Method, device and electronic equipment for determining postoperative prosthesis position and angle

Abstract

The present invention discloses a method, device and electronic device for determining the position and angle of a postoperative prosthesis. The method comprises: obtaining a three-dimensional medical image of the surgical site before the prosthesis implantation surgery, and obtaining a two-dimensional medical image of the surgical site after the prosthesis implantation surgery, wherein the three-dimensional medical image contains image information of the surgical site, and the two-dimensional medical image contains image information of the surgical site and the prosthesis; establishing a three-dimensional model of the surgical site according to the image information in the three-dimensional medical image; determining the position and angle of the prosthesis relative to the surgical site according to the three-dimensional model and the image information in the two-dimensional medical image, wherein the position and angle are used for postoperative evaluation. The present invention solves the technical problem of low accuracy in determining the position and angle of a postoperative prosthesis in the related art.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and in particular to a method, device and electronic equipment for determining the position and angle of a postoperative prosthesis. Background Art

[0002] With the continuous development of medical technology, prosthetic implantation surgery (such as total hip replacement, total knee replacement, etc.) has made great progress in many aspects, and the condition of patients after surgery has also received widespread attention. Whether it is the hip joint or the knee joint, the effect and accuracy of prosthetic implantation greatly affect the stability of the patient's joints, the life of the prosthesis, and the risk of postoperative complications. In traditional prosthetic implantation surgery, doctors determine that the angle and position of prosthetic implantation are within a reasonable range based on experience and auxiliary tools during the operation. However, empirical operations and the accuracy of auxiliary tools and the errors in use often cannot guarantee the accuracy of prosthetic implantation. Therefore, evaluating the accuracy of postoperative prosthesis placement is very meaningful for accumulating experience and postoperative evaluation.

[0003] At present, in the related technology, two-dimensional X-rays are usually used to measure the position and angle of the postoperative prosthesis. For example, the anatomical feature points of the bones are identified in the X-rays, and these feature points are marked to analyze and measure the angles. However, there are certain limitations in the use of X-rays for measurement and evaluation. For example, when taking X-rays, it is impossible to ensure that the pelvis or legs are in the correct position. Deviations from the angles of the plain film will cause distortion of the measured angles and lengths, resulting in strategic errors. In addition, the way of marking the measurement is relatively subjective. Therefore, the error of measuring with two-dimensional X-rays is relatively large, and the measurement accuracy is relatively low.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and electronic device for determining the position and angle of a postoperative prosthesis, so as to at least solve the technical problem of low accuracy in determining the position and angle of a postoperative prosthesis in the related art.

[0006] According to one aspect of an embodiment of the present invention, a method for determining a postoperative prosthesis position and angle is provided, comprising: obtaining a three-dimensional medical image of the surgical site before the prosthesis implantation surgery, and obtaining a two-dimensional medical image of the surgical site after the prosthesis implantation surgery, wherein the three-dimensional medical image contains image information of the surgical site, and the two-dimensional medical image contains image information of the surgical site and the prosthesis; establishing a three-dimensional model of the surgical site based on the image information in the three-dimensional medical image; determining the position and angle of the prosthesis relative to the surgical site based on the three-dimensional model and the image information in the two-dimensional medical image, wherein the position and angle are used for postoperative evaluation.

[0007] Furthermore, the method for determining the position and angle of the prosthesis after surgery also includes: determining the relative position and relative angle between the real radiation source and the surgical site based on the three-dimensional model and the image information of the surgical site in the two-dimensional medical image, wherein the two-dimensional medical image is formed by the real radiation source passing through the surgical site and the prosthesis; determining the three-dimensional model of the prosthesis according to the specifications of the prosthesis; determining the position and angle of the prosthesis relative to the surgical site based on the relative position, relative angle, the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image.

[0008] Furthermore, the method for determining the postoperative prosthesis position and angle also includes: simulating imaging of the three-dimensional model at M angles at N positions by a virtual ray source to obtain at least one first two-dimensional simulated image, wherein N and M are positive integers; and determining the relative position and relative angle between the real ray source and the surgical site based on at least one first two-dimensional simulated image and a two-dimensional medical image.

[0009] Furthermore, the method for determining the position and angle of the postoperative prosthesis also includes: identifying the bone contour line from the two-dimensional medical image to obtain a first contour line; for a first two-dimensional simulation image in at least one first two-dimensional simulation image, identifying the bone contour line from the first two-dimensional simulation image to obtain a second contour line; judging whether the shape and length of the first contour line are the same as the second contour line; when the shape and length of the first contour line are the same as the second contour line, determining a virtual ray source that matches the first two-dimensional simulation image to obtain a target virtual ray source; and determining the relative position and relative angle between the target virtual ray source and the three-dimensional model as the relative position and relative angle between the real ray source and the surgical site.

[0010] Furthermore, the method for determining the postoperative prosthesis position and angle also includes: after determining whether the shape and length of the first contour line are the same as the second contour line, when the shapes of the first contour line and the second contour line are the same and the lengths of the first contour line and the second contour line are different, maintaining the angle of the virtual ray source matched by the first two-dimensional simulation image, and adjusting the position of the virtual ray source matched by the first two-dimensional simulation image; simulating imaging of the three-dimensional model by the adjusted virtual ray source to obtain a second two-dimensional simulation image; when the length of the bone contour line in the second two-dimensional simulation image is different from that of the first contour line, repeating the step of adjusting the position of the virtual ray source matched by the first two-dimensional simulation image until the obtained second two-dimensional simulation image is the same as the first contour line, and determining the relative position and relative angle between the real ray source and the surgical site.

