A hip joint surgery navigator

Abstract

The present application provides a hip joint surgery navigator, which includes: a fitting, a sleeve and at least two Kirschner wire holes; one side of the fitting is a fitting surface, and the fitting surface fits the lower edge area of ​​the greater trochanter of the femoral head of a specific object; the sleeve and the Kirschner wire holes are arranged on the other side of the fitting and extend outward; the sleeve is hollow inside to form a drill hole, which passes through the fitting, and the extension line of the drill hole extends into the necrotic area of ​​the femoral head. In the present application, the direction of the drill bit or guide needle is guided by the hip joint surgery navigator, so that the direction of the drill bit / guide needle can be determined without perspective, avoiding doctors and patients from being exposed to a large amount of radiation damage, and shortening the operation time.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a hip joint surgery navigator. Background Art

[0002] Femoral head necrosis is a common disease. It is caused by various reasons that block the local blood supply to the femoral head, causing progressive destruction of the bone structure and ischemic necrosis of bone tissue. At present, the common surgical method for femoral head necrosis is to drill a hole from the lower part of the greater trochanter of the femur to reach the necrotic area to remove the necrotic bone, and then perform bone grafting or implant related prostheses. The purpose of the operation is to prevent the collapse of the femoral head by cleaning the necrotic area.

[0003] Since the location of femoral head necrosis is different in different patients, the surgery usually requires a guide needle to be pointed to the femoral head necrosis area through the lower part of the greater trochanter of the femur, and then the drill bit drills along the guide needle to achieve the purpose of cleaning the necrotic area. However, in the actual operation, the doctor needs to perform repeated fluoroscopy to determine the direction of the guide needle. After determining the direction, it is necessary to perform multiple fluoroscopy to determine the appropriate depth of the guide needle. This process causes doctors and patients to be exposed to a large amount of radiation damage, prolongs the operation time, and even causes the possibility of secondary injury to the patient due to the wrong direction or depth of the guide needle.

[0004] Therefore, there is an urgent need for a navigator that can guide the drill bit to reduce the number of perspectives performed to determine the direction. Summary of the invention

[0005] The problem solved by the present application is the current lack of a navigator that can guide a drill bit.

[0006] To solve the above problems, the present application provides a hip joint surgery navigator in a first aspect, which comprises: a fitting, a sleeve and at least two Kirschner wire holes;

[0007] One side of the fitting is a fitting surface, which fits the lower edge area of ​​the greater trochanter of the femoral head of a specific object; the sleeve and the Kirschner wire hole are arranged on the other side of the fitting and extend outward; the sleeve is hollow inside to form a drill hole, which passes through the fitting, and the extension line of the drill hole extends into the necrotic area of ​​the femoral head.

[0008] Furthermore, the Kirschner wire hole passes through the fitting, and the two Kirschner wire holes are arranged in parallel with the sleeve to avoid drilling.

[0009] Furthermore, the Kirschner wire hole passes through the fitting, and the two Kirschner wire holes and the sleeve are arranged non-parallel to each other, and the two Kirschner wire holes, the sleeve and their extension lines do not intersect each other.

[0010] Furthermore, the inner wall of the sleeve is made of metal to prevent the drill bit from being worn.

[0011] Furthermore, it also includes an external interface, which cooperates with the end surface of one end of the sleeve extending outward to jointly limit the drilling depth of the drill bit.

[0012] Furthermore, there are multiple external interfaces, and the length difference between two external interfaces with similar lengths is 2 mm.

[0013] Furthermore, the external interface is threadedly connected to the sleeve, and a first mark is provided on the external interface, and a second mark is provided on the sleeve, which is suitable for adjusting the drilling depth limit of the drill bit by screwing the external interface.

[0014] Furthermore, it also includes an observation hole, which is arranged at the connection position between the sleeve and the fitting, or at the end surface position of the end of the sleeve extending outward, or at the end of the external interface away from the sleeve.

[0015] The second aspect of the present application provides a design method of the hip joint surgery navigator according to the aforementioned method, which comprises:

[0016] Obtain CT images of the hip joint;

[0017] Reconstructing a three-dimensional model of the hip joint based on the hip joint CT image;

[0018] Based on the three-dimensional model of the hip joint, identifying a necrotic area in the femoral head of the hip joint;

[0019] Determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area;

[0020] generating fitting zone data of a hip joint surgery navigator based on the drilling data and the Kirschner wire data;

[0021] The hip joint surgery navigator is generated according to the fitting area data.

[0022] Further, determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area includes:

[0023] Generate a drilling point based on the three-dimensional model of the hip joint, wherein the drilling point is located at a preset distance from the lower edge of the trochanter;

[0024] Get the drilling diameter;

[0025] A cylindrical hole connecting the drilling point and the necrotic area is generated according to the drilling diameter; the center of the front end of the cylindrical hole is the drilling point, and the rear end of the cylindrical hole completely extends into the necrotic area;

[0026] Based on the three-dimensional model of the hip joint, two Kirschner wire fitting areas are generated, the center positions of the two Kirschner wire fitting areas are at a preset distance from the lower edge of the tuberosity, and the distance between the two Kirschner wire fitting areas is a preset value;

[0027] Based on the generated Kirschner wire fitting area, determining an equivalent normal vector of the Kirschner wire fitting area;

[0028] Determining whether a combination of the equivalent normal vector and the axial direction of the cylindrical hole meets a preset condition;

[0029] When the preset conditions are not met, the center position of at least one of the two Kirschner wire fitting areas is randomly adjusted, and the equivalent normal vector of the adjusted Kirschner wire fitting area is re-determined; until the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset conditions.

