Surgical host computer and surgical system for hip arthroplasty lower limb length measurement

Abstract

The application provides a surgical host computer and a surgical system for hip replacement lower limb length measurement, and relates to the field of surgical equipment.A surgical host computer comprises a processor and a memory storing a first program, which, when executed by the processor, causes the processor to execute an intraoperative execution mode of the surgical host computer, the intraoperative execution mode comprising: acquiring a proximal end point and a distal end point selected by a user on an operative femur, and displaying a first line segment formed by a line connecting the proximal end point and the distal end point; registering a pelvis; after replacing a prosthesis, acquiring the proximal end point and the distal end point whose coordinate positions have changed, and displaying a second line segment formed by a line connecting the proximal end point and the distal end point whose coordinate positions have changed; and based on the first line segment and the second line segment, acquiring a difference value of the intraoperative lower limb length. According to the embodiment of the application, the change of the lower limb length can be accurately measured in hip replacement.

Description

Technical Field

[0001] This application relates to the field of surgical equipment, and more specifically, to a surgical host computer and surgical system for measuring lower limb length in hip replacement surgery. Background Technology

[0002] Hip replacement surgery (THA) is a common clinical treatment for hip diseases with significant clinical efficacy. It is an effective clinical procedure for treating severe hip pain, deformity, and dysfunction, and has been widely performed both domestically and internationally.

[0003] However, lower limb length discrepancy (LLD) is a common complication after total hip arthroplasty (THA). LLD can lead to scoliosis, pelvic tilt, sciatic nerve palsy, lower back pain, prosthesis loosening, and limping, hindering postoperative recovery. Therefore, LLD is a highly significant clinical concern in total hip arthroplasty.

[0004] In existing techniques, routine methods used by physicians to prevent LLD include using a measuring tape and assessing LLD while the patient is standing before or after surgery. Intraoperatively, LLD is usually measured manually by palpating the distal femur or ankle while the patient is supine; this method has limitations and may not provide reliable LLD measurements. Other methods, such as intraoperative suture techniques, while simple and inexpensive, may introduce errors due to factors such as patient skin elasticity and variations in limb placement. While Kirschner wire positioning effectively controls limb elongation postoperatively and is simple to perform, its precision is not high.

[0005] Therefore, there is a need for a simple, reliable, repeatable, and highly accurate method or device for measuring lower limb length in total hip arthroplasty. Summary of the Invention

[0006] This application provides a surgical host computer and surgical system for measuring lower limb length in hip replacement surgery. It can measure lower limb length without the use of additional tools, realize accurate calculation of lower limb length changes during hip replacement surgery, and is compatible with traditional handheld navigation systems and robot-assisted navigation systems to prevent the occurrence of lower limb unequal length.

[0007] According to one aspect of this application, a surgical host computer is provided, connected to a pelvic tracer, for measuring lower limb length and acquiring measurement data during hip replacement surgery. The measurement data includes preoperative lower limb length difference and intraoperative lower limb length difference. The surgical host computer includes a processor and a memory storing a first program. When the first program is executed by the processor, the processor executes an intraoperative execution mode of the surgical host computer. The intraoperative execution mode includes: picking up the proximal and distal endpoints of the femur in a static state on the surgical side and displaying a first line segment formed by connecting the proximal and distal endpoints on an intraoperative lower limb medical image; registering the pelvis to measure lower limb length; after prosthesis replacement, picking up the proximal and distal endpoints in a static state on the surgical side where their coordinate positions have changed, and displaying a second line segment formed by connecting the proximal and distal endpoints where their coordinate positions have changed on an intraoperative lower limb medical image; and obtaining the intraoperative lower limb length difference based on the first and second line segments.

[0008] According to some embodiments, pelvic registration includes coarse registration and fine registration.

[0009] According to some embodiments, the coarse registration includes: acquiring a preoperative lower limb medical image; marking a plurality of selected first image registration points on the preoperative lower limb medical image and obtaining image coordinate system coordinates; marking a plurality of first surgical registration points on the bone surface corresponding to the plurality of first image registration points and obtaining camera coordinate system coordinates; and obtaining a coarse registration matrix for the transformation between the image coordinate system and the camera coordinate system based on the image coordinate system coordinates of the first image registration points and the camera coordinate system coordinates of the first surgical registration points.