[0011] Furthermore, the method for determining the position and angle of the prosthesis after surgery also includes: determining the relative position and relative angle between the real radiation source and the prosthesis based on the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image; determining the position and angle of the prosthesis relative to the surgical site based on the relative position and relative angle between the real radiation source and the surgical site, and the relative position and relative angle between the real radiation source and the prosthesis.

[0012] Furthermore, the method for determining the position and angle of the prosthesis after surgery also includes: simulating imaging of a three-dimensional model of the prosthesis at I positions and J angles through a virtual ray source to obtain at least one two-dimensional prosthesis image, wherein I and J are positive integers; and determining the relative position and relative angle between the real ray source and the prosthesis based on the image information of the prosthesis in the at least one two-dimensional prosthesis image and the two-dimensional medical image.

[0013] According to another aspect of an embodiment of the present invention, a device for determining a postoperative prosthesis position and angle is provided, comprising: an acquisition module for acquiring a three-dimensional medical image of the surgical site before the prosthesis implantation surgery, and acquiring a two-dimensional medical image of the surgical site after the prosthesis implantation surgery, wherein the three-dimensional medical image contains image information of the surgical site, and the two-dimensional medical image contains image information of the surgical site and the prosthesis; an establishment module for establishing a three-dimensional model of the surgical site based on the image information in the three-dimensional medical image; a first determination module for determining the position and angle of the prosthesis relative to the surgical site based on the three-dimensional model and the image information in the two-dimensional medical image, wherein the position and angle are used for postoperative evaluation.

[0014] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for determining the position and angle of a postoperative prosthesis when running.

[0015] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, which includes one or more processors; a memory for storing one or more programs, which, when the one or more programs are executed by the one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the above-mentioned method for determining the postoperative prosthesis position and angle when running.

[0016] In an embodiment of the present invention, a method of measuring the angle and position of the prosthesis by combining the three-dimensional medical image of the surgical site of the patient before the operation and the two-dimensional medical image of the surgical site after the operation is adopted. The three-dimensional medical image of the surgical site before the prosthesis implantation operation and the two-dimensional medical image of the surgical site after the prosthesis implantation operation are obtained, and then a three-dimensional model of the surgical site is established according to the image information in the three-dimensional medical image, so as to determine the position and angle of the prosthesis relative to the surgical site according to the image information in the three-dimensional model and the two-dimensional medical image. Among them, the three-dimensional medical image contains the image information of the surgical site, the two-dimensional medical image contains the image information of the surgical site and the prosthesis, and the position and angle are used for postoperative evaluation.

[0017] In the above process, by acquiring three-dimensional medical images and establishing a three-dimensional model of the surgical site based on the three-dimensional medical images, the three-dimensional information of the patient's surgical site is effectively determined. By determining the position and angle of the prosthesis relative to the surgical site based on the three-dimensional model and the acquired two-dimensional medical images, the position and angle of the prosthesis relative to the surgical site are determined by combining the preoperative three-dimensional information and the postoperative two-dimensional information, thereby improving the accuracy of the determined prosthesis position and angle. On the one hand, it avoids the problem of measurement errors caused by using only two-dimensional information when using postoperative X-ray measurement. On the other hand, it avoids the problem of measurement errors caused by measuring when the prosthesis is in a non-stressed state when using postoperative CT measurement.

[0018] It can be seen that the solution provided in the present application achieves the purpose of measuring the angle and position of the prosthesis by combining the three-dimensional medical image of the patient's surgical site before the operation and the two-dimensional medical image of the surgical site after the operation, thereby achieving the technical effect of improving the accuracy of the determined prosthesis position and angle, and further solving the technical problem of low accuracy in determining the postoperative prosthesis position and angle in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a flow chart of an optional method for determining the position and angle of a postoperative prosthesis according to an embodiment of the present invention;

[0021] Figure 2 is an optional flow chart for determining the position and angle of a prosthesis relative to a surgical site according to an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of an optional device for determining the position and angle of a postoperative prosthesis according to an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of an optional electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] It should 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, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards in the relevant regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0027] Example 1

[0028] According to an embodiment of the present invention, an embodiment of a method for determining the position and angle of a postoperative prosthesis is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0029] Figure 1 FIG. 1 is a flow chart of an optional method for determining the position and angle of a postoperative prosthesis according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0030] Step S101, obtaining a three-dimensional medical image of the surgical site before the prosthesis implantation surgery, and obtaining a two-dimensional medical image of the surgical site after the prosthesis implantation surgery, wherein the three-dimensional medical image contains image information of the surgical site, and the two-dimensional medical image contains image information of the surgical site and the prosthesis.

[0031] Among them, in the related technology, there is also a method of using postoperative CT (Computed Tomography) to measure the position and angle of the postoperative prosthesis. However, this method also has certain defects. For example, the CT is taken in the supine position, that is, the measurement is not performed when the prosthesis is under stress after implantation, and the implantation effect of the prosthesis is not measured under the actual state of the patient, resulting in low measurement accuracy. For example, if CT is to be taken after surgery, it will bring a great burden to the patient's body, increase the amount of radiation caused to the body, reduce human immunity, and easily cause damage to organs such as the kidneys and blood.