[0030] In the present application, the direction of the drill or guide needle is guided by a hip joint surgery navigator, so that the drill direction / guide needle direction can be determined without fluoroscopy, thereby avoiding the doctor and the patient from being exposed to a large amount of radiation damage and shortening the operation time. Furthermore, the possibility of secondary injury to the patient due to the wrong direction or depth of the guide needle is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A side perspective view of a hip joint surgery navigator according to an embodiment of the present application;

[0032] Figure 2 It is a front perspective view of a hip joint surgery navigator according to an embodiment of the present application;

[0033] Figure 3 A top perspective view of a hip joint surgery navigator according to an embodiment of the present application;

[0034] Figure 4 A rear perspective view of a hip joint surgery navigator according to an embodiment of the present application;

[0035] Figure 5 A side stereoscopic view of a hip joint surgery navigator according to an embodiment of the present application combined with a femoral head;

[0036] Figure 6 A front stereoscopic view of a hip joint surgery navigator according to an embodiment of the present application combined with a femoral head;

[0037] Figure 7 A side perspective view of a hip joint surgery navigator combined with an external interface according to an embodiment of the present application;

[0038] Figure 8 is an enlarged side view of an external interface according to an embodiment of the present application;

[0039] Fig. 9 A schematic diagram of the distribution of fitting areas of a hip joint surgery navigator design method according to an embodiment of the present application;

[0040] Fig.10 A flowchart of a method for designing a hip joint surgery navigator according to an embodiment of the present application;

[0041] Fig.11 A flowchart for determining data for a hip joint surgery navigator design method according to an embodiment of the present application;

[0042] Fig.12 An architectural diagram of a hip joint surgery navigator design device according to an embodiment of the present application;

[0043] Fig.13 is an architectural diagram of an electronic device according to an embodiment of the present application.

[0044] Figure numerals: 1-fitting piece; 11-fitting surface; 2-sleeve; 21-drilling hole; 22-second mark; 3-K-wire hole; 4-external interface; 41-first mark; 5-observation hole. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0046] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0047] The present application provides a hip joint surgery navigator, the specific scheme of which is as follows: Figure 1-Figure 8 The hip joint surgery navigator comprises: a fitting 1, a sleeve 2 and at least two Kirschner wire holes 3;

[0048] One side of the fitting 1 is a fitting surface 11, which fits the lower edge area of ​​the greater trochanter of the femoral head of a specific object; the sleeve 2 and the Kirschner wire hole 3 are arranged on the other side of the fitting 1 and extend outward; the sleeve 2 is hollow inside to form a drill hole 21, which passes through the fitting, and the extension line of the drill hole 21 extends into the necrotic area of ​​the femoral head.

[0049] In the present application, during actual use, the inferior edge area of ​​the greater trochanter of the femoral head is first cleaned to expose its cortical bone, and then the fitting surface of the hip joint surgery navigator is fitted to the corresponding position of the inferior edge area of ​​the greater trochanter of the femoral head, and after fitting, the Kirschner wire is inserted through the Kirschner wire hole for fixation; after fixation, the drill bit is inserted into the drill hole of the sleeve, and drilling is performed according to the drilling guide direction. In this way, during use / surgery, it is only necessary to install the hip joint surgery navigator to achieve the drilling direction, without the need for multiple fluoroscopy to determine the guide wire and drill bit direction.

[0050] It should be noted here that after fixation, the corresponding guide pin can be installed through drilling first, and then drilling can be performed under the guidance of the guide pin. At this time, the drilling guides the installation direction of the guide pin.

[0051] In this application, a Kirschner wire is a sterilized, sharpened, smooth stainless steel pin. Introduced by Martin Kirschner in 1909, it is now widely used in orthopedics and other types of medical procedures. Kirschner wires come in different sizes and are used to hold bone fragments together (fixation pins) or to provide an anchor for bone traction or for temporary fixation. A power drill or hand drill is usually used to drive the pin into the bone.

[0052] In the present application, the Kirschner wire hole is a length hole used to guide the Kirschner wire, and the Kirschner wire can be cut after being inserted into the cortical layer for a short distance; the hole of a certain length is for guiding and stabilizing the hip joint surgery navigator.

[0053] In the present application, the Kirschner wire hole is a needle hole for guiding the Kirschner wire. The Kirschner wire hole is adapted to the size of the Kirschner wire to be inserted; in the specific design, the inner diameter of the Kirschner wire hole can be designed based on the size of the Kirschner wire to be inserted, so as to achieve adaptation.

[0054] In the present application, the direction of the drill or guide needle is guided by the hip joint surgery navigator, so that the drill direction / guide needle direction can be determined without fluoroscopy, thereby avoiding the doctor and the patient from being exposed to a large amount of radiation damage and shortening the operation time. Furthermore, the possibility of secondary injury to the patient due to the wrong direction or depth of the guide needle is avoided.

