Hip replacement-based lower limb length determination method and device and computer equipment

Abstract

The application relates to a lower limb length determination method, device and computer equipment based on hip replacement, which comprises the following steps: acquiring a medical image of a hip joint part, determining a position of an anterior superior iliac spine and a position of a lesser trochanter from the medical image; acquiring a center position of an acetabular liner according to a first optical tracker array installed on an acetabular cup assembly device, and acquiring a ball center position of a femoral head prosthesis according to a second optical tracker array installed on a femoral stem prosthesis; obtaining a pelvic side lower limb length according to the position of the anterior superior iliac spine and the center position of the acetabular liner; obtaining a femoral side lower limb length according to the position of the lesser trochanter and the ball center position of the femoral head prosthesis; and obtaining a target lower limb length based on the pelvic side lower limb length and the femoral side lower limb length. The method can avoid the problem of inaccurate lower limb length calculation caused by the disengagement of the prosthesis ball center from the liner center in hip joint surgery, and improves the accuracy of the determined lower limb length.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a method, apparatus, computer device, storage medium, and computer program product for determining lower limb length based on hip replacement. Background Technology

[0002] In total hip replacement surgery, the difference in lower limb length between the two sides is an important indicator for evaluating surgical outcomes. The smaller the difference in lower limb length, the better the patient's posture and motor function. In normal adults, the difference in lower limb length should be within 1 cm, and after hip replacement surgery, the difference should be controlled within 2 cm. Real-time navigation during hip replacement surgery accurately displays the lower limb length difference, allowing for the quantification of the impact of different treatment options on the patient's postoperative daily life, thus enabling the selection of the most suitable replacement plan.

[0003] Currently, in calculating lower limb length during hip replacement surgery, the patient's preoperative and postoperative lower limb length is often physically measured using various tools such as rulers attached to surgical instruments. However, because this method involves manual measurement, it is prone to significant errors, resulting in low accuracy. Summary of the Invention

[0004] Therefore, it is necessary to address the technical problem of low accuracy in measurement results of the above-mentioned methods for physically measuring lower limb length using tools, and to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for determining lower limb length based on hip replacement.

[0005] In a first aspect, this application provides a method for determining lower limb length based on hip replacement. The method includes:

[0006] Acquire medical images of the hip joint area, and determine the positions of the anterior superior iliac spine and lesser trochanter from the medical images;

[0007] The position of the acetabular liner center is obtained according to the first optical tracker array installed on the acetabular cup assembly device, and the position of the femoral head prosthesis center is obtained according to the second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum.

[0008] The length of the pelvic lower limb is obtained based on the location of the anterior superior iliac spine and the center of the acetabular liner; the length of the femoral lower limb is obtained based on the location of the lesser trochanter and the center of the femoral head prosthesis.

[0009] The target lower limb length is obtained based on the length of the lower limb on the pelvic side and the length of the lower limb on the femoral side.

[0010] In one embodiment, obtaining the center position of the acetabular liner based on a first optical tracker array mounted on the acetabular cup assembly device includes:

[0011] Based on the data collected by the first optical tracker array, the position of the acetabular cup center in the first tracker array coordinate system is obtained; the first tracker array coordinate system is the coordinate system corresponding to the first optical tracker array.

[0012] By using the first coordinate transformation matrix, the coordinate transformation of the center position of the first acetabular cup is performed to obtain the center position of the second acetabular cup in the pelvic array coordinate system.

[0013] Based on the center position of the second acetabular cup and the assembly relationship between the acetabular liner and the acetabular cup, the position of the center of the acetabular liner in the pelvic array coordinate system is obtained, and this position is taken as the center position of the acetabular liner.

[0014] In one embodiment, the position of the anterior superior iliac spine is the position of the anterior superior iliac spine in the image coordinate system corresponding to the medical image;

[0015] The method of determining the length of the pelvic lower limb based on the location of the anterior superior iliac spine and the center location of the acetabular liner includes:

[0016] The coordinate transformation of the anterior superior iliac spine position is performed by the first registration matrix to obtain the position of the anterior superior iliac spine in the pelvic array coordinate system, which is then used as the new anterior superior iliac spine position.

[0017] The vertical distance between the new anterior superior iliac spine position and the center position of the acetabular liner is obtained as the length of the pelvic side lower limb.

[0018] In one embodiment, obtaining the position of the center of the femoral head prosthesis based on a second optical tracker array mounted on the femoral stem prosthesis includes:

[0019] Based on the data collected by the second optical tracker array, the first assembly center position of the femoral stem assembly center in the coordinate system of the second tracker array is obtained; the femoral stem assembly center represents the point of coincidence between the femoral stem and the femoral head prosthesis ball head; the coordinate system of the second tracker array is the coordinate system corresponding to the second optical tracker array;

[0020] The first assembly center position is transformed by the second coordinate transformation matrix to obtain the second assembly center position of the femoral stem assembly center in the femoral array coordinate system.

[0021] Based on the second assembly center position and the assembly relationship between the femoral stem and the femoral head prosthesis, the position of the center of the femoral head prosthesis in the femoral array coordinate system is obtained, and is used as the position of the center of the femoral head prosthesis.

[0022] In one embodiment, the position of the small rotor is the position of the small rotor in the image coordinate system corresponding to the medical image;

[0023] The process of obtaining the length of the femoral lower limb based on the position of the lesser trochanter and the position of the center of the femoral head prosthesis includes:

[0024] The coordinate transformation of the small rotor position is performed by the second registration matrix to obtain the position of the small rotor in the femoral array coordinate system, which is used as the new small rotor position.

[0025] The vertical distance between the new lesser trochanter position and the center of the femoral head prosthesis is obtained and used as the length of the femoral side lower limb.

[0026] In one embodiment, determining the location of the anterior superior iliac spine and the lesser trochanter from the medical image includes:

[0027] The medical image is processed by a marker recognition model to obtain the first spatial features of the anterior superior iliac spine and the second spatial features of the lesser trochanter on the medical image.