[0032] Therefore, in this embodiment, the prosthesis angle and position are measured by combining the three-dimensional medical image of the patient's surgical site before the prosthesis implantation surgery and the two-dimensional medical image of the surgical site after the prosthesis implantation surgery to avoid the defects existing in the measurement based on postoperative X-ray or postoperative CT.

[0033] Optionally, electronic devices, application systems, servers and other devices can be used as the execution subject of the present application. In this embodiment, the target processing system is used as the execution subject to obtain the aforementioned three-dimensional medical images and two-dimensional medical images. Among them, the surgical site refers to the site where the patient needs to implant a prosthesis, the three-dimensional medical image can be CT\MRI (Magnetic resonance imaging, magnetic resonance imaging)\CBCT (cone beam CT)\(Positron Emission Tomography, positron emission tomography) and other images, and the two-dimensional medical image can be an X-ray image.

[0034] Step S102: establishing a three-dimensional model of the surgical site according to the image information in the three-dimensional medical image.

[0035] The three-dimensional model may refer to a three-dimensional model of bones in the surgical site. For example, the target processing system may identify the image area corresponding to the bones in the surgical site from the three-dimensional medical image according to the threshold of bone density, thereby establishing a three-dimensional model of the bones based on the image information of the image area corresponding to the bones. In the case where the three-dimensional medical image is CT, a group of CT with a large number of CT slices and thinner layer thickness may be selected for modeling to avoid serious CT slice sectioning and blurred bone anatomical feature points, which may affect the accuracy of three-dimensional modeling.

[0036] Optionally, in the process of establishing the three-dimensional model, the target processing system may first establish an initial three-dimensional model of the surgical site based on the image information in the three-dimensional medical image, and then, upon receiving manual correction instructions for the initial three-dimensional model, correct the initial three-dimensional model according to the correction information in the correction instructions to obtain the three-dimensional model.

[0037] Step S103, determining the position and angle of the prosthesis relative to the surgical site based on the three-dimensional model and the image information in the two-dimensional medical image, wherein the position and angle are used for postoperative evaluation.

[0038] Optionally, the target processing system can determine the relative position and relative angle between the real radiation source and the surgical site based on the image information of the surgical site in the three-dimensional model and the two-dimensional medical image, and determine the relative position and relative angle between the real radiation source and the prosthesis based on the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image, thereby determining the position and angle of the prosthesis relative to the surgical site based on the relative position and relative angle between the real radiation source and the surgical site and the relative position and relative angle between the real radiation source and the prosthesis. The two-dimensional medical image is formed by the real radiation source passing through the surgical site and the prosthesis.

[0039] Optionally, the target processing system may also input the model data of the three-dimensional model, the model data of the prosthesis three-dimensional model, and the two-dimensional medical image into a pre-trained first neural network model, and then the first neural network model outputs the position and angle of the prosthesis relative to the surgical site. The first neural network model is trained by the first training sample set, and the first sample training set may include the model data of the sample three-dimensional model corresponding to the sample surgical site, the model data of the sample prosthesis three-dimensional model corresponding to the sample prosthesis, the sample two-dimensional medical image, and the first true label, and the first true label represents the position and angle of the sample prosthesis relative to the sample surgical site. The model data is used to represent the size information of the model.

[0040] Optionally, the above-mentioned postoperative evaluation may refer to evaluating the accuracy of prosthesis implantation based on the position and angle of the prosthesis relative to the surgical site, etc.

[0041] Based on the scheme defined in the above steps S101 to S103, it can be known that in the embodiment of the present invention, the angle and position of the prosthesis are measured by combining the three-dimensional medical image of the surgical site of the patient before the operation and the two-dimensional medical image of the surgical site after the operation, by obtaining the three-dimensional medical image of the surgical site before the prosthesis implantation operation and obtaining the two-dimensional medical image of the surgical site after the prosthesis implantation operation, and then establishing a three-dimensional model of the surgical site according to the image information in the three-dimensional medical image, thereby determining the position and angle of the prosthesis relative to the surgical site according to the image information in the three-dimensional model and the two-dimensional medical image. Among them, the three-dimensional medical image contains the image information of the surgical site, the two-dimensional medical image contains the image information of the surgical site and the prosthesis, and the position and angle are used for postoperative evaluation.

[0042] In the above process, by acquiring three-dimensional medical images and establishing a three-dimensional model of the surgical site based on the three-dimensional medical images, the three-dimensional information of the patient's surgical site is effectively determined. By determining the position and angle of the prosthesis relative to the surgical site based on the three-dimensional model and the acquired two-dimensional medical images, the position and angle of the prosthesis relative to the surgical site are determined by combining the preoperative three-dimensional information and the postoperative two-dimensional information, thereby improving the accuracy of the determined prosthesis position and angle. On the one hand, it avoids the problem of measurement errors caused by using only two-dimensional information when using postoperative X-ray measurement. On the other hand, it avoids the problem of measurement errors caused by measuring when the prosthesis is in a non-stressed state when using postoperative CT measurement.

[0043] It can be seen that the solution provided in the present application achieves the purpose of measuring the angle and position of the prosthesis by combining the three-dimensional medical image of the patient's surgical site before the operation and the two-dimensional medical image of the surgical site after the operation, thereby achieving the technical effect of improving the accuracy of the determined prosthesis position and angle, and further solving the technical problem of low accuracy in determining the postoperative prosthesis position and angle in related technologies.