[0055] In one embodiment, the K-wire hole 3 passes through the fitting 1 , and two K-wire holes 3 are arranged in parallel with the sleeve 2 to avoid the drilling hole 21 .

[0056] In the present application, the two Kirschner wire holes 3 are arranged in parallel with the sleeve 2, that is, the axes of the two Kirschner wire holes 3 are parallel to each other and are parallel to the axis of the sleeve.

[0057] In this embodiment, the Kirschner wire hole 3 is used to guide the Kirschner wire driven into the bone, and the drill hole in the sleeve is used to guide the drill bit; the Kirschner wire hole and the sleeve are arranged in parallel, and the Kirschner wire and the sleeve are arranged at different positions of the fitting 1, so that even if the distance between them is small, the driven Kirschner wire and the drilling drill bit will not cross each other, thereby ensuring that the drilling hole will not drill into the driven Kirschner wire area.

[0058] In one embodiment, the K-wire hole 3 passes through the fitting 1, and the two K-wire holes 3 and the sleeve 2 are arranged non-parallel to each other, and the two K-wire holes, the sleeve and their extension lines do not intersect each other.

[0059] In the present application, the two Kirschner wire holes 3 and the sleeve 2 are arranged non-parallel to each other, which means that the axes of the two Kirschner wire holes 3 are at an angle to each other and are not parallel; any one of the Kirschner wire holes 3 and the axis of the sleeve 2 also have an angle and are not arranged parallel.

[0060] It should be noted that the two Kirschner wire holes 3 are arranged in parallel with the sleeve 2. At this time, there is less axial limitation, which may cause the hip joint surgery navigator to slide along the axial direction, affecting the surgery.

[0061] In this embodiment, by arranging the two Kirschner wire holes 3 and the sleeve 2 to be non-parallel to each other, the axial direction of any one of the two Kirschner wire holes 3 and the sleeve 2 will be limited by the other two, thereby preventing the hip joint surgery navigator from sliding along the axial direction.

[0062] In this embodiment, the two Kirschner wire holes, the sleeve and their extension lines do not intersect each other, which means that the extension lines of the two Kirschner wire holes and the extension line of the sleeve do not cross each other, and will not affect each other when inserting the Kirschner wires and drilling with the drill bit.

[0063] Furthermore, the inner wall of the sleeve is made of metal to prevent the drill bit from being worn.

[0064] In the present application, the inner wall of the sleeve, that is, the drilling hole is designed to be made of metal material (the metal material is a wear-resistant material, and can also be other wear-resistant materials, such as ceramics), that is, the part in contact with the drill bit is set to a wear-resistant material, and the rest can be set to other materials, such as laser-printed materials, to facilitate production.

[0065] In the present application, the inner wall of the sleeve is made of wear-resistant material to avoid contact and grinding with the rotating drill bit to generate debris.

[0066] In this application, the drill bit diameters are 2.0 mm, 3.2 mm, etc.; in specific design, the inner diameter of the sleeve / drilling hole can be designed based on the drill bit diameter to achieve adaptation.

[0067] In the present application, the inner diameter of the sleeve and the outer diameter of the drill bit have a tolerance to prevent the drill bit from rotating and drilling into powder of the sleeve (eg, drill bit 9.5, inner wall 10.0).

[0068] In one embodiment, an external interface 4 is further included, and the external interface 4 cooperates with the end surface of one end of the sleeve 2 extending outward to jointly limit the drilling depth of the drill bit.

[0069] It should be noted that the drilling depth in the present embodiment refers to the drilling hole produced by the drill bit drilling the femoral head, and is not the drilling hole 21 corresponding to the inner wall of the sleeve described above. Although the words are the same, they do not actually express the same meaning, and their specific meanings can be easily identified based on the context, and will not be further described in this application.

[0070] In the present application, when drilling, the drill bit and the drill rod at the rear of the drill bit are inserted into the drill hole of the sleeve until the drill bit abuts against the femoral head and starts drilling. Since the rear body of the drill rod is larger than the drill hole (a blocking block may also be provided on the drill rod), the drill bit cannot move forward when it abuts against the end face of the sleeve at this position. Based on this, the drilling depth of the drill bit can be limited.

[0071] In this embodiment, the external interface is sleeved outside the sleeve, and when the rear body of the drill rod (or the blocking block provided on the drill rod) abuts against the external interface, the drill bit cannot move forward, so that the external interface and the sleeve jointly limit the drilling depth.

[0072] Furthermore, there are multiple external interfaces, and the length difference between two external interfaces with similar lengths is 2 mm.

[0073] In the present application, if there are multiple external interfaces, the drilling depth limited by the external interfaces and the sleeve can be changed by replacing the external interfaces.

[0074] In the present application, by limiting the length difference between two external interfaces of similar length to 2 mm, the drilling depth limited by the external interface and the sleeve can be changed by replacing the external interface. The minimum drilling depth change each time is 2 mm, thereby achieving more precise drilling depth control.

[0075] In one embodiment, the lower end of the external interface has an external thread or an outer wall; the top of the sleeve has an inwardly contracted portion, which has an internal thread or an inner wall; the external interface and the sleeve are overfitted, but not interference fit (interference fit will cause the inner wall of the external interface to deform).

[0076] In one embodiment, the external interface is provided with a universal interface for various navigators, and the inner wall is made of metal material, so that it can be applicable to the use of various navigators and avoids grinding.

