Knee joint rotation axis display method and device, electronic equipment and readable storage medium

Abstract

The application provides a knee joint rotation axis display method and device, electronic equipment and a computer readable storage medium, and relates to the field of artificial intelligence. The method comprises the following steps: determining a conversion relationship between a knee joint in an image space and a knee joint in a surgery space, the knee joint comprising a femur and a tibia; determining a third position of a rotation axis of the knee joint in the surgery space according to a first position and a second position of the tibia, the first position being a position of the tibia in a static state in the surgery space, and the second position being a position of the tibia in a motion state in the surgery space, the second position comprising at least two; converting the third position according to the conversion relationship to obtain a fourth position of the rotation axis in the image space; and displaying the rotation axis in a simulation model of the knee joint according to the fourth position. The application can display the specific position of the rotation axis of the knee joint in the simulation model of the knee joint when knee joint replacement or cruciate ligament reconstruction is performed.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for displaying the rotation axis of a knee joint in the field of artificial intelligence. Background Technology

[0002] In clinical studies of knee replacement and cruciate ligament reconstruction, it is crucial to ensure that the intercondylar fossa does not impinge on the patient during postoperative movement, and to maintain the equilength of the ligaments at different angles along the tibia and femur within the tunnel. Identifying the position of the knee joint's axis of motion (which can also be understood as the knee joint's axis of rotation) is essential for preoperatively determining the tibial trajectory and for analyzing intercondylar fossa impingement and determining the location of ligament reconstruction. Therefore, determining the position of the knee joint's axis of rotation is a critical issue that needs to be addressed in clinical studies of knee replacement and cruciate ligament reconstruction. Summary of the Invention

[0003] This application provides a method, apparatus, electronic device, and computer-readable storage medium for displaying the rotation axis of a knee joint. The method can accurately determine the position of the rotation axis of the knee joint during knee replacement or cruciate ligament reconstruction.

[0004] In a first aspect, a method for displaying the rotation axis of a knee joint is provided. The method includes: determining a conversion relationship between a knee joint in an image space and a knee joint in a surgical space; wherein the knee joint includes a femur and a tibia; determining a third position of the rotation axis of the knee joint in the surgical space based on a first position and a second position of the tibia, wherein the first position is the position of the tibia in a stationary state in the surgical space, and the second position is the position of the tibia in a moving state in the surgical space, and the second position includes at least two positions; converting the third position according to the conversion relationship to obtain a fourth position of the rotation axis in the image space; and displaying the rotation axis in a simulation model of the knee joint based on the fourth position.

[0005] In conjunction with the first aspect, in some possible implementations, the step of determining the conversion relationship between the knee joint in image space and the knee joint in surgical space includes: acquiring first point cloud data of the knee joint in the image space; acquiring second point cloud data of the knee joint in the surgical space; and registering the first point cloud data and the second point cloud data to obtain the conversion relationship.

[0006] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the step of obtaining the first point cloud data of the knee joint in the above image space includes: registering the computed tomography image and magnetic resonance image of the knee joint; combining the femur with the first cartilage tissue corresponding to the femur; and combining the tibia with the second cartilage tissue corresponding to the tibia to obtain a registered image; and obtaining the surface points of the first cartilage tissue and the second cartilage tissue respectively from the registered image to obtain the first point cloud data of the knee joint in the above image space.

[0007] In conjunction with the first aspect and the above-described implementation, in some possible implementations, the step of acquiring the second point cloud data of the knee joint in the surgical space includes: acquiring a first point position of the probe during its movement on the surface of the first cartilage tissue in the surgical space; acquiring a second point position of the probe during its movement on the surface of the second cartilage tissue in the surgical space; generating the second point cloud data based on the first and second point positions; or, acquiring a third point position of the probe during its movement on the skin surface corresponding to the first cartilage tissue in the surgical space; acquiring a fourth point position of the probe during its movement on the skin surface corresponding to the second cartilage tissue in the surgical space; generating the second point cloud data based on the third and fourth point positions.

[0008] In combination with the first aspect and the above-described implementation, in some possible implementations, a first target tool is provided on the femur and a second target tool is provided on the tibia; the knee joint rotation axis display method further includes: acquiring target data collected by the positioning device when the tibia is stationary in the surgical space; wherein the target data includes first initial position information of the first target tool and second initial position information of the second target tool; and determining the relative position of the tibia with respect to the femur based on the first initial position information and the second initial position information to obtain the first position.

[0009] In conjunction with the first aspect, in some possible implementations, the step of determining the third position of the rotation axis of the knee joint in the surgical space based on the first and second positions of the tibia includes: using the first position as a first connection point; selecting any two positions from a plurality of the second positions to obtain a second connection point and a third connection point; sequentially connecting the first connection point, the second connection point, and the third connection point to obtain a target triangle; determining the intersection of the perpendicular bisectors of the three sides of the target triangle; and determining the coordinates of the intersection point as the third position.