[0044] In an optional embodiment, Figure 2 is an optional flow chart for determining the position and angle of a prosthesis relative to a surgical site according to an embodiment of the present invention. Figure 2 As shown, in the process of determining the position and angle of the prosthesis relative to the surgical site based on the three-dimensional model and the image information in the two-dimensional medical image, the target processing system can perform the following steps:

[0045] Step S201, determining the relative position and relative angle between the real radiation source and the surgical site based on the three-dimensional model and the image information of the surgical site in the two-dimensional medical image, wherein the two-dimensional medical image is formed by the real radiation source passing through the surgical site and the prosthesis.

[0046] Optionally, the target processing system can simulate imaging of the three-dimensional model based on the imaging principle of two-dimensional medical images to obtain at least one first two-dimensional simulated image, thereby determining the relative position and relative angle between the real radiation source and the surgical site based on the image information of the surgical site in at least one two-dimensional simulated image and the image information of the surgical site in the two-dimensional medical image.

[0047] Optionally, the target processing system may also input the model data of the three-dimensional model and the two-dimensional medical image into a pre-trained second neural network model, and then the second neural network model outputs the relative position and relative angle between the real radiation source and the surgical site. The second neural network model is trained by a second training sample set, and the second sample training set may include the model data of the sample three-dimensional model corresponding to the sample surgical site, the sample two-dimensional medical image, and the second real label, and the second real label represents the relative position and relative angle between the sample real radiation source and the sample surgical site.

[0048] Step S202, determining a three-dimensional model of the prosthesis according to the specifications and models of the prosthesis.

[0049] Optionally, the target processing system may obtain the specifications and models of the prosthesis from the surgical information of the prosthesis implantation surgery, and thereby determine the three-dimensional model of the prosthesis according to the specifications and models of the prosthesis.

[0050] Step S203, determining the position and angle of the prosthesis relative to the surgical site based on the relative position, relative angle, the three-dimensional model of the prosthesis, and the image information of the prosthesis in the two-dimensional medical image.

[0051] Optionally, the target processing system can determine the relative position and angle between the real radiation source and the prosthesis based on the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image, and then determine the position and angle of the prosthesis relative to the surgical site based on the relative position and relative angle between the real radiation source and the surgical site and the relative position and relative angle between the real radiation source and the prosthesis.

[0052] Optionally, the target processing system can also use the corresponding neural network model to process the relative position and relative angle between the real radiation source and the surgical site, the model data of the prosthesis three-dimensional model and the two-dimensional medical image to obtain the position and angle of the prosthesis relative to the surgical site.

[0053] It should be noted that, through the above process, it is easy to accurately determine the position and angle of the prosthesis relative to the surgical site.

[0054] In an optional embodiment, in the process of determining the relative position and relative angle between the real ray source and the surgical site based on the image information of the surgical site in the three-dimensional model and the two-dimensional medical image, the target processing system can simulate imaging of the three-dimensional model at M angles at N positions by a virtual ray source to obtain at least one first two-dimensional simulated image, thereby determining the relative position and relative angle between the real ray source and the surgical site based on the at least one first two-dimensional simulated image and the two-dimensional medical image, wherein N and M are positive integers.

[0055] After the real ray source passes through the prosthesis and the surgical site, it will be projected onto the X-ray sensor or X-ray film to form a two-dimensional medical image. Therefore, in this embodiment, a virtual ray source is set to simulate the aforementioned real ray source, and a virtual X-ray sensor or virtual X-ray film corresponding to the virtual ray source can be set according to the relative position and angle between the real ray source and the X-ray sensor or X-ray film, so as to determine the imaging effect of the virtual ray source. The relative position and relative angle between the real ray source and the X-ray sensor or X-ray film can be obtained from the surgical information of the prosthesis implantation surgery.

[0056] For example, the target processing system can set a virtual ray source in a first three-dimensional coordinate system and import the three-dimensional model into the first three-dimensional coordinate system. Furthermore, the target processing system can adjust the position and / or angle of the virtual ray source in the first three-dimensional coordinate system, and obtain a first two-dimensional simulation image at the corresponding position and angle after each adjustment, thereby obtaining at least one first two-dimensional simulation image. Afterwards, the target processing system can compare the bone feature information in the at least one first two-dimensional simulation image obtained with the bone feature information in the two-dimensional medical image until a first two-dimensional simulation image having the same bone feature information as the bone feature information in the two-dimensional medical image is found, thereby determining the relative position and relative angle between the real ray source and the surgical site based on the relative position and relative angle between the virtual ray source and the three-dimensional model matched by the first two-dimensional simulation image. The aforementioned bone feature information can be at least one of the following: bone feature points, bone contour lines.

[0057] Among them, if a first two-dimensional simulated image whose bone feature information is the same as the bone feature information in the two-dimensional medical image is not found from at least one first two-dimensional simulated image, new first two-dimensional simulated images can be continuously generated until a first two-dimensional simulated image whose bone feature information is the same as the bone feature information in the two-dimensional medical image is found.

[0058] It should be noted that by obtaining at least one first two-dimensional simulated image through simulated imaging, the two-dimensional imaging effect of the surgical site under different radiation source environments can be effectively determined. Since the two-dimensional medical image represents the two-dimensional imaging effect of the surgical site under the real radiation source environment, the relative position and relative angle between the real radiation source and the surgical site can be accurately determined based on at least one first two-dimensional simulated image and the two-dimensional medical image.

