 1, 2, 3, 3N, 4, 4N, 5, 5N, 6, and 6N.

[0089] Specifically, if the matching accuracy of the prostheses in the library does not meet the requirements, a custom-made prosthesis is needed. A 3D model of the target prosthesis can be generated based on the inner and outer contours of the prosthesis, and then 3D printed. Before printing, parameters such as the prosthesis type (unicompartmental knee joint, total knee joint), size, and material (ultra-high molecular weight polyethylene, titanium alloy, etc.) can be set, thus achieving personalized prosthesis customization.

[0090] In this embodiment, prostheses that meet the matching criteria are selected from the prosthesis library as target prostheses, thereby enabling the rapid acquisition of target prostheses and saving preoperative planning time. If no suitable prosthesis is found in the prosthesis library, the target prosthesis is directly fabricated based on the inner and outer contours of the prosthesis, thus achieving personalized customization of the prosthesis and ensuring the highest degree of fit between the target prosthesis and the patient.

[0091] In one embodiment, such as Figure 10 As shown, preoperative planning methods also include:

[0092] Step S1000: Determine the characteristic parameters of the lower limb to be osteotomized based on the actual anatomical model of the lower limb to be osteotomized.

[0093] The characteristic parameters include the center position of the femoral head, the condylar line, the line connecting the posterior condyles, the anterior and posterior axis of the femur, the center position of the tibia and knee joint, the center position of the ankle joint, the anterior and posterior axis of the tibia, and the medial and lateral axis of the tibia.

[0094] Step S1010: Based on the characteristic parameters of the lower limb to be osteotomized and the parameters of the target prosthesis, determine the placement position and angle of the target prosthesis on the actual anatomical model of the lower limb to be osteotomized.

[0095] Specifically, the 3D model of the target prosthesis is simulated and matched with the standard anatomical models of the two lower limbs. The contact position and angle between the 3D model of the target prosthesis and the standard anatomical models are adjusted until the force line and other parameters of the lower limbs after the target prosthesis is installed meet the requirements of normal human anatomy. This yields the placement position and angle of the target prosthesis on the two lower limbs.

[0096] For example, it is necessary to adjust the medial distance, lateral distance, anterior-posterior tilt angle, posterior-exterior rotation angle, and lateral-interior rotation angle between the target prosthesis and the two lower limbs.

[0097] In this embodiment, the three-dimensional models of both lower limbs can be determined based on actual image data. Then, based on the parameters of the target prosthesis, the three-dimensional model of the target prosthesis can be determined. By adjusting the contact position and angle between the three-dimensional model of the target prosthesis and the three-dimensional models of the two lower limbs, the pose of the target prosthesis can be obtained. This completes the preoperative planning, facilitating the subsequent installation of the target prosthesis according to the determined pose during surgery. This improves the accuracy of the surgery.

[0098] It should be understood that, although Figure 1 , 2 The steps in flowcharts 4 and 10 are shown sequentially as indicated by the arrows; however, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order requirement for the execution of these steps, and they can be executed in other orders. Furthermore, Figure 1 , 2 At least some of the steps in 4 and 10 may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0099] In one embodiment, such as Figure 11 As shown, a surgical system is provided, which includes: an image acquisition module 30, a prosthesis acquisition module 40, and a processor 50. Wherein:

[0100] The image acquisition module 30 is used to acquire actual image data of the two lower limbs, which include the first lower limb and the second lower limb.

[0101] Specifically, the image acquisition module 30 can be a CT device or an MRI device. The actual image data of the two lower limbs can be image data of the two lower limbs obtained by computed tomography (CT) or magnetic resonance imaging (MR).

[0102] The prosthesis acquisition module 40 is used to acquire the target prosthesis.

[0103] For example, the prosthesis acquisition module 40 can be a 3D printer.

[0104] The processor 50 is connected to the image acquisition module 30 and the prosthesis acquisition module 40, respectively, and is used to determine the actual anatomical model of the two lower limbs based on the actual image data of the two lower limbs; determine the target model based on the actual anatomical model of the two lower limbs, wherein the target model is the actual anatomical model of the relatively normal lower limb in the actual anatomical model of the two lower limbs; if the force line parameters of the target model are abnormal, adjust the force line parameters of the target model to be normal; perform mirror symmetry processing on the target model to obtain the standard anatomical model of the two lower limbs; determine the osteotomy surface of at least one lower limb based on the actual anatomical model and the standard anatomical model of the two lower limbs; determine the prosthesis contour corresponding to at least one lower limb based on the osteotomy surface of at least one lower limb; and obtain the target prosthesis through the prosthesis acquisition module based on the prosthesis contour.