[0077] In one embodiment, the inner diameter of the outer port is slightly larger than the inner diameter of the sleeve.

[0078] It should be noted that when the external interface is combined with the sleeve, due to the tolerance, the combination of the external interface and the sleeve is not strictly axially coincident, and there is a certain offset in the case of over-fitting. When the inner diameter of the external interface is the same as the inner diameter of the sleeve, this offset can easily cause the inner wall of the external interface to be worn by the drill bit and easily cause powder to fall off.

[0079] In the present application, the inner diameter of the external interface is enlarged to increase the error tolerance during assembly and accommodate the deviation during assembly.

[0080] In one embodiment, the external interface has an internal thread, the end surface of the sleeve has an external thread, and the external joint is sleeved on the end of the sleeve and is threadedly connected to the sleeve; in this way, the drill bit will only contact the inner wall of the sleeve, and there is no need to improve the interior of the external interface to avoid grinding powder, and there is no need to consider whether the inner wall of the external interface will interfere with the drilling of the drill bit.

[0081] In one embodiment, the external interface is threadedly connected to the sleeve, and a first mark 41 is provided on the external interface, and a second mark 22 is provided on the sleeve, which is suitable for adjusting the drilling depth limit of the drill bit by screwing the external interface.

[0082] In the present application, the lead (ph) is the axial distance that any point on the thread moves along the same spiral line during one rotation, that is, the axial distance between the corresponding two points on the mid-diameter line of two adjacent teeth on the same spiral line.

[0083] In the present application, the external interface is threadedly connected to the sleeve, so that the limitation of the drilling depth jointly imposed by the external interface and the sleeve can be adjusted by rotating the external interface.

[0084] For example, if the lead is 2mm, rotating the outer interface one circle clockwise (or counterclockwise) will reduce the common length of the outer interface and the sleeve by 2mm, and the limited drilling depth will increase by 2mm; conversely, rotating counterclockwise will reduce the limited drilling depth by 2mm.

[0085] In the present application, the drilling depth is adjusted by rotation, so that the minimum adjustment unit is converted from length to radian / angle (2π / 360°), thereby greatly increasing the adjustment accuracy.

[0086] In the present application, by setting a first mark on the external interface and a second mark on the sleeve, the relative angle of rotation of the external interface and the sleeve can be determined. For example, if the first mark and the second mark (assuming that there is only one first mark and second mark) coincide, then continue to rotate until the first mark and the second mark coincide, at this time, the rotation is 360°, and the common length of the external interface and the sleeve is changed by 2mm.

[0087] In one embodiment, the number of the first marks is multiple, so the adjustment distance can be determined by the angle between adjacent first marks. For example, if the first first mark coincides with the second mark (assuming there is only one second mark), then continue to screw until the second first mark coincides with the second mark. At this time, the screwing angle α is the angle between the first and second first marks, and the common length of the external interface and the sleeve is changed by 2×α / 360 (mm).

[0088] In one embodiment, the number of the first marks is multiple and evenly distributed, so that the angle between adjacent first marks is 360 / n, where n is the number of first marks. In this way, it is not necessary to confirm the serial number of the first mark each time the screw is turned, and it is only necessary to turn to the next first mark.

[0089] It should be noted that the first mark needs to be aligned with the second mark to confirm the screwing. Therefore, if there is only one second mark, it means that it can only be adjusted between specific lengths, which is extremely inconvenient.

[0090] In one embodiment, there are multiple first identifiers that are evenly distributed, and there are multiple second identifiers that are evenly distributed within a preset angle.

[0091] In the present application, the preset angle is an angle of a preset size. For example, within a preset angle of 30°, 10 second marks are evenly arranged, and the distance between adjacent second marks is 3°.

[0092] As shown in the figure, as long as any one of the first marks moves to a preset angle, it can be locked with one of the second marks to adjust the length.

[0093] It should be noted that, when there are multiple second markers, the adjustment accuracy can be further increased, that is, after aligning the first marker with one of the second markers, move to the next adjacent second marker. At this time, the adjustment accuracy is 2×the angle between adjacent second markers / 360 (mm).

[0094] Furthermore, the preset angle is greater than or equal to the angle between adjacent first marks, thereby ensuring that no matter where the external interface is screwed, at least one first mark is located within the preset angle, thereby ensuring that higher precision (2×angle between adjacent second marks / 360 (mm)) adjustments can be made within the entire range of the external interface.

[0095] Furthermore, the plurality of the second markers are distributed within a preset angle, but not uniformly distributed, so that higher accuracy can be achieved in a specific area (important area) without changing the second marker, and accuracy can be reduced in other areas.

[0096] Furthermore, it also includes an observation hole 5, which is arranged at the connection position between the sleeve and the fitting, or at the end surface position of the end of the sleeve extending outward, or at the end of the external interface away from the sleeve.

[0097] In the present application, an observation hole is set at the connection position between the sleeve and the fitting. At this time, the drilling depth can be directly marked on the drill rod of the drill bit. The depth marked on the drill rod observed through the observation hole is the depth that the drill bit has drilled at this time, so that the drilling depth can be flexibly controlled.

[0098] However, during surgery, the above position is difficult to observe because it is too close to the bones.