[0059] In an optional embodiment, in the process of determining the relative position and relative angle between the real ray source and the surgical site based on at least one first two-dimensional simulation image and a two-dimensional medical image, the target processing system can identify the bone contour line from the two-dimensional medical image to obtain a first contour line, and then for the first two-dimensional simulation image in at least one first two-dimensional simulation image, identify the bone contour line from the first two-dimensional simulation image to obtain a second contour line, and then determine whether the shape and length of the first contour line are the same as the second contour line, so as to determine the virtual ray source matching the first two-dimensional simulation image when the shape and length of the first contour line are the same as the second contour line, obtain the target virtual ray source, and determine the relative position and relative angle between the target virtual ray source and the three-dimensional model as the relative position and relative angle between the real ray source and the surgical site.

[0060] Among them, for a two-dimensional medical image or a first two-dimensional simulated image, the target processing system can identify the bone contour line from the image according to the pixel value size of each pixel in the image. Optionally, the target processing system can also use an image recognition system to identify the image to obtain the bone contour line.

[0061] Optionally, the target processing system can determine whether the shape and length of the first contour line are the same as the shape and length of the second contour line of a first two-dimensional simulated image. If the shape and length of the first contour line are the same as the second contour line, it can be determined that the radiation source environment forming the two-dimensional medical image is the same as the radiation source environment forming the first two-dimensional simulated image. Therefore, the target processing system can determine the relative position and relative angle between the virtual radiation source matching the first two-dimensional simulated image and the three-dimensional model as the relative position and relative angle between the real radiation source and the surgical site.

[0062] Optionally, if the first contour line is different from the shape and length of the second contour line of a first two-dimensional simulated image, it can be determined that the radiation source environment forming the two-dimensional medical image is different from the radiation source environment forming the first two-dimensional simulated image, that is, the relative position and relative angle between the real radiation source and the surgical site cannot be determined at this time, and the second contour line in other first two-dimensional simulated images needs to be compared with the first contour line.

[0063] It should be noted that by judging the shape relationship and length relationship between the first contour line and the second contour line, it is equivalent to judging whether the radiation source environment forming the two-dimensional medical image is the same as the radiation source environment forming the first two-dimensional simulation image. Therefore, when the aforementioned shape and length are the same, the relative position and relative angle between the target virtual radiation source and the three-dimensional model are determined as the relative position and relative angle between the real radiation source and the surgical site, thereby realizing the effective determination of the relative position and relative angle between the real radiation source and the surgical site.

[0064] In an optional embodiment, after determining whether the shape and length of the first contour line are the same as those of the second contour line, the target processing system may maintain the angle of the virtual ray source matched by the first two-dimensional simulation image and adjust the position of the virtual ray source matched by the first two-dimensional simulation image when the shapes of the first contour line and the second contour line are the same but the lengths of the first contour line and the second contour line are different. The three-dimensional model is simulated by the adjusted virtual ray source to obtain a second two-dimensional simulation image. When the length of the bone contour line in the second two-dimensional simulation image is different from that of the first contour line, the step of adjusting the position of the virtual ray source matched by the first two-dimensional simulation image is repeated until the obtained second two-dimensional simulation image is the same as the first contour line, thereby determining the relative position and relative angle between the real ray source and the surgical site.

[0065] Optionally, if the first contour line has the same shape as the second contour line of a first two-dimensional simulated image but different lengths, then in this case, it can be determined that the angle of the virtual ray source is accurate. More specifically, it can be determined that the relative angle between the virtual ray source and the three-dimensional model is accurate, and only the distance between the virtual ray source and the three-dimensional model needs to be adjusted.

[0066] Therefore, the target processing system can maintain the angle of the virtual ray source matched by the first two-dimensional simulated image, and adjust the position of the virtual ray source matched by the first two-dimensional simulated image. More specifically, the target processing system can maintain the relative angle between the virtual ray source matched by the first two-dimensional simulated image and the three-dimensional model, and adjust the relative distance between the virtual ray source matched by the first two-dimensional simulated image and the three-dimensional model.

[0067] Optionally, the target processing system can simulate imaging of the three-dimensional model through the adjusted virtual ray source to obtain a second two-dimensional simulated image. Then, when the length of the bone contour line in the second two-dimensional simulated image is different from that of the first contour line, it is determined that the ray source environment that forms the two-dimensional medical image is different from the ray source environment that forms the second two-dimensional simulated image. At this time, the target processing system can adjust the position of the virtual ray source matched with the aforementioned first two-dimensional simulated image again, and simulate imaging of the three-dimensional model according to the virtual ray source after the adjustment again to obtain a new second two-dimensional simulated image, thereby continuously repeating the above process until the obtained second two-dimensional simulated image is the same as the second contour line, and the relative position and relative angle between the virtual ray source corresponding to the obtained second two-dimensional simulated image and the three-dimensional model are determined as the relative position and relative angle between the real ray source and the surgical site.

[0068] If the first contour line and the second contour line have different shapes and the same length, the second contour line is determined to be invalid and the second contour line in other first two-dimensional simulation images needs to be compared with the first contour line.

[0069] It should be noted that, through the above process, when the first contour line and the second contour line are not exactly the same, the ray angle information in the ray source environment is first determined based on the same information between the first contour line and the second contour line, and then the ray position in the ray source environment is determined, which is beneficial to improving the efficiency of determining the ray source environment for forming a two-dimensional medical image.

[0070] In an optional embodiment, for a two-dimensional medical image or a first two-dimensional simulated image, the target processing system may not identify the bone contour line from the image, but instead identify multiple bone feature points, and then sequentially connect the multiple bone feature points to form a feature line, thereby comparing the shape and length of the feature line in the two-dimensional medical image with the feature line in the first two-dimensional simulated image to determine the relative position and relative angle between the real radiation source and the surgical site.