[0010] In combination with the first aspect and the above implementation, in some possible implementations, after the step of converting the third position according to the above conversion relationship to obtain the fourth position of the rotation axis in the above image space, the above knee joint rotation axis display method further includes: determining the displacement of the rotation axis according to the fourth position; and determining the isochronism of the ligaments according to the displacement.

[0011] Secondly, a knee joint rotation axis display device is provided, the knee joint rotation axis display device comprising:

[0012] The first calculation module is used to determine the conversion relationship between the knee joint in image space and the knee joint in surgical space; wherein the knee joint includes the femur and tibia.

[0013] The second calculation module is used to determine the third position of the rotation axis of the knee joint in the surgical space based on the first and second positions of the tibia, wherein the first position is the position of the tibia when it is stationary in the surgical space, the second position is the position of the tibia when it is in motion in the surgical space, and the second position includes at least two positions.

[0014] The position conversion module is used to convert the third position according to the above conversion relationship to obtain the fourth position of the rotation axis in the above image space;

[0015] The position display module is used to display the rotation axis in the simulation model of the knee joint according to the fourth position mentioned above.

[0016] In conjunction with the second aspect, in some possible implementations, the aforementioned first computing module includes:

[0017] The first acquisition unit is used to acquire the first point cloud data of the knee joint in the image space.

[0018] The second acquisition unit is used to acquire the second point cloud data of the knee joint in the surgical space.

[0019] The data registration unit is used to register the first point cloud data and the second point cloud data to obtain the above conversion relationship.

[0020] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the first acquisition unit includes:

[0021] The image registration subunit is used to register the computed tomography and magnetic resonance images of the knee joint, combine the femur with the first cartilage tissue corresponding to the femur, and combine the tibia with the second cartilage tissue corresponding to the tibia to obtain a registered image.

[0022] The first data acquisition subunit is used to acquire the surface points of the first cartilage tissue and the second cartilage tissue from the above-mentioned registered image, so as to obtain the first point cloud data of the knee joint in the above-mentioned image space.

[0023] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the second acquisition unit includes:

[0024] The first point acquisition subunit is used to acquire the first point of the probe during its movement on the surface of the first cartilage tissue in the surgical space described above.

[0025] The second point acquisition subunit is used to acquire the second point of the probe during the movement of the probe on the surface of the second cartilage tissue in the above-mentioned surgical space.

[0026] The first generation subunit is used to generate the second point cloud data based on the first point and the second point.

[0027] The third point acquisition subunit is used to acquire the third point of the probe during the movement of the probe on the skin surface corresponding to the first cartilage tissue in the above surgical space.

[0028] The fourth point acquisition subunit is used to acquire the fourth point of the probe during the movement of the probe on the skin surface corresponding to the second cartilage tissue in the above surgical space.

[0029] The second generation subunit is used to generate the second point cloud data based on the third and fourth points mentioned above.

[0030] In combination with the second aspect and the above-described implementation, in some possible implementations, a first target tool is provided on the femur, a second target tool is provided on the tibia, and the knee joint rotation axis display device further includes:

[0031] The third acquisition unit is used to acquire target data collected by the positioning device when the tibia is stationary in the surgical space; wherein the target data includes the first initial position information of the first target tool and the second initial position information of the second target tool.

[0032] The position determination unit is used to determine the relative position of the tibia with respect to the femur based on the first initial position information and the second initial position information, thereby obtaining the first position.

[0033] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the second computing module includes:

[0034] A connection point determination unit is used to determine the aforementioned first position as a first connection point;

[0035] The connection point acquisition unit is used to select any two positions from a plurality of the above-mentioned second positions to obtain a second connection point and a third connection point;

[0036] The graphics generation unit is used to connect the first connection point, the second connection point, and the third connection point in sequence to obtain the target triangle;

[0037] The intersection point determination unit is used to determine the intersection point of the perpendicular bisectors of the three sides of the target triangle and to determine the coordinates of the intersection point as the third position.

[0038] In conjunction with the second aspect and the above-described implementation, in some possible implementations, the above-described knee joint rotation axis display device further includes:

[0039] The length-equalization calculation unit is used to determine the displacement of the rotation axis based on the fourth position and to determine the length-equalization of the ligament based on the displacement.

[0040] Thirdly, an electronic device is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the electronic device to perform the knee joint rotation axis display method in the first aspect or any possible implementation thereof.

[0041] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to execute the knee joint rotation axis display method in the first aspect or any possible implementation thereof.

[0042] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the knee joint rotation axis display method of the first aspect or any possible implementation thereof.