[0099] In the present application, the observation hole is arranged at the end surface of the end of the sleeve extending outward, or at the end of the external interface away from the sleeve, which is more convenient for observation.

[0100] In one embodiment, the observation hole 5 is arranged at the position where the sleeve 2 and the fitting 1 are combined, close to the human femur; the length of the sleeve 2 is the same as the drilling depth (the length from the drilling point to the necrotic area); in this way, after installing the hip joint surgery navigator, the drill bit is first placed against the femur and the position of the drill rod at the sleeve mouth is marked at this time, and then the hole is drilled. When the marked position can be seen in the observation hole, the drill bit just drills into the necrotic area.

[0101] In one embodiment, a blocking block is provided on the drill rod of an external drill bit, and the length of the sleeve is determined according to the setting position of the blocking block and the drilling depth (the distance from the blocking block to the drill bit is the sum of the drilling depth and the length of the sleeve); in this way, when the drill bit drills to the limit, the blocking block and the sleeve are against each other, thereby limiting the maximum drilling depth and avoiding drilling out of the cortical layer.

[0102] In one embodiment, a plurality of external interfaces 4 are arranged on the sleeve 2, each of which has a different length. A blocking block is arranged on the drill rod of the external drill bit, and the length of the sleeve is determined according to the setting position of the blocking block, the drilling depth, and a certain length of the external interface (the distance from the blocking block to the drill bit is the sum of the drilling depth, the sleeve length, and the length of the external interface); in this way, when the drill bit drills to the limit, the blocking block and the external interface are resisted, thereby limiting the longest drilling depth and avoiding drilling out of the cortical layer.

[0103] In this embodiment, the final drilling depth can also be temporarily adjusted by replacing the external interface.

[0104] In this embodiment, the combination of the sleeve and the minimum external interface can be set as the optimal combination to design a hip joint surgery navigator, so that in actual use, the sleeve depth (sleeve length plus external interface length) can be adjusted in both directions of increase and decrease by replacing or removing the external interface.

[0105] In one embodiment, the observation hole 5 is arranged at the position where the sleeve 2 and the fitting 1 are combined, close to the human femur; the sum of the length of the sleeve 2 plus the length of the external interface 4 is the same as the drilling depth (the length from the drilling point to the necrotic area); in this way, after installing the hip joint surgery navigator, the drill bit is first placed against the femur and the position of the drill rod of the external interface is marked at this time, and then the hole is drilled. When the marked position can be seen in the observation hole, the drill bit just drills into the necrotic area.

[0106] It should be noted that in the above embodiment, if the observation hole 5 is set at other positions of the sleeve 2 or the external interface 4, the method of adding a mark on the drill rod is modified as follows: after installing the hip joint surgery navigator, the drill bit is first placed against the femur to mark the drill rod position of the external interface or the sleeve end face at this time, and then based on the drill rod position, a length is measured backwards with a ruler. The length is the difference between the drilling depth and the length of the observation hole from the external interface or the sleeve end face, and then the hole is drilled. When the marked position can be seen in the observation hole, the drill bit has just drilled into the necrotic area.

[0107] The present application embodiment provides a design method for the hip joint surgery navigator described above. The specific scheme of the method is as follows: Figure 9-11 As shown, the method can be performed by a design device for a hip joint surgery navigator, and the design device for a hip joint surgery navigator can be integrated in electronic devices such as computers, servers, computers, server clusters, and data centers. Figure 9-11 As shown, the design method of the hip joint surgery navigator includes:

[0108] S101, obtaining a hip joint CT image;

[0109] In the present application, the hip joint CT image is a medical CT image (Computed Tomography, CT) containing the hip joint, and an image of the hip joint part can be obtained based on the medical CT image.

[0110] S102, reconstructing a three-dimensional model of the hip joint based on the hip joint CT image;

[0111] In the present application, the three-dimensional model of the hip joint can be a point cloud model or a three-dimensional real-scene model.

[0112] In this application, the hip joint CT image can be generated into a hip joint three-dimensional model through a deep convolution model, or the hip joint CT image can be generated into a three-dimensional point cloud model through conventional software such as numpy and mimics.

[0113] In the present application, the hip joint part can be first identified in each frame of the hip joint CT image, and then a three-dimensional model can be generated based on the identified hip joint part. The specific production method will not be repeated in this application.

[0114] S103, identifying a necrotic area in the femoral head of the hip joint based on the three-dimensional model of the hip joint;

[0115] In the present application, the necrotic area is identified based on the three-dimensional model, which can be identified through the GPT model, or by training a conventional depth recognition model, or by other methods. The specific identification method will not be repeated in this application.

[0116] S104, determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area;

[0117] In the present application, the drilling data includes drilling depth, drilling diameter, drilling point and drilling direction; wherein, the drilling diameter is the same as the selected drill bit diameter, the drill hole on the femoral head is a cylindrical hole, the center of the front end of the cylindrical hole is the drilling point, and the axial direction of the cylindrical hole is the drilling direction.

[0118] In the present application, the Kirschner wire data includes: Kirschner wire diameter, Kirschner wire starting point, Kirschner wire direction and Kirschner wire fitting area; wherein, the Kirschner wire diameter is the same as the selected Kirschner wire diameter, the Kirschner wire starting point is the position where the Kirschner wire is inserted into the femoral head, that is, the center position of the Kirschner wire fitting area, and the Kirschner wire direction is the equivalent normal vector of the Kirschner wire fitting area.