[0105] In this embodiment, the image acquisition module acquires actual image data of both lower limbs. The processor determines the actual anatomical model of both lower limbs. Then, based on the actual anatomical model of both lower limbs, a target model is determined. The target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of both lower limbs. This yields a model of the relatively healthy lower limb among the patient's two lower limbs, facilitating the subsequent determination of the healthy models of the patient's two lower limbs based on this model. If the force line parameters of the target model are abnormal, the force line parameters of the target model are corrected to be normal, thereby ensuring that the target model conforms to normal human anatomy. Then, the target model is mirror-symmetric to obtain a standard anatomical model of both lower limbs. The mirror symmetry of the standard anatomical model of both lower limbs results in a standard model that makes the patient's two lower limbs mirror-symmetric, facilitating preoperative planning based on the determined standard anatomical model of both lower limbs. This ensures a high degree of consistency between the patient's two legs, improving the subsequent surgical outcome. Then, based on the actual anatomical models and standard anatomical models of the two lower limbs, the osteotomy surface of at least one lower limb is determined. Based on the osteotomy surface of at least one lower limb, the corresponding prosthesis contour of at least one lower limb is determined, thus facilitating subsequent surgical procedures and completing preoperative planning. The target prosthesis is then acquired through an image acquisition module. In summary, the method of this application, by determining a patient's leg model that can improve leg consistency before surgery, and by determining the prosthesis parameters and preparing the target prosthesis based on this model, achieves preoperative planning, improves the accuracy of subsequent surgery, and results in better surgical outcomes.

[0106] In one embodiment, such as Figure 12 As shown, the surgical system also includes: an osteotomy guide tool 61 and a positioning module 70. Among them:

[0107] The positioning module 70 is used to determine the position of the osteotomy guide tool 61 and the lower limb on the side to be osteotomized.

[0108] For example, the positioning module 70 can be a lidar, infrared positioning device, etc., which can directly obtain the position of the osteotomy guide tool 61 and the two lower limbs, thereby realizing the positioning of the osteotomy guide tool 61 and the two lower limbs, which facilitates subsequent osteotomy.

[0109] For example, before surgery, the surgeon can use a targeting pen to mark feature points on the patient's femur and tibia (i.e., the surgeon marks multiple femoral anatomical feature points on the femur and multiple tibial anatomical feature points on the tibia). This allows the surgeon to determine the specific location of the target osteotomy surface based on these marked feature points. The actual position of the bone can be tracked in real time based on the marked feature points. Furthermore, during surgery, as long as the relative position between the marked feature points and the bone remains fixed, the position of the target osteotomy surface can be obtained through a mapping relationship, ensuring that bone movement will not affect the surgical outcome.

[0110] The processor 50 is also connected to the osteotomy guide tool 61 and the positioning module 70, respectively, and is used to control the osteotomy guide tool 61 to perform osteotomy positioning on the two lower limbs according to the position of the two lower limbs and the planned osteotomy surface.

[0111] In this embodiment, osteotomy guidance tool 61 is provided to achieve osteotomy guidance and positioning.

[0112] In one embodiment, the processor 50 is further configured to plan the osteotomy surface of one of the two lower limbs based on the osteotomy parameters corresponding to one of the two lower limbs. Based on the osteotomy surface of one of the two lower limbs, the osteotomy guide tool 61 is used to perform osteotomy on one of the two lower limbs.

[0113] For example, after determining the characteristic parameters of the bones of the two lower limbs, the osteotomy thickness, osteotomy distance, osteotomy angle, etc. of each part can be calculated according to the osteotomy parameters, and multiple osteotomy surfaces can be determined. Then, osteotomy can be performed on one side of the two lower limbs according to the multiple osteotomy surfaces.

[0114] In this embodiment, the processor 50 can determine the osteotomy surface of one of the two lower limbs based on the osteotomy parameters corresponding to one of the two lower limbs, thereby facilitating subsequent osteotomy of one of the two lower limbs based on the determined osteotomy surface.

[0115] In one embodiment, the processor 50 is also configured to mount the target prosthesis onto the osteotomy surface after the osteotomy guide tool 61 has completed osteotomy on one side of the lower limb.

[0116] In one embodiment, the image acquisition module is further configured to acquire actual postoperative image data of the two lower limbs after osteotomy. The processor is further configured to determine, based on the actual image data of the two lower limbs after osteotomy, whether the osteotomy of one lower limb has met the target.

[0117] Specifically, the image acquisition module can be a CT device or an MRI device, which can measure characteristic parameters such as the gap between the joints of the patient's two lower limbs and the force line of the lower limbs.

[0118] For example, the image acquisition module may include a Network Device Interface (NDI) image acquisition device. The NDI image acquisition device acquires real-time image information of both lower limbs, and the real-time image information is registered with the image data to spatially register the target osteotomy surface with the three-dimensional model of both lower limbs, thereby improving the accuracy of positioning.

[0119] Specifically, after acquiring the actual image data, the processor 50 compares it with the preset values ​​of normal human body structure to determine whether the two lower limbs meet the standards.

[0120] For example, after the target prosthesis is installed on the distal femur, as Figure 13 As shown, Figure 13 This is a diagram showing the femur after osteotomy and the installation of the prosthesis. Figure 13 -① is an anatomical model of the femur. Figure 13 -② is the target prosthesis.

[0121] For example, such as Figure 14 The diagram shown illustrates the installation process of the target prosthesis.

[0122] In this embodiment, the actual image data of the two lower limbs is acquired through the image acquisition module, and then the actual image data is used to determine whether the lower limb requiring osteotomy meets the standard, thereby facilitating the doctor's evaluation of the surgical effect.