[0043] The knee joint rotation axis display method, device, electronic device, and computer-readable storage medium provided in the embodiments of this application have the following technical effects:

[0044] This application employs a method that determines the transformation relationship between the knee joint in image space and the knee joint in surgical space. Then, based on the first position of the tibia in a static state and multiple second positions of the tibia in a moving state in the surgical space, a third position of the knee joint's rotation axis in the surgical space is calculated. This third position is then transformed according to the transformation relationship to obtain a fourth position of the rotation axis in image space. Finally, the rotation axis is displayed in the knee joint simulation model based on this fourth position. This technical solution enables the display of the specific position of the knee joint's rotation axis in the knee joint simulation model during knee replacement or cruciate ligament reconstruction. In anterior cruciate ligament repair surgery, it can help doctors accurately determine the isolength of the newly implanted ligament and the intercondylar impingement, thus avoiding intercondylar impingement. Attached Figure Description

[0045] Figure 1 A schematic flowchart of a method for displaying the rotation axis of a knee joint provided in an embodiment of this application is shown;

[0046] Figure 2 A schematic diagram of the knee joint is shown;

[0047] Figure 3 A schematic diagram of the knee joint's movement process is shown;

[0048] Figure 4 A side view of the simulation model is shown;

[0049] Figure 5 A schematic diagram of the target tool is shown;

[0050] Figure 6 A schematic diagram illustrating the construction of the target triangle is shown;

[0051] Figure 7 A schematic diagram of the structure of a knee joint rotation axis display device provided in an embodiment of this application is shown;

[0052] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0053] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0054] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0055] In clinical studies of knee replacement and cruciate ligament reconstruction, it is crucial to ensure that the intercondylar fossa does not impinge on the patient's leg during postoperative movement, and to maintain the isolength of the ligaments at different angles along the tibia and femur. Confirming the position of the knee joint's axis of motion (also understood as the knee joint's axis of rotation) is essential for accurately determining the tibial trajectory preoperatively, facilitating the analysis of intercondylar fossa impingement and the determination of ligament reconstruction locations. Knee movement involves the tibia rotating around a specific axis of rotation; determining the position of this axis is extremely important for knee or ligament surgery. In clinical studies of knee replacement and cruciate ligament reconstruction, determining the position of the knee joint's axis of rotation is a critical issue. Therefore, this application provides a method, device, electronic device, and computer-readable storage medium for displaying the knee joint's axis of rotation. This method can determine the position of the knee joint's axis of rotation and calculate ligament isolength during knee replacement or cruciate ligament reconstruction, minimizing trauma to the patient's leg, thereby preventing intercondylar fossa impingement.

[0056] The following is an embodiment of a knee joint rotation axis display method provided in this application.

[0057] Figure 1 This illustration shows a schematic flowchart of a knee joint rotation axis display method according to an embodiment of this application. For example, as shown... Figure 1 As shown, the knee joint rotation axis display method provided in this application embodiment is applied to an electronic device, such as a computer. The above-mentioned knee joint rotation axis display method includes the following solutions:

[0058] S110: Determine the conversion relationship between the knee joint in the image space and the aforementioned knee joint in the surgical space; wherein the aforementioned knee joint includes the femur and tibia.

[0059] In an exemplary embodiment, the image space refers to the space established by the three-dimensional reconstruction for surgical navigation, and the surgical space refers to the space established based on the surface point set of the patient's knee joint, which includes the femur and tibia. Figure 2 As shown, Figure 2 A schematic diagram of the knee joint is shown, where 100 represents the femur and 200 represents the tibia.

[0060] During knee replacement or cruciate ligament reconstruction, the transformation relationship between the knee joint in image space and the knee joint in surgical space is first calculated. This transformation relationship can be represented by a transformation matrix between the knee joint in image space and the knee joint in surgical space, which includes a rotation matrix and a translation vector.

[0061] S120: Based on the first and second positions of the tibia, determine the third position of the rotation axis of the knee joint in the surgical space, wherein the first position is the position of the tibia when it is stationary in the surgical space, the second position is the position of the tibia when it is in motion in the surgical space, and the second position includes at least two.

[0062] With the tibia stationary in the surgical space and the knee joint not moving, both the tibia and femur are stationary. The position of the tibia in this stationary state is determined to obtain the first position, which is the relative position of the tibia to the femur when the knee joint is not moving. For example... Figure 3 As shown, Figure 3 A schematic diagram of the knee joint's movement process is shown. Figure 3 Figure (1) in the figure is a schematic diagram of the tibia in a static state in the surgical space, with point P0 representing the first position.