[0010] According to some embodiments, the fine registration includes: labeling multiple second surgical registration points selected on the bone surface and obtaining camera coordinate system coordinates; obtaining multiple second image registration points corresponding to the multiple second surgical registration points through the coarse registration matrix and obtaining image coordinate system coordinates; and obtaining a fine registration matrix for image coordinate system to camera coordinate system transformation based on the image coordinate system coordinates of the second image registration points and the camera coordinate system coordinates of the second surgical registration points.

[0011] According to some embodiments, obtaining the intraoperative lower limb length difference includes: acquiring the image coordinates of the intraoperative rotation center and converting them into camera coordinates through the fine registration matrix; rotating the first line segment around the preoperative rotation center until it is parallel to the coronal plane and perpendicular to the transverse plane; rotating the second line segment around the intraoperative rotation center until it is parallel to the first line segment; and calculating the displacement between the upper endpoint of the first line segment and the upper endpoint of the second line segment as the intraoperative lower limb length difference.

[0012] According to some embodiments, the intraoperative rotation center is the intraoperative acetabular center or the intraoperative femoral center after the replacement of the prosthesis.

[0013] According to some embodiments, the preoperative rotation center is the actual acetabular center or femoral center of the human body before the replacement prosthesis.

[0014] According to some embodiments, the memory further stores a second program, which, when executed by the processor, causes the processor to execute the preoperative planning mode of the surgical host computer. The preoperative planning mode includes: acquiring the preoperative lower limb medical image and acquiring a three-dimensional model of the pelvis and femur based on the preoperative lower limb medical image; marking multiple selected bony points on the three-dimensional model and performing pelvic and femoral alignment; calculating the actual lower limb length based on the multiple bony points; performing prosthesis replacement planning and calculating the planned lower limb length; and obtaining the difference between the preoperative lower limb length and the planned lower limb length.

[0015] According to some embodiments, the plurality of bony points include the anterior superior iliac spine, the preoperative rotation center, the pubic symphysis, the lesser trochanter, and the distal femoral center.

[0016] According to some embodiments, the pelvic and femur alignment includes rotating the three-dimensional model such that the line connecting the anterior superior iliac spines is parallel to the horizontal axis of the image coordinate system and parallel to the coronal plane.

[0017] According to some embodiments, the pelvic and femur alignment further includes rotating the three-dimensional model such that the line connecting the anterior superior iliac spines is parallel to the horizontal axis of the image coordinate system, and the plane formed by the anterior superior iliac spines and the pubic symphysis is parallel to the coronal plane.

[0018] According to some embodiments, calculating the actual lower limb length includes: rotating the three-dimensional model around the preoperative rotation center such that a first force line formed by the line connecting the actual femoral center and the distal femoral center is perpendicular to the cross-section, and the plane formed by the preoperative rotation center and the first force line is parallel to the coronal plane; calculating the distance from the lesser trochanter to the cross-section where the anterior superior iliac spine is located and obtaining the actual lower limb length.

[0019] According to some embodiments, calculating the lower limb length after prosthesis replacement planning includes: rotating the three-dimensional model around the planned acetabular center or femoral center, such that the second force line formed by the line connecting the planned femoral center and the distal femoral center is perpendicular to the cross-section, and the plane formed by the planned acetabular center or femoral center and the second force line is parallel to the coronal plane; calculating the distance from the lesser trochanter to the cross-section where the anterior superior iliac spine is located and obtaining the lower limb length after prosthesis installation planning.

[0020] According to one aspect of this application, a surgical system is provided, including a surgical host computer as described above; a pelvic tracer and a calibration rivet; a navigation camera for acquiring real-time position information of the pelvis, femur, and selected bony points, and communicating with the surgical host computer; a probe for selecting the bony points; and a display connected to the surgical host computer for visually displaying human-computer interaction information.