[0028] The location of the anterior superior iliac spine is determined from the medical image using the marker recognition model and the first spatial feature.

[0029] The position of the small rotor is determined from the medical image using the marker recognition model and the second spatial feature.

[0030] In one embodiment, the marker recognition model is trained in the following manner:

[0031] Acquire sample medical images of the hip joint; the sample medical images are marked with the actual anterior superior iliac spine position and the actual lesser trochanter position;

[0032] The medical images of the samples are processed by the marker recognition model to be trained to obtain the predicted position of the anterior superior iliac spine and the predicted position of the lesser trochanter.

[0033] Based on the loss value between the predicted anterior superior iliac spine position and the actual anterior superior iliac spine position, and the loss value between the predicted lesser trochanter position and the actual lesser trochanter position, the marker recognition model to be trained is trained to obtain the trained marker recognition model.

[0034] In one embodiment, obtaining the target lower limb length based on the pelvic side lower limb length and the femoral side lower limb length includes:

[0035] The target lower limb length is obtained by summing the lengths of the pelvic side lower limb and the femoral side lower limb.

[0036] Secondly, this application also provides a lower limb length determination device based on hip replacement. The device includes:

[0037] The first position determination module is used to acquire medical images of the hip joint and determine the position of the anterior superior iliac spine and the lesser trochanter from the medical images.

[0038] The second position determination module is used to obtain the center position of the acetabular liner based on the first optical tracker array installed on the acetabular cup assembly device, and to obtain the center position of the femoral head prosthesis based on the second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum.

[0039] The first length determination module is used to obtain the length of the pelvic lower limb based on the position of the anterior superior iliac spine and the center position of the acetabular liner; and to obtain the length of the femoral lower limb based on the position of the lesser trochanter and the center position of the femoral head prosthesis.

[0040] The second length determination module is used to obtain the target lower limb length based on the length of the pelvic lower limb and the length of the femoral lower limb.

[0041] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0042] Acquire medical images of the hip joint area, and determine the positions of the anterior superior iliac spine and lesser trochanter from the medical images;

[0043] The acetabular cup assembly device obtains the center position of the acetabular liner based on a first optical tracker array installed on the acetabular cup assembly device, and obtains the center position of the femoral head prosthesis based on a second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum.

[0044] The length of the pelvic lower limb is obtained based on the location of the anterior superior iliac spine and the center of the acetabular liner; the length of the femoral lower limb is obtained based on the location of the lesser trochanter and the center of the femoral head prosthesis.

[0045] The target lower limb length is obtained based on the length of the lower limb on the pelvic side and the length of the lower limb on the femoral side.

[0046] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0047] Acquire medical images of the hip joint area, and determine the positions of the anterior superior iliac spine and lesser trochanter from the medical images;

[0048] The acetabular cup assembly device obtains the center position of the acetabular liner based on a first optical tracker array installed on the acetabular cup assembly device, and obtains the center position of the femoral head prosthesis based on a second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum.

[0049] The length of the pelvic lower limb is obtained based on the location of the anterior superior iliac spine and the center of the acetabular liner; the length of the femoral lower limb is obtained based on the location of the lesser trochanter and the center of the femoral head prosthesis.

[0050] The target lower limb length is obtained based on the length of the lower limb on the pelvic side and the length of the lower limb on the femoral side.

[0051] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0052] Acquire medical images of the hip joint area, and determine the positions of the anterior superior iliac spine and lesser trochanter from the medical images;

[0053] The acetabular cup assembly device obtains the center position of the acetabular liner based on a first optical tracker array installed on the acetabular cup assembly device, and obtains the center position of the femoral head prosthesis based on a second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum.

[0054] The length of the pelvic lower limb is obtained based on the location of the anterior superior iliac spine and the center of the acetabular liner; the length of the femoral lower limb is obtained based on the location of the lesser trochanter and the center of the femoral head prosthesis.

[0055] The target lower limb length is obtained based on the length of the lower limb on the pelvic side and the length of the lower limb on the femoral side.

[0056] The aforementioned method, apparatus, computer equipment, storage medium, and computer program product for determining lower limb length based on hip replacement first determine the positions of the anterior superior iliac spine and lesser trochanter from medical images of the hip joint. Then, based on a first optical tracker array installed on the acetabular cup assembly device, the center position of the acetabular liner is determined, and based on a second optical tracker array installed on the femoral stem prosthesis, the center position of the femoral head prosthesis is obtained. The lower limb length to be determined is divided into pelvic lower limb length and femoral lower limb length. The pelvic lower limb length is obtained based on the positions of the anterior superior iliac spine and the center position of the acetabular liner, and the femoral lower limb length is obtained based on the positions of the lesser trochanter and the center position of the femoral head prosthesis. Finally, the target lower limb length is obtained based on the pelvic lower limb length and the femoral lower limb length. This method, which determines the length of the lower limb on the pelvic side and the length of the lower limb on the femoral side separately, and then calculates the target lower limb length based on the lengths of the lower limb on the pelvic side and the lower limb on the femoral side, can avoid the problem of inaccurate lower limb length calculation caused by the prosthesis ball center detaching from the liner center during hip joint surgery, and improve the accuracy of the determined lower limb length. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of lower limb length in one embodiment;

[0058] Figure 2 This is a schematic diagram of a lower limb length measuring tool in the prior art;

[0059] Figure 3 This is a flowchart illustrating a method for determining lower limb length based on hip replacement in one embodiment;

[0060] Figure 4 This is a schematic diagram of the length of the pelvic side lower limb and the length of the femoral side lower limb in one embodiment;

[0061] Figure 5 This is a schematic diagram illustrating the process of determining the length of the lower limb on the pelvic side in one embodiment;

[0062] Figure 6 This is a schematic diagram illustrating the process of determining the length of the femoral lower limb in one embodiment;

[0063] Figure 7 This is a flowchart illustrating a method for determining lower limb length based on hip replacement in another embodiment;

[0064] Figure 8 This is a structural block diagram of a lower limb length determination device based on hip replacement in one embodiment;

[0065] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0067] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0068] In total hip replacement surgery, the difference in lower limb length between the two sides is an important indicator for evaluating surgical outcomes. The smaller the difference in lower limb length, the better the patient's posture and motor function. In normal adults, the difference in lower limb length should be within 1 cm, and after hip replacement surgery, the difference should be controlled within 2 cm. Real-time navigation during hip replacement surgery accurately displays the lower limb length difference, allowing for the quantification of the impact of different treatment options on the patient's postoperative daily life, thus enabling the selection of the most suitable replacement plan.