[0063] When the tibia is in motion within the surgical space, the knee joint is also moving, and the tibia and femur are moving relative to each other, with the angle between them gradually decreasing. The position of the tibia in motion within the surgical space is obtained as a second position. This second position represents the relative position of the tibia to the femur during knee joint movement. There are at least two second positions, each corresponding to a different time period. Figure 3 As shown, Figures (2), (3), and (4) are state diagrams at different times during knee joint movement. Figure (1) is the state diagram when the knee joint is at rest, corresponding to the state diagram at time T1, when the knee joint is at rest. Figures (2), (3), and (4) are the state diagrams at time T2, time T3, and time T4, respectively, during knee joint movement. The second position at time T2 is the location of point P1, the second position at time T3 is the location of point P3, and the second position at time T4 is the location of point P4. The time sequence is T1 before T2, T2 before T3, and T3 before T4. It is worth noting that multiple second positions can be obtained when the knee joint is moving. Figure 3 The example shows the locations of three second positions, namely the positions of points P1, P2, and P3.

[0064] Because the tibia rotates around a certain axis of rotation during knee joint movement, the trajectory of the tibia is an arc. By connecting the first position and multiple second positions obtained in chronological order, an arc can be obtained, which is the trajectory of the tibia. Then, the center of the circle is determined based on the trajectory of the tibia, that is, the center of the circle is determined by the arc. The position of the center is the third position of the rotation axis of the knee joint in the surgical space.

[0065] S130: Based on the above transformation relationship, the third position is transformed to obtain the fourth position of the rotation axis in the above image space.

[0066] A 3D simulation model of the knee joint was reconstructed beforehand. This simulation model is a 3D model in image space, and it can move synchronously with the knee joint in the surgical space. That is, when the knee joint moves in the surgical space, the simulation model also moves synchronously, and the two perform the exact same actions. Figure 4 As shown, Figure 4 A side view of the simulation model is shown, showing the knee joint in the surgical space according to... Figure 3 When the tibia rotates during the movement, the simulation model also follows... Figure 3 The movement involves rotating the tibia.

[0067] Since the third position represents the knee joint's rotation axis in surgical space, displaying the rotation axis in the simulation model requires showing its position in image space as well. After obtaining the third position, a transformation relationship is used to obtain the fourth position of the rotation axis in image space, thus enabling its display in the simulation model.

[0068] S140: Based on the fourth position described above, the rotation axis is displayed in the simulation model of the knee joint.

[0069] The fourth position of the knee joint's rotation axis in image space is obtained through transformation. This fourth position is then displayed in the simulation model, thus revealing the knee joint's rotation axis within the simulation model. This allows for a direct visual observation of the specific location of the rotation axis within the knee joint. For example... Figure 4 As shown, X represents the fourth position of the rotation axis in the image space, and T1-T4 correspond to the state of the knee joint at different times during movement.

[0070] This application embodiment employs a method that determines the transformation relationship between the knee joint in image space and the knee joint in surgical space. Then, based on a first position of the tibia in a static state and multiple second positions of the tibia in a moving state in the surgical space, a third position of the knee joint's rotation axis in the surgical space is calculated. This third position is then transformed according to the transformation relationship to obtain a fourth position of the rotation axis in image space. Finally, the rotation axis is displayed in the knee joint simulation model based on this fourth position. This technical solution enables the display of the specific position of the knee joint's rotation axis in the knee joint simulation model during knee replacement or cruciate ligament reconstruction. In anterior cruciate ligament repair surgery, this helps doctors accurately determine the isolength of the newly implanted ligament and the intercondylar impingement, thus avoiding intercondylar impingement.

[0071] The following are Figure 1 The specific implementation methods of each step in the illustrated embodiment will be explained below:

[0072] In one possible implementation, S120 above includes the following scheme:

[0073] Obtain the first point cloud data of the aforementioned knee joint in the aforementioned image space;

[0074] Obtain the second point cloud data of the knee joint in the surgical space described above;

[0075] The first point cloud data and the second point cloud data are registered to obtain the above conversion relationship.

[0076] The first point cloud data of the knee joint in the image space and the second point cloud data of the knee joint in the surgical space are obtained. Then, the ICP (Iterative Closest Point) registration algorithm is used to register the first point cloud data and the second point cloud data to obtain the transformation matrix between the knee joint in the image space and the knee joint in the surgical space. This transformation matrix represents the transformation relationship between the knee joint in the image space and the knee joint in the surgical space.

[0077] In one possible implementation, the acquisition of the first point cloud data of the knee joint in the image space includes the following schemes:

[0078] The computed tomography (CT) and magnetic resonance imaging (MRI) images of the knee joint were registered, and the femur was combined with the corresponding first cartilage tissue, and the tibia was combined with the corresponding second cartilage tissue to obtain the registered images.

[0079] The surface points of the first cartilage tissue and the second cartilage tissue are obtained from the above-mentioned registered image to obtain the first point cloud data of the knee joint in the above-mentioned image space.