[0119] S105, generating fitting area data of a hip joint surgery navigator based on the drilling data and the Kirschner wire data;

[0120] In the present application, the drilling point and the drilling diameter in the drilling data are known, and the specific position of the drilling hole on the surface of the femoral head can be determined. If the Kirschner wire fitting area in the Kirschner wire data is known, a range that may include two Kirschner wire fitting areas and the drilling hole is selected, and an adapted surface is generated based on the range. The surface is the fitting area data of the hip joint surgery navigator; that is, after the fitting area data of the hip joint surgery navigator is adapted to the surface of the femoral head, it needs to cover the two Kirschner wire fitting areas and the drilling hole.

[0121] In the present application, the above-mentioned restrictions can be directly input into the preset tool, so that when the drilling data and the Kirschner wire data are known, the fitting area data of the hip joint surgery navigator can be directly generated by the tool.

[0122] S106: Generate the hip joint surgery navigator according to the fitting area data.

[0123] In the present application, when the fitting area data is known, the navigator thickness is set; a reverse guide hole is generated according to the Kirschner wire direction and the Kirschner wire starting point in the Kirschner wire hole data (the length of the guide hole is a preset length), and the guide hole is the two Kirschner wire holes; according to the drilling data, a reverse guide hole is generated, and the guide hole is the sleeve, and the length of the sleeve and the size data of the external interface are generated according to the drilling depth (the observation hole data can also be generated according to the preset rules); at this time, the hip joint surgery navigator is generated.

[0124] In the present application, the corresponding hip joint surgery navigator is directly generated through the hip joint CT image, so that the generated hip joint surgery navigator has the highest adaptability to the implementation object, greatly reducing the preoperative and intraoperative preparation time.

[0125] The step S104, determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area, includes:

[0126] S401, generating a drilling point based on the three-dimensional model of the hip joint, wherein the drilling point is located at a preset distance from the lower edge of the trochanter;

[0127] S402, obtaining the drilling diameter;

[0128] In the present application, the drill hole diameter is obtained by drilling, wherein the drill bit diameter is 2.0 mm, 3.2 mm, etc.

[0129] S403, generating a cylindrical hole connecting the drilling point and the necrotic area according to the drilling diameter; the center of the front end of the cylindrical hole is the drilling point, and the rear end of the cylindrical hole completely extends into the necrotic area;

[0130] In the present application, the drilling point is generally located at a preset distance below the trochanter.

[0131] In the present application, the cylindrical hole points from the drilling point to the necrotic area, and points to the point in the necrotic area that is closest to the drilling point, so that after drilling, the necrotic area can be reached as quickly as possible without leaving any dead angles.

[0132] S404, generating two Kirschner wire fitting areas based on the three-dimensional model of the hip joint, wherein the center positions of the two Kirschner wire fitting areas are at a preset distance from the lower edge of the trochanter, and the distance between the two Kirschner wire fitting areas is a preset value;

[0133] Combination Fig. 9 As shown, the two small black circles represent two K-wire fitting areas, and the large black circle represents the cylindrical hole / drill hole.

[0134] In the present application, the center position of the two Kirschner wire fitting areas is at a preset distance from the lower edge of the tuberosity, and avoids the gluteal tuberosity; avoids the pressure trabeculae and tension trabeculae.

[0135] In the present application, the gluteal tuberosity is the rough part formed by the upward and outward migration of the lateral lip of the linea aspera of the femur, where the gluteus maximus is attached.

[0136] In the present application, the inner layer and both ends of the bone cortex are many irregular sheet-like or linear bone structures, called trabeculae. Trabeculae are arranged in accordance with the maximum stress and tension, and are interconnected in a loose sponge-like state, called cancellous bone. Cancellous bone is a porous grid structure formed by connecting a large number of needle-like or sheet-like trabeculae, which are arranged according to the regularity of the stress curve and have non-uniform anisotropy. This arrangement can increase bone strength.

[0137] S405, determining an equivalent normal vector of the Kirschner wire fitting area based on the generated Kirschner wire fitting area;

[0138] In the present application, the curved surface of the Kirschner wire fitting area is fitted to obtain a fitted normal vector, and the fitted normal vector is the equivalent normal vector.

[0139] The surface of the Kirschner wire fitting area is fitted to obtain the fitting normal vector, which can be specifically:

[0140] Determine all vertices on the surface of the Kirschner wire fitting area, and the vertex is the point on the surface in the three-dimensional point cloud; generate a plane from three adjacent vertices, and add the normal vector of the plane to the three vertices respectively; traverse all vertices, and summarize the normal vector added to each vertex to obtain the normal vector of the vertex (which can be directly added or otherwise); normalize the normal vector of each vertex, and obtain the fitting normal vector based on the normalized normal vectors of all vertices on the surface of the Kirschner wire fitting area (which can be obtained by directly adding or otherwise).

[0141] In the present application, the fitted normal vector may also be obtained by other methods.

[0142] S406, determining whether a combination of the equivalent normal vector and the axial direction of the cylindrical hole meets a preset condition;

[0143] In the present application, the combination of the equivalent normal vector and the axial direction of the cylindrical hole is screened by preset conditions.