[0069] refer to Figure 1 This is a schematic diagram illustrating the length of a lower limb in an exemplary embodiment, as shown below. Figure 1 As shown, the definition of lower limb length in radiology is: the length of the line connecting the anterior superior iliac spines of the pelvis to the x-axis of the computed tomography (CT) image, and the femoral medullary cavity axis forming a 9° angle with the long axis of the human body center.

[0070] Currently, in calculating lower limb length during hip replacement surgery, the length is often physically measured before and after surgery using various tools such as rulers attached to surgical instruments. Figure 2 The diagram shown is a schematic of a lower limb length measurement tool in the prior art. However, this method is problematic because manual measurement introduces significant errors, the installation and removal of auxiliary instruments complicates the surgical procedure and increases unknown risks, and it cannot provide a real-time visual representation of the lower limb length difference during surgery, thus increasing the difficulty of the operation.

[0071] Therefore, to address the aforementioned problems, this application provides a method to improve the accuracy of lower limb length calculation. This method calculates the coordinates of the anterior superior iliac spine and lesser trochanter based on computed tomography (CT) images obtained preoperatively. During surgery, the coordinates of the femoral head center are calculated using coordinates transmitted via an array of small balls mounted on the femoral stem prosthesis. The lower limb lengths to be compared are calculated separately for the pelvic side and the femoral side, avoiding inaccurate lower limb length calculations caused by the prosthesis center detaching from the liner center during hip surgery. This provides a basis for doctors to evaluate the effectiveness of different treatment options.

[0072] refer to Figure 3 This is a flowchart illustrating a method for determining lower limb length based on hip replacement provided in this application embodiment. This embodiment uses the application of this method to a terminal as an example for illustration. It is understood that this method can also be applied to a server, and further to a system including both a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0073] Step S310: Obtain medical images of the hip joint and determine the positions of the anterior superior iliac spine and lesser trochanter from the medical images.

[0074] Among them, medical images can be computed tomography (CT) images.

[0075] The position of the anterior superior iliac spine indicates its location in the image coordinate system corresponding to the medical image.

[0076] The position of the small rotor refers to its position in the image coordinate system corresponding to the medical image.

[0077] In practice, the hip joint of the human body can be scanned by a CT (Computed Tomography) device to obtain a CT image of the hip joint as a medical image. The positions of the anterior superior iliac spine and lesser trochanter in the corresponding image coordinate system can then be determined based on the medical image.

[0078] More specifically, there are two methods to determine the positions of the anterior superior iliac spine and the lesser trochanter. One method is through MPR (Multiplanar reconstruction, a technique used to analyze computed tomography images). This involves superimposing all axial images within the scan range and then reconstructing coronal, sagittal, and oblique images at arbitrary angles for the tissues specified by certain calibrated reconstruction lines. The positions of the anterior superior iliac spine and the lesser trochanter are determined based on the reconstructed images. The other method is through a marker recognition model. This involves processing medical images of the hip joint using a marker recognition model to determine the first spatial features of the anterior superior iliac spine and the second spatial features of the lesser trochanter. Based on the first spatial features, the position of the anterior superior iliac spine is determined from the medical images of the hip joint; based on the second spatial features, the position of the lesser trochanter is determined from the medical images of the hip joint.

[0079] Step S320: Obtain the center position of the acetabular liner based on the first optical tracker array installed on the acetabular cup assembly device, and obtain the center position of the femoral head prosthesis based on the second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum.

[0080] The position of the acetabular liner center indicates the location of the acetabular liner center in the pelvic array coordinate system.

[0081] Among them, the position of the femoral head prosthesis center indicates the position of the femoral head prosthesis center in the femoral array coordinate system.

[0082] In specific implementation, the first optical tracker array installed on the acetabular cup assembly device can collect position data during the acetabular cup installation process. Based on the position data collected by the first optical tracker array installed on the acetabular cup assembly device, the position of the first acetabular cup center in the coordinate system corresponding to the first optical tracker array can be calculated. Then, the first acetabular cup center position is transformed by the first coordinate transformation matrix to obtain the second acetabular cup center position in the pelvic array coordinate system. Based on the second acetabular cup center position and the assembly relationship between the acetabular liner and the acetabular cup, the position of the acetabular liner center in the pelvic array coordinate system is obtained, which is taken as the acetabular liner center position.

[0083] A second optical tracker array installed on the femoral stem prosthesis can acquire the positional information of the femoral stem prosthesis during the assembly process. Based on the positional data acquired by the second optical tracker array, the first assembly center position of the femoral stem assembly center in the coordinate system of the second tracker array can be calculated. Then, a second coordinate transformation matrix is ​​used to transform the first assembly center position to obtain the second assembly center position of the femoral stem assembly center in the femoral array coordinate system. Based on the second assembly center position and the assembly relationship between the femoral stem and the femoral head prosthesis, the position of the femoral head prosthesis ball center in the femoral array coordinate system is obtained, which is taken as the femoral head prosthesis ball center position. Here, the femoral stem assembly center represents the point of coincidence between the femoral stem and the femoral head prosthesis ball head.