[0080] Computed tomography (CT) images refer to images obtained through a surgical procedure, while magnetic resonance imaging (MRI) images refer to images obtained through a surgical procedure. CT and MRI images of the knee joint are acquired in the surgical space. The MRI images are then deformed based on the CT images to obtain the corrected MRI images. Finally, an overnormalized mutual information algorithm is used to register the CT and corrected MRI images, specifically combining the femur with its corresponding first cartilage tissue and the tibia with its corresponding second cartilage tissue, thus obtaining the registered images.

[0081] After obtaining the registered images, deep learning methods are used to extract the bone data of the femur and tibia from the CT images, and to extract the cartilage data of the femur and tibia from the MRI images. Then, the femoral bone data is combined with the femoral cartilage data, and the tibial bone data is combined with the tibial cartilage data. The femoral cartilage is referred to as the first type of cartilage, and the tibial cartilage is referred to as the second type of cartilage.

[0082] After combining the bone data of the femur and tibia with their respective cartilage data, a combined data set is obtained. Then, a connected component algorithm is used to determine the surface points of the first cartilage tissue corresponding to the femur, referred to as the first surface points, and the surface points of the second cartilage tissue corresponding to the tibia, referred to as the second surface points, from the combined data. Finally, the first point cloud data of the knee joint in image space is generated using the first and second surface points. The determination of surface points from the combined data using the connected component algorithm involves determining whether each point is connected in all directions. If all directions are connected, the point is not a surface point; otherwise, it is a surface point.

[0083] In one possible implementation, the acquisition of the second point cloud data of the knee joint in the surgical space includes the following schemes:

[0084] In the aforementioned surgical space, the first point of the probe is obtained during its movement on the surface of the first cartilage tissue corresponding to the femur.

[0085] In the aforementioned surgical space, the second point position is obtained during the movement of the probe on the surface of the second cartilage tissue corresponding to the tibia.

[0086] Generate the cloud data of the second point based on the first and second points mentioned above.

[0087] or,

[0088] In the aforementioned surgical space, the third point of the probe is obtained during its movement on the skin surface corresponding to the first cartilage tissue.

[0089] In the aforementioned surgical space, the fourth point of the probe was obtained during its movement on the skin surface corresponding to the second cartilage tissue.

[0090] The cloud data for the second point is generated based on the third and fourth points mentioned above.

[0091] There are two methods for acquiring second-point cloud data. One method involves causing trauma to the patient's leg, requiring the use of a probe to move across the surface of cartilage tissue to obtain the second-point cloud data. The other method does not cause trauma to the patient's leg, but instead uses a probe to move across the skin surface to obtain the second-point cloud data.

[0092] The probe was registered in advance. The second point cloud data of the knee joint in the surgical space can be obtained by acquiring the probe's position. When the probe moves, the position of the probe during the movement is represented by the probe tip coordinates during the movement. The probe tip coordinates can be obtained by a positioning device, which can be a positioning instrument.

[0093] For the first method of acquiring the second point cloud data, in the surgical space, the first point position of the probe during the movement of the probe on the surface of the first cartilage tissue and the second point position of the probe during the movement of the probe on the surface of the second cartilage tissue are acquired. Then, the first point position and the second point position are combined to obtain the second point cloud data.

[0094] The second method for acquiring the second point cloud data involves acquiring the third point position of the probe during its movement on the skin surface corresponding to the first cartilage tissue and the fourth point position during its movement on the skin surface corresponding to the second cartilage tissue in the surgical space. The third and fourth points are then combined to obtain the second point cloud data, which means that the second point cloud data can be acquired without causing trauma to the patient.

[0095] In one possible implementation, a first target tool is provided on the femur, and a second target tool is provided on the tibia. The first and second target tools have different shapes, such as... Figure 5 As shown, Figure 5A schematic diagram of the targeting tools is shown. G1 represents the first targeting tool, G2 represents the second targeting tool, and Q1 and Q2 represent marker balls. Multiple marker balls, including at least three, are fixed to both the first and second targeting tools. In the surgical space, the first targeting tool can be fixed to the surface of the femur, and the second targeting tool can be fixed to the surface of the tibia. To avoid trauma, in the surgical space, the first targeting tool can be fixed to the skin surface corresponding to the femur, and the second targeting tool can be fixed to the skin surface corresponding to the tibia.

[0096] The above-mentioned methods for displaying the knee joint rotation axis also include the following:

[0097] With the tibia in a stationary state in the surgical space, target data collected by the positioning device is acquired; wherein, the target data includes the first initial position information of the first target tool and the second initial position information of the second target tool;

[0098] Based on the first initial position information and the second initial position information, the relative position of the tibia with respect to the femur is determined, and the first position is obtained.