[0144] In the present application, the preset condition may be whether the preset external force exceeds the bearing range of the Kirschner wire after being decomposed into an equivalent normal vector; or other preset conditions.

[0145] In one embodiment, a preset external force and torque combination is obtained, wherein the external force is directed toward the femoral head along the axial direction of the cylindrical hole, and the torque is in a clockwise direction along the axial direction of the cylindrical hole, wherein the external force is set to multiple, and the torque is set to multiple, and one is selected from each of them as a combination; based on the torque, two equivalent external torques generated by the torque at the center position of the two Kirschner wire fitting areas are determined, wherein a plane perpendicular to the axial direction of the cylindrical hole is assumed, and the center position of the Kirschner wire fitting area is projected onto the plane as a Kirschner point, and the force of the torque at the Kirschner point is an equivalent external torque (torque=the distance between the axial direction of the cylindrical hole and the Kirschner point×equivalent external torque), based on which, two equivalent external torques generated at the center position of the two Kirschner wire fitting areas are determined; the preset external force is decomposed into a first Kirschner force, a second Kirschner force, a first external torque, and a second external torque, wherein the first Kirschner force is an equivalent external torque along the first Kirschner wire fitting area. The force of the equivalent normal vector, the second Kirschner force is the force of the equivalent normal vector along the second Kirschner wire fitting area, the first external torque is the equivalent external torque along the center position of the first Kirschner wire fitting area, and the second external torque is the equivalent external torque along the center position of the second Kirschner wire fitting area; determine that the resultant force of the first Kirschner force and the first external torque is the first force, and the resultant force of the second Kirschner force and the second external torque is the second force; if in all combinations of the preset external force decomposition (the preset external force is decomposed into the first Kirschner force, the second Kirschner force, the first external torque and the second external torque, which can be decomposed into multiple combinations, or even countless combinations, at this time, a preset number can be selected from them as all combinations of the decomposition), the length difference between the first force and the second force is less than one time (that is, the quotient of the larger value of the first force and the second force divided by the smaller value is less than 2), then the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset conditions.

[0146] In the present application, by setting the resultant force for comparison, the difference in external forces acting on the two Kirschner wires is greatly reduced, thereby improving the mechanical properties and adaptability of the hip joint surgery navigator.

[0147] In this way, the overall mechanical performance of the hip surgery navigator can be improved by screening through preset conditions.

[0148] S407, when the preset conditions are not met, randomly adjust the center position of at least two Kirschner wire fitting areas, and re-determine the equivalent normal vector of the adjusted Kirschner wire fitting area; until the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset conditions.

[0149] In the present application, the random adjustment may be set to a second range, and the Kirschner wire fitting area is adjusted within the second range to avoid iteration failure or local optimal conditions caused by excessive adjustments.

[0150] An embodiment of the present application provides a design device for a hip joint surgery navigator, which is used to execute the design method for a hip joint surgery navigator described in the above content of the present application. The design device for the hip joint surgery navigator is described in detail below.

[0151] like Fig.12 As shown, the design device of the hip joint surgery navigator comprises:

[0152] A three-dimensional recognition module 101 is used to obtain a hip joint CT image; based on the hip joint CT image, reconstruct a hip joint three-dimensional model; based on the hip joint three-dimensional model, identify a necrotic area in the femoral head of the hip joint;

[0153] The navigator generation module 102 is used to determine the drilling data and the Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area; generate the fitting area data of the hip joint surgery navigator based on the drilling data and the Kirschner wire data; and generate the hip joint surgery navigator according to the fitting area data.

[0154] In one implementation, the navigator generation module 102 is further configured to:

[0155] A drilling point is generated based on the three-dimensional model of the hip joint, and the drilling point is located at a preset distance from the lower edge of the trochanter; the drilling diameter is obtained; a cylindrical hole connecting the drilling point and the necrotic area is generated according to the drilling diameter; the center of the front end of the cylindrical hole is the drilling point, and the rear end of the cylindrical hole completely extends into the necrotic area; two Kirschner wire fitting areas are generated based on the three-dimensional model of the hip joint, and the center positions of the two Kirschner wire fitting areas are located at a preset distance from the lower edge of the trochanter, and the distance between the two Kirschner wire fitting areas is a preset value; based on the generated Kirschner wire fitting areas, an equivalent normal vector of the Kirschner wire fitting area is determined; it is judged whether the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset conditions; if the preset conditions are not met, the center position of at least one of the two Kirschner wire fitting areas is randomly adjusted, and the equivalent normal vector of the adjusted Kirschner wire fitting area is re-determined; until the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset conditions.

[0156] The design device of the hip joint surgery navigator provided in the above-mentioned embodiment of the present application has a corresponding relationship with the design method of the hip joint surgery navigator provided in the embodiment of the present application. Therefore, the specific content in the device has a corresponding relationship with the design method of the hip joint surgery navigator. The specific content can refer to the records in the design method of the hip joint surgery navigator, which will not be repeated in this application.

[0157] The design device of the hip surgery navigator provided in the above-mentioned embodiment of the present application and the design method of the hip surgery navigator provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0158] The above describes the internal functions and structure of the design device of the hip joint surgery navigator, such as Fig.13 As shown, in practice, the design device of the hip joint surgery navigator can be realized as an electronic device, including: a memory 301 and a processor 303.