[0071] It should be noted that, through the above process, the flexibility of determining the relative position and relative angle between the real ray source and the surgical site in the present application is improved.

[0072] In an optional embodiment, in the process of determining the position and angle of the prosthesis relative to the surgical site based on the relative position, relative angle, a three-dimensional model of the prosthesis and image information of the prosthesis in a two-dimensional medical image, the target processing system may determine the relative position and relative angle between the real radiation source and the prosthesis based on the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image, thereby determining the position and angle of the prosthesis relative to the surgical site based on the relative position and relative angle between the real radiation source and the surgical site and the relative position and relative angle between the real radiation source and the prosthesis.

[0073] Optionally, the target processing system can simulate imaging of the three-dimensional model of the prosthesis based on the imaging principle of two-dimensional medical images to obtain at least one two-dimensional prosthesis image, thereby determining the relative position and relative angle between the real radiation source and the prosthesis based on the image information of the prosthesis in at least one two-dimensional prosthesis image and the image information of the prosthesis in the two-dimensional medical image.

[0074] Optionally, the target processing system may also process the model data of the three-dimensional model of the prosthesis and the two-dimensional medical image through a corresponding neural network model, so as to obtain the relative position and relative angle between the real ray source and the prosthesis.

[0075] Optionally, after determining the relative position and relative angle between the real radiation source and the surgical site, and the relative position and relative angle between the real radiation source and the prosthesis, it is equivalent to determining the position information and angle information of the surgical site and the prosthesis relative to the same reference object (i.e., the real radiation source), thereby determining the position and angle of the prosthesis relative to the surgical site.

[0076] For example, the target processing system can set the three-dimensional model, the prosthesis three-dimensional model and the virtual ray source in the same three-dimensional coordinate system, and fix the virtual ray source at a certain angle at a certain position in the three-dimensional coordinate system, and then determine the coordinate information and angle information of the three-dimensional model in the three-dimensional coordinate system according to the relative position and relative angle between the real ray source and the surgical site, and determine the coordinate information and angle information of the prosthesis three-dimensional model in the three-dimensional coordinate system according to the relative position and relative angle between the real ray source and the prosthesis. In this way, the position and angle of the prosthesis relative to the surgical site can be determined based on the coordinate information and angle information of the three-dimensional model in the three-dimensional coordinate system and the coordinate information and angle information of the prosthesis three-dimensional model in the three-dimensional coordinate system.

[0077] It should be noted that, through the above process, the position information and angle information of the surgical site and the prosthesis relative to the same reference object (ie, the real radiation source) are determined, thereby improving the accuracy of the determined position and angle of the prosthesis relative to the surgical site.

[0078] In an optional embodiment, in the process of determining the relative position and relative angle between the real ray source and the prosthesis according to the prosthesis three-dimensional model and the image information of the prosthesis in the two-dimensional medical image, the target processing system can simulate imaging of the prosthesis three-dimensional model at I positions and J angles through a virtual ray source to obtain at least one two-dimensional prosthesis image, and determine the relative position and relative angle between the real ray source and the prosthesis according to the at least one two-dimensional prosthesis image and the image information of the prosthesis in the two-dimensional medical image. Wherein, I and J are positive integers.

[0079] For example, the target processing system may set a virtual ray source in the second three-dimensional coordinate system and import the prosthesis three-dimensional model into the second three-dimensional coordinate system. Further, the target processing system may adjust the position and / or angle of the prosthesis three-dimensional model in the second three-dimensional coordinate system, and obtain a two-dimensional prosthesis image at the corresponding position and angle after adjustment, thereby obtaining at least one two-dimensional prosthesis image. Afterwards, the target processing system may compare the prosthesis feature information in the obtained at least one two-dimensional prosthesis image with the prosthesis feature information in the two-dimensional medical image until a two-dimensional prosthesis image having the same prosthesis feature information as the prosthesis feature information in the two-dimensional medical image is found, thereby determining the relative position and relative angle between the real ray source and the prosthesis based on the relative position and relative angle between the virtual ray source and the prosthesis matched by the two-dimensional prosthesis image. Among them, the first three-dimensional coordinate system is the same as the second three-dimensional coordinate system, or the origin position of the first three-dimensional coordinate system and the second three-dimensional coordinate system is different, the coordinate axis direction and the coordinate axis length unit are the same, and the prosthesis feature information may be at least one of the following: prosthesis feature points, prosthesis contour lines.

[0080] Among them, the specific method of determining the relative position and relative angle between the real radiation source and the prosthesis based on at least one two-dimensional prosthesis image and the image information of the prosthesis in the two-dimensional medical image is the same as the specific method of determining the relative position and relative angle between the real radiation source and the surgical site based on at least one first two-dimensional simulation image and the two-dimensional medical image, so it will not be repeated here.

[0081] It should be noted that, through the above process, the accuracy of the relative position and relative angle between the real ray source and the prosthesis is improved.

[0082] It can be seen that the solution provided in the present application achieves the purpose of measuring the angle and position of the prosthesis by combining the three-dimensional medical image of the patient's surgical site before the operation and the two-dimensional medical image of the surgical site after the operation, thereby achieving the technical effect of improving the accuracy of the determined prosthesis position and angle, and further solving the technical problem of low accuracy in determining the postoperative prosthesis position and angle in related technologies.