[0099] With the tibia stationary in the surgical space, target data collected by the positioning device is acquired. This target data includes first initial position information of the first target tool and second initial position information of the second target tool. The first initial position information includes the coordinates and transformation matrix of the first target tool, and the second initial position information includes the coordinates and transformation matrix of the second target tool. Specifically, the coordinates of the first target tool are the average of the center coordinates of multiple marker balls on the first target tool, and the coordinates of the second target tool are the average of the center coordinates of multiple marker balls on the second target tool.

[0100] After obtaining the first initial position information and the second initial position information, the relative position of the tibia to the femur when the knee joint is not moving is calculated based on the first initial position information and the second initial position information, and the first position is obtained.

[0101] The calculation method for the second position is the same as that for the first position. Specifically, it calculates the second position of the tibia in the surgical space at each moment during knee joint movement. For each moment, the first current position information of the first target tool and the second current position information of the aforementioned second target tool, acquired by the positioning instrument, can be obtained. The first current position information includes the coordinates and transformation matrix of the first target tool, and the second current position information includes the coordinates and transformation matrix of the second target tool. Then, based on the first and second current position information, the relative position of the tibia to the femur at the current moment is calculated, thus obtaining the second position. Following this method, the second position of the tibia in the surgical space at each moment during knee joint movement can be calculated, resulting in multiple second positions.

[0102] In one possible implementation, S120 above includes the following scheme:

[0103] The aforementioned first position is taken as the first connection point;

[0104] Select any two positions from the multiple second positions mentioned above to obtain the second connection point and the third connection point;

[0105] By connecting the first connection point, the second connection point, and the third connection point in sequence, the target triangle is obtained;

[0106] Determine the intersection of the perpendicular bisectors of the three sides of the target triangle;

[0107] The coordinates of the above intersection point are determined as the third position mentioned above.

[0108] Since the first position and multiple positions are all on the trajectory of the tibia, and the trajectory is an arc, the center of the arc can be determined by any three positions on the arc. That is, the first position is used as the first connection point, and any two positions are selected from the multiple second positions to obtain the second connection point and the third connection point. Then, the first connection point, the second connection point and the third connection point are connected in sequence to obtain the target triangle. Then, the intersection of the perpendicular bisectors of the three sides of the target triangle is determined, and the coordinates of the intersection point are the third position.

[0109] like Figure 6 As shown, Figure 6A schematic diagram of constructing the target triangle is shown. P0 is the first position, P1 and P3 are the second positions. Specifically, P0 is the first connection point, P1 is the second connection point, and P3 is the third connection point. After connecting P0, P1, and P3 in sequence, the target triangle P0P1P3 is constructed. Then, the perpendicular bisectors of the three sides of the target triangle P0P1P3 are constructed, that is, the perpendicular bisector of the side P0P1 is L1, the perpendicular bisector of the side P1P3 is L2, and the perpendicular bisector of the side P0P3 is L3. The intersection of L1, L3, and L3 is X. The coordinates of this intersection point are the third position of the knee joint's rotation axis in the surgical space.

[0110] In one possible implementation, after S140, the above-described method for displaying the knee joint rotation axis further includes the following:

[0111] The displacement of the rotation axis is determined based on the fourth position described above;

[0112] The isometry of the ligaments is determined based on the aforementioned displacements.

[0113] The displacement of the rotation axis can be understood as the axial displacement of the knee joint. The position of the rotation axis is not the same when the anterior cruciate ligament is intact and when it is ruptured. That is, after obtaining the fourth position, we obtain the position of the rotation axis after the anterior cruciate ligament is ruptured. By comparing the position of the rotation axis corresponding to the anterior cruciate ligament rupture with the position corresponding to the anterior cruciate ligament without rupture, the axial displacement of the knee joint can be calculated. Then, based on the axial displacement of the knee joint, the isochronism of the newly implanted ligament can be calculated, which can avoid the newly implanted ligament being too long and causing intercondylar fossa impingement.

[0114] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0115] Figure 7 A schematic diagram of a knee joint rotation axis display device according to an embodiment of this application is shown. For example, Figure 7 As shown, the above-mentioned knee joint rotation axis display device 700 includes:

[0116] The first calculation module 710 is used to determine the conversion relationship between the knee joint in image space and the knee joint in surgical space; wherein the knee joint includes the femur and the tibia.

[0117] The second calculation module 720 is used to determine the third position of the rotation axis of the knee joint in the surgical space based on the first position and the second position of the tibia, wherein the first position is the position of the tibia when it is stationary in the surgical space, the second position is the position of the tibia when it is in motion in the surgical space, and the second position includes at least two.

[0118] The position conversion module 730 is used to convert the third position according to the above conversion relationship to obtain the fourth position of the rotation axis in the above image space;

[0119] The position display module 770 is used to display the rotation axis in the simulation model of the knee joint according to the fourth position mentioned above.