[0159] The memory 301 may be configured to store programs.

[0160] In addition, the memory 301 may also be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phone book data, messages, pictures, videos, etc.

[0161] The memory 301 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0162] The processor 303 is coupled to the memory 301 and is configured to execute a program in the memory 301 to:

[0163] Obtain CT images of the hip joint;

[0164] Reconstructing a three-dimensional model of the hip joint based on the hip joint CT image;

[0165] Based on the three-dimensional model of the hip joint, identifying a necrotic area in the femoral head of the hip joint;

[0166] Determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area;

[0167] generating fitting zone data of a hip joint surgery navigator based on the drilling data and the Kirschner wire data;

[0168] The hip joint surgery navigator is generated according to the fitting area data.

[0169] In one implementation, the processor 303 is further configured to:

[0170] Generate a drilling point based on the three-dimensional model of the hip joint, wherein the drilling point is located at a preset distance from the lower edge of the trochanter;

[0171] Get the drilling diameter;

[0172] A cylindrical hole connecting the drilling point and the necrotic area is generated according to the drilling diameter; the center of the front end of the cylindrical hole is the drilling point, and the rear end of the cylindrical hole completely extends into the necrotic area;

[0173] Based on the three-dimensional model of the hip joint, two Kirschner wire fitting areas are generated, the center positions of the two Kirschner wire fitting areas are at a preset distance from the lower edge of the tuberosity, and the distance between the two Kirschner wire fitting areas is a preset value;

[0174] Based on the generated Kirschner wire fitting area, determining an equivalent normal vector of the Kirschner wire fitting area;

[0175] Determining whether a combination of the equivalent normal vector and the axial direction of the cylindrical hole meets a preset condition;

[0176] When the preset conditions are not met, the center position of at least one of the two Kirschner wire fitting areas is randomly adjusted, and the equivalent normal vector of the adjusted Kirschner wire fitting area is re-determined; until the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset conditions.

[0177] In this application, Fig.13 Only some components are shown schematically, which does not mean that the electronic device only includes Fig.13 Components shown.

[0178] The electronic device provided in this embodiment is based on the same inventive concept as the design method of the hip surgery navigator provided in the embodiment of the present application, and has the same beneficial effects as the method adopted, run or implemented by the application stored therein.

[0179] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0180] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0181] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0182] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0183] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0184] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0185] The present application also provides a computer-readable storage medium corresponding to the design method of a hip joint surgical navigator provided in the aforementioned embodiment, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the design method of a hip joint surgical navigator provided in any of the aforementioned embodiments.

[0186] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0187] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the design method of the hip surgery navigator provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0188] It should be noted that in the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0189] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0190] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A design method for a hip joint surgery navigator, characterized in that: include: Obtain CT images of the hip joint; Reconstructing a three-dimensional model of the hip joint based on the hip joint CT image; Based on the three-dimensional model of the hip joint, identifying a necrotic area in the femoral head of the hip joint; Determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area; generating fitting zone data of a hip joint surgery navigator based on the drilling data and the Kirschner wire data; generating the hip joint surgery navigator according to the fitting area data; Determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area includes: Generate a drilling point based on the three-dimensional model of the hip joint, wherein the drilling point is located at a preset distance from the lower edge of the trochanter; Get the drilling diameter; A cylindrical hole connecting the drilling point and the necrotic area is generated according to the drilling diameter; the center of the front end of the cylindrical hole is the drilling point, and the rear end of the cylindrical hole completely extends into the necrotic area; Based on the three-dimensional model of the hip joint, two Kirschner wire fitting areas are generated, the center positions of the two Kirschner wire fitting areas are at a preset distance from the lower edge of the tuberosity, and the distance between the two Kirschner wire fitting areas is a preset value; Based on the generated Kirschner wire fitting area, determining an equivalent normal vector of the Kirschner wire fitting area; Determining whether a combination of the equivalent normal vector and the axial direction of the cylindrical hole meets a preset condition; In the case where the preset conditions are not met, the center position of at least one of the two Kirschner wire fitting areas is randomly adjusted, and the equivalent normal vector of the adjusted Kirschner wire fitting area is re-determined; until the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset conditions; Determining whether the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets a preset condition includes: Obtain a preset external force and torque combination, wherein the external force points to the femoral head along the axial direction of the cylindrical hole, and the torque rotates clockwise along the axial direction of the cylindrical hole; based on the torque, determine two equivalent external torques generated by the torque at the center positions of the two Kirschner wire fitting areas; decompose the preset external force into a first Kirschner force, a second Kirschner force, a first external torque, and a second external torque, wherein the first Kirschner force is a force along the equivalent normal vector of the first Kirschner wire fitting area, the second Kirschner force is a force along the equivalent normal vector of the second Kirschner wire fitting area, the first external torque is an equivalent external torque along the center position of the first Kirschner wire fitting area, and the second external torque is an equivalent external torque along the center position of the second Kirschner wire fitting area; determine that the resultant force of the first Kirschner force and the first external torque is the first force, and the resultant force of the second Kirschner force and the second external torque is the second force; if in all combinations of the preset external force decomposition, the length difference between the first force and the second force is less than one time, then the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset conditions.

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