[0021] According to the embodiments of this application, by analyzing preoperative planning images and performing intraoperative registration of the patient's pelvis based on medical images, the precise measurement and calculation of lower limb length changes during hip replacement surgery can be achieved, effectively preventing lower limb length discrepancies.

[0022] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application.

[0024] Figure 1 A flowchart illustrating the preoperative planning mode of the surgical host computer according to an example embodiment of this application is shown.

[0025] Figure 2A A schematic diagram of bony points of the pelvis according to an example embodiment of this application is shown.

[0026] Figure 2B A schematic diagram of the femoral bony points according to an example embodiment of this application is shown.

[0027] Figure 2C A schematic diagram of the distal femoral bony points according to an example embodiment of this application is shown.

[0028] Figure 3A A schematic diagram of a three-dimensional model of the lower limbs before conversion according to an example embodiment of this application is shown.

[0029] Figure 3B A schematic diagram of a three-dimensional model of the lower limb after normalization according to an example embodiment of this application is shown.

[0030] Figure 4A This diagram illustrates the calculation process of the preoperative lower limb length difference after prosthesis replacement planning according to an example embodiment of this application.

[0031] Figure 4B This diagram illustrates data related to prosthesis replacement planning according to an example embodiment of this application.

[0032] Figure 5A flowchart illustrating the intraoperative execution mode of the surgical host computer according to an example embodiment of this application is shown.

[0033] Figure 6A A schematic diagram of registration points for coarse pelvic registration according to an example embodiment of this application is shown.

[0034] Figure 6B A schematic diagram of registration points for pelvic fine registration according to an example embodiment of this application is shown.

[0035] Figure 7 A schematic diagram illustrating the calculation process of intraoperative lower limb length difference according to an example embodiment of this application.

[0036] Figure 8 A block diagram of a surgical host computer according to an example embodiment of this application is shown. Detailed Implementation

[0037] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0038] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, apparatus, or operations may be employed. In these cases, well-known structures, methods, apparatuses, implementations, materials, or operations will not be shown or described in detail.

[0039] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0040] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0041] This application provides a surgical host computer that can accurately calculate the changes in lower limb length during hip replacement surgery through preoperative planning images and intraoperative registration of the pelvis based on medical images, effectively preventing lower limb length discrepancy, and is compatible with traditional handheld navigation systems and robot-assisted navigation systems.

[0042] A surgical host computer according to an embodiment of this application will now be described in detail with reference to the accompanying drawings.

[0043] Figure 1 A flowchart illustrating the preoperative planning mode of the surgical host computer according to an example embodiment of this application is shown.

[0044] like Figure 1 As shown, in S101, the patient's preoperative lower limb medical imaging data is acquired, and a three-dimensional model of the pelvis and femur is obtained based on the medical imaging data.

[0045] Generally, medical imaging data includes computed tomography (CT) data and magnetic resonance imaging (MRI) data.

[0046] According to some embodiments, three-dimensional model images of the pelvis and femur are obtained by segmenting medical images.

[0047] In S103, multiple bony points on the pelvis and femur are selected on the three-dimensional model.

[0048] According to some embodiments, users select bony points on a 3D model through a human-computer interaction interface displayed on a monitor.

[0049] For example, multiple bony points on the 3D model include the anterior superior iliac spines (left and right sides), the preoperative rotation center (the actual acetabular center or femoral center before prosthesis replacement), the pubic symphysis, the lesser trochanters (left and right sides), and the femoral condyle center, such as... Figures 2A-2C As shown.

[0050] According to some embodiments, during the intraoperative phase of hip replacement surgery, the femoral condyle center can be replaced by the distal femoral center.

[0051] According to some embodiments, bony points can also be selected after the pelvis and femur have been aligned.

[0052] In S105, the pelvis and femur are aligned.

[0053] Before straightening, the lower limb 3D model, viewed from the monitor's orthogonal angle, is not upright; in the image coordinate system, the 3D model is also not upright, as shown below. Figure 3A As shown.

[0054] According to some embodiments, pelvic and femoral alignment includes two methods: alignment via the left and right anterior superior iliac spines and alignment via the left and right anterior superior iliac spines and the pubic symphysis.