[0120] In one possible implementation, the first computing module 710 includes:

[0121] The first acquisition unit is used to acquire the first point cloud data of the knee joint in the image space.

[0122] The second acquisition unit is used to acquire the second point cloud data of the knee joint in the surgical space.

[0123] The data registration unit is used to register the first point cloud data and the second point cloud data to obtain the above conversion relationship.

[0124] In one possible implementation, the first acquisition unit includes:

[0125] The image registration subunit is used to register the computed tomography and magnetic resonance images of the knee joint, combine the femur with the first cartilage tissue corresponding to the femur, and combine the tibia with the second cartilage tissue corresponding to the tibia to obtain a registered image.

[0126] The first data acquisition subunit is used to acquire the surface points of the first cartilage tissue and the second cartilage tissue from the above-mentioned registered image, so as to obtain the first point cloud data of the knee joint in the above-mentioned image space.

[0127] In one possible implementation, the second acquisition unit includes:

[0128] The first point acquisition subunit is used to acquire the first point of the probe during its movement on the surface of the first cartilage tissue in the surgical space described above.

[0129] The second point acquisition subunit is used to acquire the second point of the probe during the movement of the probe on the surface of the second cartilage tissue in the above-mentioned surgical space.

[0130] The first generation subunit is used to generate the second point cloud data based on the first point and the second point.

[0131] The third point acquisition subunit is used to acquire the third point of the probe during the movement of the probe on the skin surface corresponding to the first cartilage tissue in the above surgical space.

[0132] The fourth point acquisition subunit is used to acquire the fourth point of the probe during the movement of the probe on the skin surface corresponding to the second cartilage tissue in the above surgical space.

[0133] The second generation subunit is used to generate the second point cloud data based on the third and fourth points mentioned above.

[0134] In one possible implementation, a first target tool is provided on the femur, a second target tool is provided on the tibia, and the knee joint rotation axis display device 700 further includes:

[0135] The third acquisition unit is used to acquire target data collected by the positioning device when the tibia is stationary in the surgical space; wherein the target data includes the first initial position information of the first target tool and the second initial position information of the second target tool.

[0136] The position determination unit is used to determine the relative position of the tibia with respect to the femur based on the first initial position information and the second initial position information, thereby obtaining the first position.

[0137] In one possible implementation, the second computing module 720 includes:

[0138] A connection point determination unit is used to determine the aforementioned first position as a first connection point;

[0139] The connection point acquisition unit is used to select any two positions from a plurality of the above-mentioned second positions to obtain a second connection point and a third connection point;

[0140] The graphics generation unit is used to connect the first connection point, the second connection point, and the third connection point in sequence to obtain the target triangle;

[0141] The intersection point determination unit is used to determine the intersection point of the perpendicular bisectors of the three sides of the target triangle and to determine the coordinates of the intersection point as the third position.

[0142] In one possible implementation, the knee joint rotation axis display device 700 further includes:

[0143] The length-equalization calculation unit is used to determine the displacement of the rotation axis based on the fourth position and to determine the length-equalization of the ligament based on the displacement.

[0144] It should be noted that the knee joint rotation axis display device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the knee joint rotation axis display method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the knee joint rotation axis display device and the knee joint rotation axis display method embodiments provided in the above embodiments belong to the same concept. Therefore, for details not disclosed in the device embodiments of this application, please refer to the above embodiments of the knee joint rotation axis display method of this application, which will not be repeated here.

[0145] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0146] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0147] For example, such as Figure 8 As shown, the electronic device 800 includes a memory 801 and a processor 802. The memory 801 stores executable program code 8011, and the processor 802 is used to call and execute the executable program code 8011 to perform a knee joint rotation axis display method.

[0148] This embodiment can divide the electronic device into functional modules according to the above method example. For example, each module can correspond to a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0149] When each functional module is divided according to its corresponding function, the electronic device may include: a first calculation module, a second calculation module, a position conversion module, a position display module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0150] The electronic device provided in this embodiment is used to execute the above-described method for displaying the rotation axis of a knee joint, and thus can achieve the same effect as the above-described implementation method.

[0151] When using integrated units, the electronic device may include a processing module and a storage module. The processing module is used to control and manage the operation of the electronic device. The storage module is used to support the execution of program code and data by the electronic device.

[0152] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0153] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a knee joint rotation axis display method in the above embodiment.

[0154] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a knee joint rotation axis display method as described in the above embodiment.

[0155] In addition, the electronic device provided in the embodiments of this application may specifically be a chip, component or module. The electronic device may include a connected processor and a memory. The memory is used to store instructions. When the electronic device is running, the processor may call and execute the instructions to make the chip execute a knee joint rotation axis display method in the above embodiments.