[0083] Example 2

[0084] According to an embodiment of the present invention, an embodiment of a device for determining the position and angle of a postoperative prosthesis is provided, wherein: Figure 3 is a schematic diagram of an optional device for determining the position and angle of a postoperative prosthesis according to an embodiment of the present invention, such as Figure 3 As shown, the device comprises:

[0085] An acquisition module 301 is used to acquire a three-dimensional medical image of the surgical site before the prosthesis implantation surgery, and to acquire a two-dimensional medical image of the surgical site after the prosthesis implantation surgery, wherein the three-dimensional medical image contains image information of the surgical site, and the two-dimensional medical image contains image information of the surgical site and the prosthesis;

[0086] A building module 302 is used to build a three-dimensional model of the surgical site according to the image information in the three-dimensional medical image;

[0087] The first determination module 303 is used to determine the position and angle of the prosthesis relative to the surgical site based on the three-dimensional model and the image information in the two-dimensional medical image, wherein the position and angle are used for postoperative evaluation.

[0088] It should be noted that the above-mentioned acquisition module 301, establishment module 302 and first determination module 303 correspond to steps S101 to S103 in the above-mentioned embodiment, and the examples and application scenarios implemented by the three modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned embodiment 1.

[0089] Optionally, the first determination module 303 also includes: a first determination submodule, used to determine the relative position and relative angle between the real radiation source and the surgical site based on the three-dimensional model and the image information of the surgical site in the two-dimensional medical image, wherein the two-dimensional medical image is formed by the real radiation source passing through the surgical site and the prosthesis; a second determination submodule, used to determine the three-dimensional model of the prosthesis according to the specifications and model of the prosthesis; a third determination submodule, used to determine the position and angle of the prosthesis relative to the surgical site based on the relative position, relative angle, the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image.

[0090] Optionally, the first determination submodule also includes: a processing unit, used to simulate imaging of the three-dimensional model at M angles at N positions through a virtual ray source to obtain at least one first two-dimensional simulation image, wherein N and M are positive integers; a first determination unit, used to determine the relative position and relative angle between the real ray source and the surgical site based on at least one first two-dimensional simulation image and a two-dimensional medical image.

[0091] Optionally, the first determination unit also includes: a first identification subunit, used to identify the bone contour line from the two-dimensional medical image to obtain the first contour line; a second identification subunit, used to identify the bone contour line from the first two-dimensional simulation image in at least one first two-dimensional simulation image to obtain the second contour line; a judgment subunit, used to judge whether the shape and length of the first contour line are the same as the second contour line; the first determination subunit, used to determine the virtual ray source matching the first two-dimensional simulation image when the shape and length of the first contour line and the second contour line are the same, to obtain the target virtual ray source; the second determination subunit, used to determine the relative position and relative angle between the target virtual ray source and the three-dimensional model as the relative position and relative angle between the real ray source and the surgical site.

[0092] Optionally, the device for determining the position and angle of the postoperative prosthesis also includes: an adjustment module, which is used to maintain the angle of the virtual ray source matched by the first two-dimensional simulation image and adjust the position of the virtual ray source matched by the first two-dimensional simulation image when the shapes of the first contour line and the second contour line are the same and the lengths of the first contour line and the second contour line are different; a processing module, which is used to simulate the imaging of the three-dimensional model through the adjusted virtual ray source to obtain a second two-dimensional simulation image; a second determination module, which is used to repeat the step of adjusting the position of the virtual ray source matched by the first two-dimensional simulation image when the length of the bone contour line in the second two-dimensional simulation image is different from that of the first contour line, until the obtained second two-dimensional simulation image is the same as the first contour line, so as to determine the relative position and relative angle between the real ray source and the surgical site.

[0093] Optionally, the third determination submodule also includes: a second determination unit, used to determine the relative position and relative angle between the real radiation source and the prosthesis based on the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image; a third determination unit, used to determine the position and angle of the prosthesis relative to the surgical site based on the relative position and relative angle between the real radiation source and the surgical site, and the relative position and relative angle between the real radiation source and the prosthesis.

[0094] Optionally, the second determination unit also includes: a processing subunit, used to simulate imaging of the three-dimensional model of the prosthesis at I positions and J angles through a virtual ray source to obtain at least one two-dimensional prosthesis image, where I and J are positive integers; a third determination subunit, used to determine the relative position and relative angle between the real ray source and the prosthesis based on at least one two-dimensional prosthesis image and image information of the prosthesis in the two-dimensional medical image.

[0095] Example 3

[0096] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for determining the position and angle of a postoperative prosthesis when running.

[0097] Example 4

[0098] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, wherein: Figure 4 is a schematic diagram of an optional electronic device according to an embodiment of the present invention, such as Figure 4 As shown, the electronic device includes one or more processors; a memory for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the above-mentioned method for determining the postoperative prosthesis position and angle when running.