[0084] Step S330: Based on the position of the anterior superior iliac spine and the center position of the acetabular liner, the length of the pelvic lower limb is obtained; based on the position of the lesser trochanter and the center position of the femoral head prosthesis, the length of the femoral lower limb is obtained.

[0085] refer to Figure 4 This is a schematic diagram showing the lengths of the lower limbs on the pelvic side and the lower limbs on the femoral side, as shown below. Figure 4 As shown, the pelvic side lower limb length represents the vertical distance between the anterior superior iliac spine and the center of the acetabular liner, while the femoral side lower limb length represents the vertical distance between the lesser trochanter and the center of the femoral head prosthesis.

[0086] In practice, since the position of the anterior superior iliac spine is its location in the image coordinate system corresponding to the medical image, while the position of the acetabular liner center is its location in the pelvic array coordinate system, it is necessary to transform the positions of the anterior superior iliac spine and the acetabular liner center to the same coordinate system before obtaining the length of the pelvic lower limb based on these coordinates. More specifically, the anterior superior iliac spine position can be transformed using a first registration matrix to obtain its position in the pelvic array coordinate system, which serves as the new anterior superior iliac spine position. The vertical distance between this new anterior superior iliac spine position and the acetabular liner center position is then obtained as the length of the pelvic lower limb.

[0087] Similarly, since the lesser trochanter position is the location of the lesser trochanter within the corresponding image system of the medical image, and the femoral head prosthesis center position is the location of the femoral head prosthesis center within the femoral array system, it is necessary to convert the lesser trochanter position and the femoral head prosthesis center position to the same system before obtaining the femoral lower limb length based on the lesser trochanter position and the femoral head prosthesis center position. More specifically, the lesser trochanter position can be converted using a second registration matrix to obtain the position of the lesser trochanter within the femoral array system, which is then used as the new lesser trochanter position. The vertical distance between the new lesser trochanter position and the femoral head prosthesis center position is then obtained as the femoral lower limb length.

[0088] Step S340: Based on the length of the lower limb on the pelvic side and the length of the lower limb on the femoral side, the target lower limb length is obtained.

[0089] In practice, once the femoral head of the femoral stem is installed in the acetabulum, the center of the femoral head ball and the center of the acetabular liner will coincide. Therefore, after obtaining the lengths of the pelvic and femoral lower limbs, these lengths can be added together to obtain the target lower limb length.

[0090] In the aforementioned method for determining lower limb length based on hip replacement, the positions of the anterior superior iliac spine and lesser trochanter are determined from medical images of the hip joint. Then, the center position of the acetabular liner is determined using a first optical tracker array mounted on the acetabular cup assembly device, and the center position of the femoral head prosthesis is obtained using a second optical tracker array mounted on the femoral stem prosthesis. The desired lower limb length is divided into pelvic and femoral lower limb lengths. The pelvic lower limb length is obtained based on the anterior superior iliac spine and acetabular liner center positions, and the femoral lower limb length is obtained based on the lesser trochanter and femoral head prosthesis center positions. Finally, the target lower limb length is obtained based on both pelvic and femoral lower limb lengths. This method, which determines the pelvic and femoral lower limb lengths separately and then calculates the target lower limb length based on these lengths, avoids the problem of inaccurate lower limb length calculations caused by the prosthesis center detaching from the liner center during hip surgery, thus improving the accuracy of the determined lower limb length.

[0091] In an exemplary embodiment, the acquisition of the center position of the acetabular liner in step S320, based on the first optical tracker array installed on the acetabular cup assembly device, can be achieved through the following steps:

[0092] Step S3201: Based on the data collected by the first optical tracker array, obtain the position of the acetabular cup center in the first tracker array coordinate system;

[0093] Step S3202: The coordinate transformation of the center position of the first acetabular cup is performed by the first coordinate transformation matrix to obtain the center position of the second acetabular cup in the pelvic array coordinate system.

[0094] Step S3203: Based on the center position of the second acetabular cup and the assembly relationship between the acetabular liner and the acetabular cup, the position of the center of the acetabular liner in the pelvic array coordinate system is obtained, and this position is taken as the center position of the acetabular liner.

[0095] The coordinate system of the first tracker array is the same as the coordinate system of the first optical tracker array.

[0096] The first coordinate transformation matrix is ​​used to transform the coordinate points in the first tracker array coordinate system to the pelvic array coordinate system.

[0097] In the specific implementation, refer to Figure 5 This is a schematic diagram illustrating the process of determining the length of the lower limb on the pelvic side, as shown in one embodiment. Figure 5 As shown, the length of the pelvic lower limb is determined based on the position of the anterior superior iliac spine and the center position of the acetabular liner. The process for determining the center position of the acetabular liner is as follows:

[0098] Since the first optical tracker array is mounted on the acetabular cup assembly device, the data collected by the first optical tracker array can be used to calculate the position of the acetabular cup center in the first tracker array coordinate system, which is taken as the first acetabular cup center position. Then, through the first coordinate transformation matrix, the first acetabular cup center is transformed from the first tracker array coordinate system to the pelvic array coordinate system, obtaining the second acetabular cup center position in the pelvic array coordinate system. The acetabular liner is installed in the acetabular cup; therefore, based on the second acetabular cup center position, the assembly relationship between the acetabular liner and the acetabular cup, and the dimensional information of the acetabular liner, the position of the acetabular liner center in the pelvic array coordinate system can be calculated, which is taken as the acetabular liner center position.

[0099] In this embodiment, by transforming the coordinates of the acetabular cup center between the first tracker array coordinate system and the pelvic array coordinate system, and combining the assembly relationship between the acetabular liner and the acetabular cup, the center position of the acetabular liner is determined based on the data collected by the first optical tracker array, so as to further calculate the length of the pelvic side lower limb based on the center position of the acetabular liner.