[0156] In this embodiment, the electronic device, computer-readable storage medium, computer program product or chip are all used to execute the corresponding knee joint rotation axis display method provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects in the corresponding knee joint rotation axis display method provided above, and will not be repeated here.

[0157] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0158] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0159] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for displaying the rotation axis of a knee joint, characterized in that, The method for displaying the knee joint rotation axis includes: Determine the transformation relationship between the knee joint in image space and the knee joint in surgical space; wherein the knee joint includes the femur and tibia; The first position is taken as the first connection point, and the first position is the position of the tibia when it is stationary in the surgical space; Select any two positions from a plurality of second positions to obtain a second connection point and a third connection point, wherein the second position is the position of the tibia when it is in motion in the surgical space; Connect the first connection point, the second connection point, and the third connection point in sequence to obtain the target triangle; Determine the intersection point of the perpendicular bisectors of the three sides of the target triangle; The coordinates of the intersection point are determined as the third position of the rotation axis of the knee joint in the surgical space; The third position is transformed according to the transformation relationship to obtain the fourth position of the rotation axis in the image space; The rotation axis is displayed in the simulation model of the knee joint according to the fourth position.

2. The knee joint rotation axis display method according to claim 1, characterized in that, The step of determining the conversion relationship between the knee joint in image space and the knee joint in surgical space includes: Acquire the first point cloud data of the knee joint in the image space; Acquire the second point cloud data of the knee joint in the surgical space; The first point cloud data and the second point cloud data are registered to obtain the transformation relationship.

3. The knee joint rotation axis display method according to claim 2, characterized in that, The step of acquiring the first point cloud data of the knee joint in the image space includes: The computed tomography (CT) scan and magnetic resonance imaging (MRI) images of the knee joint are registered, and the femur is combined with the first cartilage tissue corresponding to the femur, and the tibia is combined with the second cartilage tissue corresponding to the tibia, to obtain the registered images; The surface points of the first cartilage tissue and the second cartilage tissue are obtained from the registered image to obtain the first point cloud data of the knee joint in the image space.

4. The knee joint rotation axis display method according to claim 2, characterized in that, The step of acquiring the second point cloud data of the knee joint in the surgical space includes: In the surgical space, the first point of the probe is obtained during its movement on the surface of the first cartilage tissue corresponding to the femur. In the surgical space, the second point position is obtained during the movement of the probe on the surface of the second cartilage tissue corresponding to the tibia. Generate the second point cloud data based on the first point and the second point; or, In the surgical space, the third point position of the probe during its movement on the skin surface corresponding to the first cartilage tissue is obtained; In the surgical space, the fourth point of the probe is obtained during its movement on the skin surface corresponding to the second cartilage tissue; The second point cloud data is generated based on the third and fourth points.

5. The knee joint rotation axis display method according to claim 1, characterized in that, A first target tool is provided on the femur, and a second target tool is provided on the tibia; The method for displaying the knee joint rotation axis also includes: With the tibia in a static state in the surgical space, target data collected by the positioning device is acquired; wherein, the target data includes the first initial position information of the first target tool and the second initial position information of the second target tool; Based on the first initial position information and the second initial position information, the relative position of the tibia with respect to the femur is determined, and the first position is obtained.

6. The method for displaying the rotation axis of a knee joint according to any one of claims 1 to 5, characterized in that, After the step of converting the third position according to the conversion relationship to obtain the fourth position of the rotation axis in the image space, the knee joint rotation axis display method further includes: The displacement of the rotation axis is determined based on the fourth position; The isometry of the ligament is determined based on the displacement.

7. A knee joint rotation axis display device, characterized in that, The knee joint rotation axis display device includes: The first calculation module is used to determine the conversion relationship between the knee joint in image space and the knee joint in surgical space; wherein the knee joint includes the femur and the tibia; The second calculation module is used to: use a first position as a first connection point, where the first position is the position of the tibia when it is stationary in the surgical space; select any two positions from a plurality of second positions to obtain a second connection point and a third connection point, where the second position is the position of the tibia when it is in motion in the surgical space; connect the first connection point, the second connection point, and the third connection point in sequence to obtain a target triangle; determine the intersection of the perpendicular bisectors of the three sides of the target triangle; and determine the coordinates of the intersection point as the third position of the rotation axis of the knee joint in the surgical space. A position conversion module is used to convert the third position according to the conversion relationship to obtain the fourth position of the rotation axis in the image space; A position display module is used to display the rotation axis in a simulation model of the knee joint based on the fourth position.

8. An electronic device, characterized in that, The electronic device includes: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the electronic device to perform the knee joint rotation axis display method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the knee joint rotation axis display method as described in any one of claims 1 to 6.

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