[0055] The model is rotated by reorienting the anterior superior iliac spines on both sides, making the line connecting the anterior superior iliac spines parallel to the horizontal axis of the image coordinate system and parallel to the coronal plane.

[0056] The model is rotated by turning the anterior superior iliac spines and pubic symphysis on both sides, so that the line connecting the anterior superior iliac spines is parallel to the horizontal axis of the image coordinate system, and the plane formed by the anterior superior iliac spines and pubic symphysis on both sides is parallel to the coronal plane.

[0057] The corrected 3D model of the lower limbs is in an upright position in the image coordinate system, as shown below. Figure 3B As shown.

[0058] In S107, calculate the actual lower limb length without preoperative planning for prosthesis replacement.

[0059] The horizontal line at the top of the 3D model is a parallel line passing through the line connecting the left and right anterior superior iliac spines. The left side represents the lower limb that was not planned before the prosthesis replacement surgery. Figure 4A As shown.

[0060] According to some embodiments, the three-dimensional model of the femur is rotated around the center of the acetabulum so that the force line formed by the line connecting the center of the femur and the center of the distal femur is perpendicular to the cross-section, and the plane containing the center of the acetabulum and the force line is parallel to the coronal plane.

[0061] According to some embodiments, the acetabular center can be replaced by the femoral center.

[0062] Furthermore, using the selected minor trochanter points, the vertical distance from the minor trochanter points to the plane of the cross-section where the left and right anterior superior iliac spines are located is calculated and used as the actual lower limb length.

[0063] According to some embodiments, the cross-section used when calculating the length of the lower limb can be any plane higher than the cross-section where the lesser trochanter is located.

[0064] In S109, preoperative planning for prosthesis replacement was performed, and the planned lower limb length was calculated.

[0065] The horizontal line at the top of the 3D model is a parallel line passing through the line connecting the left and right anterior superior iliac spines. The right side represents the lower limb after preoperative planning for prosthesis replacement surgery. Figure 4A As shown.

[0066] According to some embodiments, the three-dimensional model of the femur is rotated around the planned acetabular center, such that the planned force line formed by the line connecting the planned femoral center and the distal femoral center is perpendicular to the cross section, and the planned acetabular center and the plane containing the force line are parallel to the coronal plane.

[0067] The planned positions of the acetabular and femoral centers differ from the actual positions of the human body's acetabular and femoral centers. Consequently, the planned force line position also changes relative to the actual force line position.

[0068] According to some embodiments, the planned acetabular center can be replaced by the planned femoral center.

[0069] Furthermore, using the selected minor trochanter points, the vertical distance from the minor trochanter points to the plane of the cross-section where the left and right anterior superior iliac spines are located is calculated, and used as the planned lower limb length.

[0070] In S111, the difference in preoperative lower limb length is calculated based on the actual lower limb length and the planned lower limb length.

[0071] like Figure 4A As shown, the left side is the lower limb without preoperative planning for prosthesis replacement, and the right side is the lower limb after preoperative planning for prosthesis replacement.

[0072] The displacement difference between the right endpoint of the lower left line segment (left endpoint is the small ridge point) and the left endpoint of the lower right line segment (right endpoint is the small ridge point) on the line in the image is the displacement difference.

[0073] like Figure 4B The data shown represents the change in lower limb length planned before prosthesis replacement surgery relative to the actual lower limb length without pre-operative planning.

[0074] Figure 5 A flowchart illustrating the intraoperative execution mode of the surgical host computer according to an example embodiment of this application is shown.

[0075] like Figure 5 As shown, in S201, the proximal and distal ends of the femur on the surgical side are selected.

[0076] According to some embodiments, a pelvic tracer and calibration rivets need to be installed, and the proximal and distal ends of the femur are selected by probe.

[0077] The pelvic tracer and calibration rivets are mounted on the pelvis, and the mounting position is not fixed.

[0078] According to some embodiments, when using a probe to select the proximal and distal ends of the femur, the distance between the two points should be as long as possible, and the line connecting the two points should form a first line segment that is as parallel as possible to the coronal plane.

[0079] Furthermore, the femur must not be moved when selecting the proximal and distal ends of the femur.