[0100] In an exemplary embodiment, the length of the pelvic lower limb in step S330 above, based on the position of the anterior superior iliac spine and the center position of the acetabular liner, can be obtained through the following steps:

[0101] Step S3301: The coordinate transformation of the anterior superior iliac spine position is performed through the first registration matrix to obtain the position of the anterior superior iliac spine in the pelvic array coordinate system, which is used as the new anterior superior iliac spine position.

[0102] Step S3302: Obtain the vertical distance between the new anterior superior iliac spine position and the center position of the acetabular liner, as the pelvic side lower limb length.

[0103] The first registration matrix is ​​used to transform the coordinate points in the image coordinate system to the pelvic array coordinate system.

[0104] In the specific implementation, refer to Figure 5The diagram illustrates the process of determining the length of the pelvic side lower limb. The position of the anterior superior iliac spine obtained from the medical image is in the image coordinate system. Therefore, it is necessary to transform the position of the anterior superior iliac spine from the image coordinate system to the pelvic array coordinate system through the first registration matrix. This ensures that the new position of the anterior superior iliac spine is the same as the center of the acetabular liner, both located in the pelvic array coordinate system. Thus, the vertical distance between the new position of the anterior superior iliac spine and the center of the acetabular liner can be calculated as the length of the pelvic side lower limb.

[0105] In this embodiment, the coordinate transformation of the anterior superior iliac spine position is performed by the first registration matrix so that the new anterior superior iliac spine position is in the same coordinate system as the center of the acetabular liner, so as to calculate the vertical distance between the two and determine the length of the pelvic side lower limb.

[0106] In an exemplary embodiment, the acquisition of the position of the center of the femoral head prosthesis based on the second optical tracker array mounted on the femoral stem prosthesis in step S320 can be achieved through the following steps:

[0107] Step S3204: Based on the data collected by the second optical tracker array, obtain the first assembly center position of the femoral stem assembly center in the coordinate system of the second tracker array.

[0108] Step S3205: The coordinate transformation of the first assembly center position is performed by the second coordinate transformation matrix to obtain the second assembly center position of the femoral stem assembly center in the femoral array coordinate system.

[0109] Step S3206: Based on the position of the second assembly center and the assembly relationship between the femoral stem and the femoral head prosthesis, the position of the center of the femoral head prosthesis in the femoral array coordinate system is obtained, which is used as the position of the center of the femoral head prosthesis.

[0110] The coordinate system of the second tracker array is the coordinate system corresponding to the second optical tracker array.

[0111] The second coordinate transformation matrix is ​​used to transform the coordinate points in the second tracker array coordinate system to the femoral array coordinate system.

[0112] The femoral stem assembly center indicates the point of overlap between the femoral stem and the femoral head prosthesis ball.

[0113] In the specific implementation, refer to Figure 6 This is a schematic diagram illustrating the process of determining the length of the femoral lower limb in one embodiment, as shown below. Figure 6 As shown, the length of the femoral lower limb is determined based on the position of the lesser trochanter and the position of the center of the femoral head prosthesis. The process for determining the position of the center of the femoral head prosthesis is as follows:

[0114] Since the second optical tracker array is mounted on the femoral stem prosthesis, the data collected by the second optical tracker array can be used to calculate the position of the femoral stem assembly center in the second tracker array coordinate system, which is taken as the first assembly center position. Then, using the second coordinate transformation matrix, the first assembly center position is transformed from the second tracker array coordinate system to the femoral array coordinate system, obtaining the second assembly center position of the femoral stem assembly center in the femoral array coordinate system. The femoral head prosthesis is mounted on the femoral stem; therefore, based on the second assembly center position and the assembly relationship between the femoral stem and the femoral head prosthesis, the position of the femoral head prosthesis center in the femoral array coordinate system can be calculated, which is taken as the femoral head prosthesis center position.

[0115] In this embodiment, by transforming the coordinates of the femoral stem assembly center between the second tracker array coordinate system and the femoral array coordinate system, and combining the assembly relationship between the femoral stem and the femoral head prosthesis, the position of the femoral head prosthesis center is determined based on the data collected by the second optical tracker array, so as to further calculate the length of the femoral side lower limb based on the position of the femoral head prosthesis center.

[0116] In an exemplary embodiment, the length of the femoral lower limb in step S330 above, based on the position of the lesser trochanter and the position of the center of the femoral head prosthesis, can be obtained through the following steps:

[0117] Step S3303: The coordinate transformation of the small rotor position is performed by the second registration matrix to obtain the position of the small rotor in the femoral array coordinate system, which is used as the new position of the small rotor.

[0118] Step S3304: Obtain the vertical distance between the new lesser trochanter position and the center of the femoral head prosthesis, and use it as the length of the femoral lower limb.

[0119] The second registration matrix is ​​used to transform the coordinate points in the image coordinate system to the femoral array coordinate system.

[0120] In the specific implementation, refer to Figure 6 The diagram illustrates the process of determining the length of the femoral lower limb. The position of the lesser trochanter obtained from the medical image is in the image coordinate system. Therefore, it is necessary to use the second registration matrix to transform the position of the lesser trochanter from the image coordinate system to the femoral array coordinate system, so that the new position of the lesser trochanter is the same as the center of the femoral head prosthesis, both of which are in the femoral array coordinate system. Thus, the vertical distance between the new position of the lesser trochanter and the position of the center of the femoral head prosthesis can be calculated as the length of the femoral lower limb.

[0121] In this embodiment, the coordinate transformation of the lesser trochanter position is performed by the second registration matrix so that the new lesser trochanter position is in the same coordinate system as the center of the femoral head prosthesis, so as to calculate the vertical distance between the two and determine the length of the femoral lower limb.

[0122] In an exemplary embodiment, the determination of the position of the anterior superior iliac spine and the position of the lesser trochanter from the medical image in step S310 can be achieved through the following steps:

[0123] Step S3101: The medical image is processed by the marker recognition model to obtain the first spatial features of the anterior superior iliac spine and the second spatial features of the lesser trochanter on the medical image.