[0123] In one embodiment, a computer device is provided, the internal structure of which can be shown in the following diagram. Figure 15 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. 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 an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a preoperative planning method.

[0124] Those skilled in the art will understand that Figure 15The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0125] 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 in the above-described method embodiments.

[0126] 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 in the above method embodiments.

[0127] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0128] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. 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), etc.

[0129] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0130] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0131] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. 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 patent application should be determined by the appended claims.

Claims

1. A preoperative planning method, characterized in that, The method includes: Based on the actual image data of the two lower limbs, the actual anatomical model of the two lower limbs is determined; Based on the actual anatomical models of the two lower limbs, a target model is determined, wherein the target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of the two lower limbs; Before performing mirror symmetry processing on the target model, if the force line parameters of the target model are abnormal, the force line parameters of the target model are corrected to be normal. Correcting the force line parameters of the target model to be normal includes: adjusting the target model according to the biological characteristics of a normal human body, and adjusting the line connecting the center of the hip joint, the center of the knee joint, and the center of the ankle joint to be closer to a straight line. The target model is mirrored to obtain a standard anatomical model of the two lower limbs; Based on the actual anatomical model and standard anatomical model of the two lower limbs, the osteotomy surface of at least one of the two lower limbs is determined; Based on the osteotomy surface of at least one of the two lower limbs, determine the prosthesis contour corresponding to at least one of the two lower limbs; The target prosthesis is obtained based on the prosthesis outline.

2. The method according to claim 1, characterized in that, The determination of the osteotomy surface of at least one lower limb based on the actual anatomical model and the standard anatomical model of the two lower limbs includes: Based on the actual anatomical model and standard anatomical model of the two lower limbs, determine the osteotomy parameters corresponding to at least one of the two lower limbs, wherein the osteotomy parameters include osteotomy distance and osteotomy angle; Based on the osteotomy parameters, simulate osteotomy is performed on the actual anatomical model of the required osteotomy to determine the osteotomy surface.

3. The method according to claim 1, characterized in that, The step of determining the target model based on the actual anatomical model of the two lower limbs includes: if the first lower limb is abnormal and the second lower limb is normal, then the actual anatomical model of the second lower limb is taken as the target model; Alternatively, if both the first and second lower limbs are abnormal, the actual anatomical model of the relatively normal lower limb between the first and second lower limbs shall be used as the target model.

4. The method according to claim 1, characterized in that, The step of obtaining the target prosthesis based on the prosthesis outline includes: selecting a prosthesis with a matching degree that meets the standard from the prosthesis library based on the prosthesis outline as the target prosthesis; or, fabricating the target prosthesis based on the prosthesis outline.

5. The method according to claim 1, characterized in that, The method further includes: Based on the actual anatomical model of the lower limb to be osteotomized, the characteristic parameters of the lower limb to be osteotomized are determined, including the femoral head center position, condylar line, posterior condyle line, femoral anterior-posterior axis, tibia-knee joint center position, ankle joint center position, tibia anterior-posterior axis, and tibia medial-lateral axis. Based on the characteristic parameters of the lower limb requiring osteotomy and the parameters of the target prosthesis, the placement position and angle of the target prosthesis on the actual anatomical model of the lower limb requiring osteotomy are determined.

6. A surgical system, characterized in that, The system includes: The image acquisition module is used to acquire actual image data of the two lower limbs, wherein the two lower limbs include a first lower limb and a second lower limb; The prosthesis acquisition module is used to acquire the target prosthesis; The processor, connected to both the image acquisition module and the prosthesis acquisition module, is used to determine the actual anatomical models of the two lower limbs based on actual image data; determine a target model based on the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the relatively normal lower limb among the actual anatomical models of the two lower limbs; before performing mirror symmetry processing on the target model, if the force line parameters of the target model are abnormal, adjust the force line parameters of the target model to normal, wherein adjusting the force line parameters of the target model to normal includes... The process includes: adjusting the target model according to the biological characteristics of a normal human body, making the line connecting the center of the hip joint, the center of the knee joint, and the center of the ankle joint more like a straight line; performing mirror symmetry processing on the target model to obtain a standard anatomical model of the two lower limbs; determining the osteotomy surface of at least one lower limb based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining the prosthesis contour corresponding to at least one lower limb based on the osteotomy surface of at least one lower limb; and obtaining the target prosthesis through the prosthesis acquisition module based on the prosthesis contour.

7. The system according to claim 6, characterized in that, The processor is also used for: Based on the osteotomy parameters corresponding to one of the two lower limbs, plan the osteotomy surface of one of the two lower limbs; Based on the osteotomy surface of one of the two lower limbs, an osteotomy guide tool is used to perform osteotomy on one of the two lower limbs.

8. The system according to claim 7, characterized in that, The image acquisition module is also used to acquire actual image data of the two lower limbs after osteotomy; The processor is also used to determine, based on the actual image data of the two lower limbs after osteotomy, whether the osteotomy of one of the two lower limbs has met the standard.

9. 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 5.

10. 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 5.

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