[0080] In S203, the pelvis is registered.

[0081] First, a rough registration of the pelvis is performed.

[0082] According to some embodiments, multiple coarse registration image registration points are selected and labeled on the acquired preoperative lower limb medical images, such as... Figure 6A As shown, the image coordinates of the registration points in the coarse registration image are obtained.

[0083] Furthermore, corresponding coarse registration surgical registration points are selected and marked on the bone surface of the patient's surgical area, and the camera coordinate system coordinates of the coarse registration surgical registration points are obtained.

[0084] Based on the image coordinate system coordinates of the coarse registration image registration points and the camera coordinate system coordinates of the corresponding coarse registration surgical registration points, the coarse registration matrix of the image coordinate system to camera coordinate system transformation in this embodiment is calculated and obtained.

[0085] According to some embodiments, the coarse registration matrix is ​​calculated and obtained using a rigid registration algorithm.

[0086] After coarse registration of the pelvis, fine registration is then performed.

[0087] According to some embodiments, multiple (20-50) fine registration surgical registration points, different from the coarse registration surgical registration points, are selected on the bone surface of the patient's surgical area for annotation, and the camera coordinate system coordinates of the fine registration surgical registration points are obtained.

[0088] Furthermore, the camera coordinates of the fine-registered surgical registration points are converted to image coordinates using a coarse registration matrix, thereby obtaining the corresponding fine-registered image registration points on the medical image, such as... Figure 6B As shown.

[0089] Based on the image coordinate system coordinates of the registration points of the finely registered image and the camera coordinate system coordinates of the finely registered surgical registration points, the fine registration matrix of the image coordinate system to camera coordinate system transformation in this embodiment of the application is calculated and obtained.

[0090] According to some embodiments, the fine registration matrix is ​​calculated and obtained through the most recent iteration algorithm, which has higher calculation accuracy than the coarse registration matrix.

[0091] In S205, the acetabulum and femoral prosthesis were replaced.

[0092] According to some implementation examples, appropriate acetabular and femoral prostheses are selected and replaced according to the preoperative plan, and the replacement of acetabular and femoral prostheses can be performed before the intraoperative lower limb length measurement.

[0093] In S207, the same proximal and distal femoral ends are selected again.

[0094] According to some embodiments, a probe is used to reselect the same proximal and distal femoral ends selected before pelvic registration, and the line connecting the two points forms a second line segment.

[0095] Obviously, after the replacement of the pelvis and femur with prostheses, the positions of the same proximal and distal femoral ends in the coordinate system have changed compared to before the replacement. The coordinates of the two points in the coordinate system have also changed, and the position of the second line segment formed is different from that of the first line segment.

[0096] In S209, calculate the intraoperative difference in lower limb length.

[0097] According to some embodiments, the positions of the acetabular center and femoral center after pelvic and femoral prosthesis replacement are different from the actual positions of the acetabular center and femoral center in the human body. Accordingly, the force line after prosthesis replacement also changes compared with the actual force line.

[0098] First, obtain the image coordinates of the intraoperative rotation center (intraoperative acetabular center or intraoperative femoral center) after prosthesis replacement, and convert them into camera coordinates through a fine registration matrix.

[0099] Next, rotate the first line segment around the preoperative rotation center (the actual center of the acetabulum or femur) until the first line segment is parallel to the coronal plane and perpendicular to the transverse plane.

[0100] Then, rotate the second line segment around the intraoperative rotation center until the second line segment is parallel to the first line segment.

[0101] Finally, the intraoperative difference in lower limb length was calculated.

[0102] like Figure 7 As shown in the image, the left side of the image shows the lower limb after prosthesis replacement, and the right side of the image shows the lower limb without prosthesis replacement.

[0103] The displacement difference between the right endpoint of the horizontal line segment on the lower left (left endpoint is the small trochanter) and the left endpoint of the horizontal line segment on the lower right (right endpoint is the small trochanter) on the center line of the image is the intraoperative lower limb length difference.