[0099] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0100] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0102] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0105] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining the position and angle of a postoperative prosthesis, characterized in that: include: Acquire a three-dimensional medical image of the surgical site before the prosthesis implantation surgery, and acquire a two-dimensional medical image of the surgical site after the prosthesis implantation surgery, wherein the three-dimensional medical image contains image information of the surgical site, and the two-dimensional medical image contains image information of the surgical site and the prosthesis; Establishing a three-dimensional model of the surgical site according to the image information in the three-dimensional medical image; Determining the position and angle of the prosthesis relative to the surgical site based on the three-dimensional model and the image information in the two-dimensional medical image, wherein the position and angle are used for postoperative evaluation; Determining the position and angle of the prosthesis relative to the surgical site according to the three-dimensional model and the image information in the two-dimensional medical image includes: Performing simulated imaging of the three-dimensional model at M angles at N positions by a virtual ray source to obtain at least one first two-dimensional simulated image, wherein N and M are positive integers; Identifying a bone contour line from the two-dimensional medical image to obtain a first contour line, wherein the two-dimensional medical image is formed by a real radiation source passing through the surgical site and the prosthesis; For a first two-dimensional simulated image in the at least one first two-dimensional simulated image, identifying a bone contour line from the first two-dimensional simulated image to obtain a second contour line; Determining whether the first contour line and the second contour line have the same shape and length; In a case where the first contour line and the second contour line have the same shape and length, determining a virtual ray source matched with the first two-dimensional simulation image to obtain a target virtual ray source; Determine the relative position and relative angle between the target virtual ray source and the three-dimensional model as the relative position and relative angle between the real ray source and the surgical site; The position and angle of the prosthesis relative to the surgical site are determined based on the relative position and the relative angle.

2. The method according to claim 1, characterized in that Determining the position and angle of the prosthesis relative to the surgical site according to the three-dimensional model and the image information in the two-dimensional medical image includes: Determining a three-dimensional model of the prosthesis according to the specifications and models of the prosthesis; The position and angle of the prosthesis relative to the surgical site are determined based on the relative position, the relative angle, the three-dimensional model of the prosthesis, and the image information of the prosthesis in the two-dimensional medical image.

3. The method according to claim 2, characterized in that After determining whether the first contour line and the second contour line have the same shape and length, the method further includes: When the first contour line and the second contour line have the same shape and different lengths, maintaining the angle of the virtual ray source matched by the first two-dimensional simulation image and adjusting the position of the virtual ray source matched by the first two-dimensional simulation image; Performing simulated imaging on the three-dimensional model through the adjusted virtual ray source to obtain a second two-dimensional simulated image; When the length of the bone contour line in the second two-dimensional simulation image is different from that of the first contour line, the step of adjusting the position of the virtual ray source matching the first two-dimensional simulation image is repeated until the obtained second two-dimensional simulation image is the same as the first contour line, and the relative position and relative angle between the real ray source and the surgical site are determined.

4. The method according to claim 2, characterized in that: Determining the position and angle of the prosthesis relative to the surgical site according to the relative position, the relative angle, the three-dimensional model of the prosthesis, and the image information of the prosthesis in the two-dimensional medical image includes: Determining the relative position and relative angle between the real ray source and the prosthesis according to the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image; The position and angle of the prosthesis relative to the surgical site are determined based on the relative position and relative angle between the real ray source and the surgical site, and the relative position and relative angle between the real ray source and the prosthesis.

5. The method according to claim 4, characterized in that Determining the relative position and relative angle between the real ray source and the prosthesis according to the three-dimensional model of the prosthesis and the image information of the prosthesis in the two-dimensional medical image includes: Performing simulated imaging of a three-dimensional prosthesis model at I positions and J angles through a virtual ray source to obtain at least one two-dimensional prosthesis image, wherein I and J are positive integers; The relative position and relative angle between the real ray source and the prosthesis are determined according to the at least one two-dimensional prosthesis image and the image information of the prosthesis in the two-dimensional medical image.

6. A device for determining the position and angle of a postoperative prosthesis, characterized in that: include: An acquisition module, used to acquire a three-dimensional medical image of the surgical site before the prosthesis implantation surgery, and to acquire a two-dimensional medical image of the surgical site after the prosthesis implantation surgery, wherein the three-dimensional medical image contains image information of the surgical site, and the two-dimensional medical image contains image information of the surgical site and the prosthesis; A building module, used for building a three-dimensional model of the surgical site according to the image information in the three-dimensional medical image; A first determination module is used to determine the position and angle of the prosthesis relative to the surgical site according to the three-dimensional model and the image information in the two-dimensional medical image, wherein the position and angle are used for postoperative evaluation; Wherein, the first determining module further includes: A processing unit, configured to simulate imaging of the three-dimensional model at M angles at N positions by using a virtual ray source to obtain at least one first two-dimensional simulated image, wherein N and M are positive integers; A first identification subunit is used to identify a bone contour line from the two-dimensional medical image to obtain a first contour line, wherein the two-dimensional medical image is formed by a real ray source passing through the surgical site and the prosthesis; A second identification subunit is used for identifying a bone contour line from a first two-dimensional simulation image of the at least one first two-dimensional simulation image to obtain a second contour line; a judging subunit, configured to judge whether the first contour line and the second contour line have the same shape and length; A first determining subunit is used to determine a virtual ray source matched with the first two-dimensional simulation image to obtain a target virtual ray source when the first contour line and the second contour line have the same shape and length; A second determining subunit is used to determine the relative position and relative angle between the target virtual ray source and the three-dimensional model as the relative position and relative angle between the real ray source and the surgical site; The third determination submodule is used to determine the position and angle of the prosthesis relative to the surgical site based on the relative position and the relative angle.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the method for determining the position and angle of a postoperative prosthesis as described in any one of claims 1 to 5 when running.

8. An electronic device, characterized in that: The electronic device includes one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the method for determining the postoperative prosthesis position and angle as described in any one of claims 1 to 5 when run.

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