[0124] Step S3102: Determine the location of the anterior superior iliac spine from the medical image using the marker recognition model and the first spatial features;

[0125] Step S3103: The position of the small rotor is determined from the medical image by using the marker point recognition model and the second spatial features.

[0126] Spatial features can be understood as pixel value features in medical images, specifically grayscale value features.

[0127] In practice, the marker recognition model can be trained in advance using sample medical images of the hip joint area, so that the marker recognition model learns the spatial features of the anterior superior iliac spine and the lesser trochanter on the medical image, and determines the position of the anterior superior iliac spine and the lesser trochanter based on their respective spatial features.

[0128] More specifically, the process of determining the positions of the anterior superior iliac spine and lesser trochanter using the marker recognition model is as follows: a medical image of the hip joint is input into the marker recognition model, which processes the medical image to extract the first spatial features of the anterior superior iliac spine and the second spatial features of the lesser trochanter. The position of the anterior superior iliac spine is then determined from the medical image of the hip joint using the marker recognition model and the first spatial features, and the position of the lesser trochanter is determined from the medical image of the hip joint using the marker recognition model and the second spatial features.

[0129] In this embodiment, the location of the anterior superior iliac spine and the lesser trochanter is determined by identifying feature points on the medical image through a marker recognition model, without the need for manual intervention, thereby improving the efficiency of determining the location of the anterior superior iliac spine and the lesser trochanter.

[0130] In an exemplary embodiment, the marker recognition model is trained by: acquiring a sample medical image of the hip joint; the sample medical image is marked with the actual anterior superior iliac spine position and the actual lesser trochanter position; processing the sample medical image using the marker recognition model to be trained to obtain the predicted anterior superior iliac spine position and the predicted lesser trochanter position; and training the marker recognition model to be trained based on the loss value between the predicted anterior superior iliac spine position and the actual anterior superior iliac spine position, and the loss value between the predicted lesser trochanter position and the actual lesser trochanter position, to obtain the trained marker recognition model.

[0131] In practice, multiple medical images of the hip joints of different individuals can be pre-acquired to form sample data. The marker recognition model to be trained is then trained using this sample data. More specifically, each time a sample medical image is input into the marker recognition model, the predicted positions of the anterior superior iliac spine and lesser trochanter are obtained. A preset loss function is used to calculate the loss between the predicted and actual anterior superior iliac spine positions, and the loss between the predicted and actual lesser trochanter positions. These two loss values ​​are then fused to obtain a fusion loss. If the fusion loss is greater than a preset threshold, the model parameters are adjusted to obtain a new marker recognition model. The next sample medical image is acquired, and the new marker recognition model is used to predict its position. The fusion loss is calculated again. If the fusion loss is still greater than the preset threshold, the model parameters are adjusted again, and the model is trained again using the next sample medical image. This process continues until the fusion loss is less than the preset threshold or the preset number of training iterations is reached, at which point the loop ends, and the trained marker recognition model is obtained.

[0132] In this embodiment, the marker recognition model is trained using sample medical images of the hip joint to obtain a trained marker recognition model. This model can then be used to determine the positions of the anterior superior iliac spine and lesser trochanter, improving the accuracy and speed of the determination.

[0133] In an exemplary embodiment, step S340, obtaining the target lower limb length based on the pelvic lower limb length and the femoral lower limb length, includes: summing the pelvic lower limb length and the femoral lower limb length to obtain the target lower limb length.

[0134] In this embodiment, the lower limb length to be compared is calculated separately for the pelvic side lower limb length and the femoral side lower limb length. This can avoid the problem of inaccurate calculation of lower limb length caused by the prosthesis ball center detaching from the inner liner center during hip joint surgery, and provide a basis for doctors to evaluate the effects of different treatment plans.

[0135] In another embodiment, such as Figure 7The diagram illustrates a method for determining lower limb length based on hip replacement. In this embodiment, the method includes the following steps:

[0136] Step S710: Obtain medical images of the hip joint and determine the positions of the anterior superior iliac spine and lesser trochanter from the medical images;

[0137] Step S7201: Based on the data collected by the first optical tracker array installed on the acetabular cup assembly device, obtain the position of the first acetabular cup center in the first tracker array coordinate system.

[0138] Step S7202: The coordinate transformation of the center position of the first acetabular cup is performed by the first coordinate transformation matrix to obtain the center position of the second acetabular cup in the pelvic array coordinate system.

[0139] Step S7203: Based on the center position of the second acetabular cup and the assembly relationship between the acetabular liner and the acetabular cup, the position of the center of the acetabular liner in the pelvic array coordinate system is obtained and used as the center position of the acetabular liner.

[0140] Step S7204: The coordinate transformation of the anterior superior iliac spine position is performed through the first registration matrix to obtain the position of the anterior superior iliac spine in the pelvic array coordinate system, which is used as the new anterior superior iliac spine position.

[0141] Step S7205: Obtain the vertical distance between the new anterior superior iliac spine position and the center position of the acetabular liner, as the pelvic side lower limb length;

[0142] Step S7301: Based on the data collected by the second optical tracker array, obtain the first assembly center position of the femoral stem assembly center in the coordinate system of the second tracker array; the femoral stem assembly center represents the point of coincidence between the femoral stem and the femoral head prosthesis ball head.

[0143] Step S7302: The first assembly center position is transformed by the second coordinate transformation matrix to obtain the second assembly center position of the femoral stem assembly center in the femoral array coordinate system.

[0144] Step S7303: Based on the position of the second assembly center and the assembly relationship between the femoral stem and the femoral head prosthesis, the position of the center of the femoral head prosthesis in the femoral array coordinate system is obtained, which is used as the position of the center of the femoral head prosthesis.

[0145] Step S7304: The coordinate transformation of the small rotor position is performed by the second registration matrix to obtain the position of the small rotor in the femoral array coordinate system, which is used as the new position of the small rotor.

[0146] Step S7305: Obtain the vertical distance between the new lesser trochanter position and the center of the femoral head prosthesis, and use it as the length of the femoral lower limb.