[0104] In the diagram, the longitudinal line segment on the left side of the femur is the second line segment formed by the proximal and distal ends of the femur after prosthesis replacement, while the longitudinal line segment parallel to the second line segment on the right side is the first line segment formed by the proximal and distal ends of the femur before prosthesis replacement.

[0105] The difference in distance between the upper endpoint of the first line segment and the upper endpoint of the second line segment is equal to the difference in lower limb length during surgery, which is the difference in the length of the operated lower limb compared to the contralateral lower limb after prosthesis replacement.

[0106] Users can adjust the prosthesis accordingly based on the calculated changes in lower limb length during surgery to avoid unequal lower limb lengths.

[0107] Figure 8 A block diagram of a surgical host computer according to an example embodiment of this application is shown.

[0108] like Figure 8 As shown, the electronic device 600 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0109] like Figure 8 As shown, the electronic device 600 is manifested in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), a display unit 640, etc. The storage unit stores program code, which can be executed by the processing unit 610, causing the processing unit 610 to perform the methods described in this specification according to the various exemplary embodiments of this application.

[0110] For example, processing unit 610 can perform actions such as Figure 5 The method shown.

[0111] First, based on the proximal and distal ends of the femur selected by the user using the probe, the proximal and distal ends, as well as the first line segment formed by the line connecting the two points, are displayed on the intraoperative lower limb medical image.

[0112] Then, based on the image registration points and surgical registration points selected by the user, coarse registration and fine registration of the pelvis are performed.

[0113] After the user replaces the acetabulum and femoral prosthesis, the same proximal and distal femoral ends selected by the user are displayed on the intraoperative lower limb medical images, and the second line segment formed by the line connecting the two points is displayed.

[0114] Rotate the first and second line segments to their corresponding positions according to the user's operation, and calculate the difference in lower limb length during the operation.

[0115] Storage unit 620 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include a read-only memory (ROM) 6203.

[0116] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0117] For example, storage unit 620 may store the first program when processing unit 610 executes the intraoperative execution mode.

[0118] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0119] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0120] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. The technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this application.

[0121] Software products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0122] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0123] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0124] The aforementioned computer-readable medium carries one or more programs, which, when executed by a device, cause the computer-readable medium to perform the aforementioned functions.

[0125] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified to be uniquely different from one or more devices in this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0126] According to some embodiments of this application, the technical solution of this application only requires registration of the hip joint and does not use additional tools. It can accurately measure the difference between the length of the surgical lower limb and the length of the lower limb before surgery, as well as the length of the contralateral lower limb, thus preventing lower limb length discrepancies.

[0127] The embodiments of this application have been described in detail above. These descriptions are solely for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, its specific implementation methods, and its application scope, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A surgical host computer connected with a pelvis tracker for measuring lower limb length and acquiring measurement data including a preoperative lower limb length difference and an intraoperative lower limb length difference in a hip replacement surgery, characterized in that, The surgical host computer comprises: a processor; and a memory storing a first program, which, when executed by the processor, causes the processor to execute an intraoperative execution mode of the surgical host computer, the intraoperative execution mode comprising: picking up proximal and distal points selected on the femur in a static intraoperative state and displaying a first line segment formed by connecting the proximal and distal points on an intraoperative lower extremity medical image; registering the pelvis for lower extremity length measurement; after prosthetic replacement, picking up the proximal and distal points selected on the femur in the static intraoperative state whose coordinate positions have changed, and displaying a second line segment formed by connecting the proximal and distal points whose coordinate positions have changed on the intraoperative lower extremity medical image; obtaining the intraoperative lower extremity length difference value based on the first line segment and the second line segment.

2. The surgical host computer of claim 1, wherein, The registration of the pelvis comprises coarse registration and fine registration.

3. The surgical host computer of claim 2, wherein, The coarse registration comprises: acquiring a preoperative lower extremity medical image, marking and acquiring image coordinate system coordinates of selected multiple first image registration points on the preoperative lower extremity medical image; marking and acquiring camera coordinate system coordinates of multiple first surgical registration points on the bone surface corresponding to the multiple first image registration points; acquiring a coarse registration matrix of the conversion between the image coordinate system and the camera coordinate system based on the image coordinate system coordinates of the first image registration points and the camera coordinate system coordinates of the first surgical registration points.

4. The surgical host computer of claim 3, wherein, The fine registration comprises: marking and acquiring camera coordinate system coordinates of multiple second surgical registration points selected on the bone surface; acquiring multiple second image registration points corresponding to the multiple second surgical registration points and acquiring image coordinate system coordinates through the coarse registration matrix; acquiring a fine registration matrix of the conversion between the image coordinate system and the camera coordinate system based on the image coordinate system coordinates of the second image registration points and the camera coordinate system coordinates of the second surgical registration points.

5. The surgical host computer of claim 4, wherein, Obtaining the intraoperative lower extremity length difference value comprises: acquiring image coordinate system coordinates of an intraoperative rotation center and converting them into camera coordinate system coordinates through the fine registration matrix; rotating the first line segment around the preoperative rotation center to be parallel to the coronal plane and perpendicular to the transverse plane; rotating the second line segment around the intraoperative rotation center to be parallel to the first line segment; calculating the displacement between the upper end point of the first line segment and the upper end point of the second line segment as the intraoperative lower extremity length difference value.

6. The surgical host computer of claim 5, wherein, The intraoperative rotation center is an intraoperative acetabular center or an intraoperative femoral center after prosthetic replacement.

7. The surgical host computer of claim 5, wherein, The preoperative rotation center is the actual acetabular center or femoral center of the human body before prosthetic replacement.

8. The machine of any of claims 1-7, wherein, The memory further stores a second program, which, when executed by the processor, causes the processor to execute a preoperative planning mode of the surgical host computer, the preoperative planning mode comprising: acquiring a preoperative lower extremity medical image and acquiring three-dimensional models of the pelvis and the femur based on the preoperative lower extremity medical image; marking selected multiple bony points on the three-dimensional models and performing pelvis and femur rectification; calculating the actual lower extremity length based on the multiple bony points; performing prosthetic replacement planning and calculating the planned lower extremity length; The preoperative lower limb length difference is obtained according to the actual lower limb length and the planned lower limb length.

9. The machine of claim 8, wherein, The plurality of bony points include an anterior superior iliac spine, a preoperative center of rotation, a pubic symphysis point, a lesser trochanter, and a distal femur center.

10. The machine of claim 9, wherein, The pelvis and femur registration includes: The three-dimensional model is rotated so that the line connecting the anterior superior iliac spine is parallel to the transverse axis of the image coordinate system and parallel to the coronal plane.

11. The surgical host computer of claim 9, wherein, The pelvis and femur registration also includes: The three-dimensional model is rotated so that the line connecting the anterior superior iliac spine is parallel to the transverse axis of the image coordinate system, and the plane formed by the anterior superior iliac spine and the pubic symphysis point is parallel to the coronal plane.

12. The surgical host computer of claim 9, wherein, The actual lower limb length is calculated, including: The three-dimensional model is rotated around the preoperative center of rotation so that a first force line formed by the line connecting the actual femur center and the distal femur center is perpendicular to the transverse plane, and the plane formed by the preoperative center of rotation and the first force line is parallel to the coronal plane; The distance from the lesser trochanter to the transverse plane where the anterior superior iliac spine is located is calculated, and the actual lower limb length is obtained.

13. The machine of claim 9, wherein, The planned lower limb length after the prosthesis replacement is calculated, including: The three-dimensional model is rotated around the planned acetabular center or femur center so that a second force line formed by the line connecting the planned femur center and the distal femur center is perpendicular to the transverse plane, and the plane formed by the planned acetabular center or femur center and the second force line is parallel to the coronal plane; The distance from the lesser trochanter to the transverse plane where the anterior superior iliac spine is located is calculated, and the planned lower limb length after the prosthesis replacement is obtained.

14. A surgical system, characterized by, The surgical host computer includes any one of claims 1-13; And A pelvis tracer and a verification rivet; A navigation camera for obtaining real-time position information of the pelvis, the femur, and the selected bony points, and being in communication connection with the surgical host computer; A probe for selecting the bony points; A display connected with the surgical host computer for visual display of human-computer interaction information.

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