[0147] Step S740: Sum the lengths of the pelvic side lower limb and the femoral side lower limb to obtain the target lower limb length.

[0148] In this embodiment, the coordinates of the anterior superior iliac spine and the lesser trochanter are calculated based on the CT images obtained from preoperative planning. During the operation, the coordinates of the femoral head center are calculated using the coordinates transmitted by the array of small balls mounted on the femoral stem prosthesis. The lower limb length to be compared is divided into the pelvic side lower limb length and the femoral side lower limb length for calculation. This avoids the problem of the prosthesis center dislodging from the inner liner center during hip joint surgery, which would lead to inaccurate calculation of lower limb length. This provides a basis for doctors to evaluate the effectiveness of different treatment plans.

[0149] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0150] Based on the same inventive concept, this application also provides a device for determining the length of a lower limb based on hip replacement, used to implement the aforementioned method for determining the length of a lower limb based on hip replacement. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the device for determining the length of a lower limb based on hip replacement provided below can be found in the limitations of the method for determining the length of a lower limb based on hip replacement described above, and will not be repeated here.

[0151] In one embodiment, such as Figure 8 As shown, a lower limb length determination device based on hip replacement is provided, comprising: a first position determination module 810, a second position determination module 820, a first length determination module 830, and a second length determination module 840, wherein:

[0152] The first position determination module 810 is used to acquire medical images of the hip joint and determine the position of the anterior superior iliac spine and the lesser trochanter from the medical images.

[0153] The second position determination module 820 is used to obtain the center position of the acetabular liner based on the first optical tracker array installed on the acetabular cup assembly device, and to obtain the center position of the femoral head prosthesis based on the second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum.

[0154] The first length determination module 830 is used to obtain the length of the pelvic lower limb based on the position of the anterior superior iliac spine and the center position of the acetabular liner; and to obtain the length of the femoral lower limb based on the position of the lesser trochanter and the center position of the femoral head prosthesis.

[0155] The second length determination module 840 is used to obtain the target lower limb length based on the length of the pelvic lower limb and the length of the femoral lower limb.

[0156] In one embodiment, the second position determination module 820 includes a liner center position determination submodule, used to obtain the first acetabular cup center position in the first tracker array coordinate system based on data collected by the first optical tracker array; the first tracker array coordinate system is the coordinate system corresponding to the first optical tracker array; the first acetabular cup center position is transformed by the first coordinate transformation matrix to obtain the second acetabular cup center position in the pelvic array coordinate system; based on the second acetabular cup center position and the assembly relationship between the acetabular liner and the acetabular cup, the position of the acetabular liner center in the pelvic array coordinate system is obtained as the acetabular liner center position.

[0157] In one embodiment, the position of the anterior superior iliac spine is the position of the anterior superior iliac spine in the image coordinate system corresponding to the medical image; the first length determination module 830 includes a pelvic side lower limb length determination submodule, which is used to perform coordinate transformation on the position of the anterior superior iliac spine through the first registration matrix to obtain the position of the anterior superior iliac spine in the pelvic array coordinate system as the new anterior superior iliac spine position; and to obtain the vertical distance between the new anterior superior iliac spine position and the center position of the acetabular liner as the pelvic side lower limb length.

[0158] In one embodiment, the second position determination module 820 further includes a prosthesis ball center position determination submodule, used to obtain the first assembly center position of the femoral stem assembly center in the second tracker array coordinate system based on the data collected by the second optical tracker array; the femoral stem assembly center represents the point of coincidence between the femoral stem and the femoral head prosthesis ball; the second tracker array coordinate system is the coordinate system corresponding to the second optical tracker array; the first assembly center position is transformed by the second coordinate transformation matrix to obtain the second assembly center position of the femoral stem assembly center in the femoral array coordinate system; based on the second assembly center position and the assembly relationship between the femoral stem and the femoral head prosthesis, the position of the femoral head prosthesis ball center in the femoral array coordinate system is obtained, which is used as the femoral head prosthesis ball center position.

[0159] In one embodiment, the position of the lesser trochanter is the position of the lesser trochanter in the image coordinate system corresponding to the medical image; the first length determination module 830 further includes a femoral lower limb length determination submodule, which is used to perform coordinate transformation on the position of the lesser trochanter through the second registration matrix to obtain the position of the lesser trochanter in the femoral array coordinate system as the new position of the lesser trochanter; and to obtain the vertical distance between the new position of the lesser trochanter and the center position of the femoral head prosthesis as the length of the femoral lower limb.

[0160] In one embodiment, the first position determination module 810 is specifically used to process the medical image through a marker recognition model to obtain the first spatial features of the anterior superior iliac spine and the second spatial features of the lesser trochanter on the medical image; determine the position of the anterior superior iliac spine from the medical image through the marker recognition model and the first spatial features; and determine the position of the lesser trochanter from the medical image through the marker recognition model and the second spatial features.

[0161] In one embodiment, the device further includes a model training module for acquiring sample medical images of the hip joint; the sample medical images are marked with the actual anterior superior iliac spine position and the actual lesser trochanter position; the sample medical images are processed by a marker recognition model to be trained to obtain the predicted anterior superior iliac spine position and the predicted lesser trochanter position; based on the loss value between the predicted anterior superior iliac spine position and the actual anterior superior iliac spine position, and the loss value between the predicted lesser trochanter position and the actual lesser trochanter position, the marker recognition model to be trained is trained to obtain the trained marker recognition model.

[0162] In one embodiment, the second length determination module 840 is specifically used to sum the length of the pelvic lower limb and the length of the femoral lower limb to obtain the target lower limb length.

[0163] The modules in the aforementioned lower limb length determination device based on hip replacement can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0164] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 9As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for determining lower limb length based on hip replacement. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse.

[0165] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0166] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0167] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0168] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0169] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0170] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0171] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining lower limb length based on hip replacement, characterized in that, The method includes: Acquire medical images of the hip joint area, and determine the positions of the anterior superior iliac spine and lesser trochanter from the medical images; The acetabular cup assembly device obtains the center position of the acetabular liner based on a first optical tracker array installed on the acetabular cup assembly device, and obtains the center position of the femoral head prosthesis based on a second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum. The length of the pelvic lower limb is obtained based on the position of the anterior superior iliac spine and the center position of the acetabular liner; the length of the femoral lower limb is obtained based on the position of the lesser trochanter and the center position of the femoral head prosthesis. Specifically, the vertical distance between the position of the anterior superior iliac spine and the center position of the acetabular liner is taken as the length of the pelvic lower limb; the vertical distance between the position of the lesser trochanter and the center position of the femoral head prosthesis is taken as the length of the femoral lower limb. The target lower limb length is obtained by summing the lengths of the pelvic side lower limb and the femoral side lower limb.

2. The method according to claim 1, characterized in that, The step of obtaining the center position of the acetabular liner based on the first optical tracker array installed on the acetabular cup assembly device includes: Based on the data collected by the first optical tracker array, the position of the acetabular cup center in the first tracker array coordinate system is obtained; the first tracker array coordinate system is the coordinate system corresponding to the first optical tracker array. By using the first coordinate transformation matrix, the coordinate transformation of the center position of the first acetabular cup is performed to obtain the center position of the second acetabular cup in the pelvic array coordinate system. Based on the center position of the second acetabular cup and the assembly relationship between the acetabular liner and the acetabular cup, the position of the center of the acetabular liner in the pelvic array coordinate system is obtained, and this position is taken as the center position of the acetabular liner.

3. The method according to claim 2, characterized in that, The location of the anterior superior iliac spine is the position of the anterior superior iliac spine in the image coordinate system corresponding to the medical image; The method of determining the length of the pelvic lower limb based on the location of the anterior superior iliac spine and the center location of the acetabular liner includes: The coordinate transformation of the anterior superior iliac spine position is performed by the first registration matrix to obtain the position of the anterior superior iliac spine in the pelvic array coordinate system, which is then used as the new anterior superior iliac spine position. The vertical distance between the new anterior superior iliac spine position and the center position of the acetabular liner is obtained as the length of the pelvic side lower limb.

4. The method according to claim 1, characterized in that, The step of obtaining the position of the center of the femoral head prosthesis based on the second optical tracker array installed on the femoral stem prosthesis includes: Based on the data collected by the second optical tracker array, the first assembly center position of the femoral stem assembly center in the coordinate system of the second tracker array is obtained; the femoral stem assembly center represents the point of coincidence between the femoral stem and the femoral head prosthesis ball head; the coordinate system of the second tracker array is the coordinate system corresponding to the second optical tracker array; The first assembly center position is transformed by the second coordinate transformation matrix to obtain the second assembly center position of the femoral stem assembly center in the femoral array coordinate system. Based on the second assembly center position and the assembly relationship between the femoral stem and the femoral head prosthesis, the position of the center of the femoral head prosthesis in the femoral array coordinate system is obtained, and is used as the position of the center of the femoral head prosthesis.

5. The method according to claim 4, characterized in that, The position of the small rotor is the position of the small rotor in the image coordinate system corresponding to the medical image; The process of obtaining the length of the femoral lower limb based on the position of the lesser trochanter and the position of the center of the femoral head prosthesis includes: The coordinate transformation of the small rotor position is performed by the second registration matrix to obtain the position of the small rotor in the femoral array coordinate system, which is used as the new small rotor position. The vertical distance between the new lesser trochanter position and the center of the femoral head prosthesis is obtained and used as the length of the femoral side lower limb.

6. The method according to claim 1, characterized in that, Determining the position of the anterior superior iliac spine and the lesser trochanter from the medical image includes: The medical image is processed by a marker recognition model to obtain the first spatial features of the anterior superior iliac spine and the second spatial features of the lesser trochanter on the medical image. The location of the anterior superior iliac spine is determined from the medical image using the marker recognition model and the first spatial feature. The position of the small rotor is determined from the medical image using the marker recognition model and the second spatial feature.

7. The method according to claim 6, characterized in that, The marker recognition model is trained in the following manner: Acquire sample medical images of the hip joint; the sample medical images are marked with the actual anterior superior iliac spine position and the actual lesser trochanter position; The medical images of the samples are processed by the marker recognition model to be trained to obtain the predicted position of the anterior superior iliac spine and the predicted position of the lesser trochanter. Based on the loss value between the predicted anterior superior iliac spine position and the actual anterior superior iliac spine position, and the loss value between the predicted lesser trochanter position and the actual lesser trochanter position, the marker recognition model to be trained is trained to obtain the trained marker recognition model.

8. A device for determining lower limb length based on hip replacement, characterized in that, The device includes: The first position determination module is used to acquire medical images of the hip joint and determine the position of the anterior superior iliac spine and the lesser trochanter from the medical images. The second position determination module is used to obtain the center position of the acetabular liner based on the first optical tracker array installed on the acetabular cup assembly device, and to obtain the center position of the femoral head prosthesis based on the second optical tracker array installed on the femoral stem prosthesis; the acetabular cup assembly device is used to install the acetabular cup into the acetabulum. The first length determination module is used to obtain the length of the pelvic lower limb based on the position of the anterior superior iliac spine and the center position of the acetabular liner; and to obtain the length of the femoral lower limb based on the position of the lesser trochanter and the center position of the femoral head prosthesis; further, it is used to take the vertical distance between the position of the anterior superior iliac spine and the center position of the acetabular liner as the length of the pelvic lower limb, and the vertical distance between the position of the lesser trochanter and the center position of the femoral head prosthesis as the length of the femoral lower limb. The second length determination module is used to sum the lengths of the pelvic side lower limb and the femoral side lower limb to obtain the target lower limb length.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 7.

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