A method and system for constructing a lower limb force line

Abstract

The application provides a lower limb force line construction method and a construction system, which comprises the following steps: selecting an anatomical marker point from a full-length image of a lower limb and establishing a two-dimensional geometric position relationship of the anatomical marker point in a 2D coordinate system; acquiring three-dimensional coordinates of partial bone features of the lower limb and data of a marker tracking point, and establishing a three-dimensional geometric position relationship; calculating three-dimensional coordinate data of the partial bone features of the lower limb in a straightened state by using the three-dimensional geometric position relationship between the partial bone features of the lower limb and the marker assembly; calculating three-dimensional coordinate data of the remaining partial bone features by using the two-dimensional geometric position relationship of the anatomical marker point and the three-dimensional coordinate data of the partial bone features of the lower limb in the straightened state; and constructing a lower limb force line according to the three-dimensional coordinate data of the partial bone features of the lower limb and the three-dimensional coordinate data of the remaining partial bone features of the lower limb. The lower limb force line construction method provided by the application can realize real-time and dynamic detection of the lower limb force line, improve the accuracy of the lower limb force line construction, and improve the effect of surgical treatment.

Description

Technical Field

[0001] This invention relates to the field of lower limb force line construction technology, and in particular to a method and system for constructing lower limb force lines. Background Technology

[0002] In the diagnosis and treatment of knee osteoarthritis, osteotomy techniques such as high tibial osteotomy, unicompartmental knee arthroplasty, and total knee arthroplasty can be used to shift the force line of the weight-bearing lower limb, improving the biomechanical environment within the knee joint, reducing wear and tear, and thus alleviating pain and improving knee joint function. However, insufficient or excessive force line correction can lead to surgical failure. Therefore, precise force line correction during surgery is increasingly valued by orthopedic surgeons.

[0003] Current methods for lower limb alignment detection include X-ray measurement, surgical navigation, inertial sensor detection, and preoperative planning of personalized 3D-printed surgical guides. X-ray measurement can only test alignment parameters on full-length lower limb radiographs and cannot achieve real-time intraoperative alignment detection. Surgical navigation methods require precise acquisition of bony feature points of the joints, so their application is currently limited to surgeries with large knee incisions, such as TKA / UKA. Inertial sensor methods require pre-calibration, and preoperative planning of personalized osteotomy guides relies on X-rays. While the osteotomy location and size are designed preoperatively, fine-tuning during surgery is not possible based on actual conditions, resulting in suboptimal alignment. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for constructing lower limb force lines, which can detect lower limb force lines in real time and dynamically, improve the accuracy of lower limb force line construction, and improve the effect of surgical treatment.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a method for constructing a lower limb force line, comprising:

[0006] Obtain full-length images of the lower limbs;

[0007] Several anatomical markers are selected from the full-length image of the lower limb, and two-dimensional coordinate data of each anatomical marker are obtained to establish a 2D coordinate system. The two-dimensional geometric positional relationship of each anatomical marker in the 2D coordinate system is then established.

[0008] The marking component is fixed to the lower limb, and the three-dimensional coordinates of the bone features of the lower limb and the data of the marking tracking points of the marking component fixed to the lower limb are obtained using a stereo imaging device and the probe tool. The three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component is established. The bone features of the lower limb include the medial malleolus, lateral malleolus, hip center and knee joint functional axis.

[0009] Using the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component, the three-dimensional coordinate data of the bone features of the lower limb in the extended state are calculated;

[0010] Using the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state, the three-dimensional coordinate data of the bone features of the remaining lower limb are calculated; wherein, the bone features of the remaining lower limb include the medial femoral condyle, the lateral femoral condyle, the medial tibial plateau, and the lateral tibial plateau.

[0011] Based on the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the bone features of the remaining lower limb, the force line of the lower limb is constructed.

[0012] In some embodiments, the plurality of anatomical landmarks include the hip center point, the medial femoral condyle point, the lateral femoral condyle point, the medial tibial plateau point, the lateral tibial plateau point, the medial malleolus point, and the lateral malleolus point;

[0013] The step of obtaining the two-dimensional coordinate data of each of the anatomical marker points to establish a 2D coordinate system includes:

[0014] Two-dimensional coordinate data of each of the anatomical markers are obtained, and the 2D coordinate system is constructed on the full-length image of the lower limb based on the two-dimensional coordinate data of the anatomical markers.

[0015] In some embodiments, the step of acquiring the three-dimensional coordinates of the lower limb bone features and the data of the tracking points of the marker component fixed to the lower limb using a stereoscopic imaging device and the probe tool, and establishing the three-dimensional geometric positional relationship between the lower limb bone features and the marker component, includes:

[0016] The stereoscopic imaging device is used to acquire the three-dimensional coordinates of the medial malleolus point and the lateral malleolus point, as well as the data of the marking tracking points of the marking component fixed on the lower limb, to establish the three-dimensional geometric positional relationship between the medial malleolus point, the lateral malleolus point, and the marking component;

[0017] The stereoscopic imaging device is used to acquire data of the marking tracking points of the marking component fixed to the lower limb when the lower limb makes a conical motion around the hip center, and the data of the hip center is acquired to establish the three-dimensional geometric positional relationship between the hip center and the marking component.

[0018] The stereoscopic imaging device is used to acquire data on the marking tracking points of the marking component fixed to the lower limb during open-ended cyclic flexion and extension movements of the lower limb, and to acquire data on the knee joint functional axis, thereby establishing a three-dimensional geometric positional relationship between the knee joint functional axis and the marking component.

[0019] In some embodiments, calculating the three-dimensional coordinate data of the lower limb bone features in an extended state by utilizing the three-dimensional geometric positional relationship between the lower limb bone features and the marking component includes:

[0020] The stereoscopic imaging device is used to acquire data on the marking and tracking points of the marking component fixed to the lower limb when the lower limb is in an extended state;

[0021] Using the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component fixed to the lower limb, as well as the data of the marking tracking points of the marking component fixed to the lower limb in the extended state, the three-dimensional coordinate data of the bone features of the lower limb in the extended state are calculated.

[0022] In some embodiments, calculating the three-dimensional coordinate data of the remaining bone features of the lower limb using the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state includes:

[0023] The plane containing the hip center and the knee joint functional axis when the lower limb is in an extended state is set as the coronal plane in a three-dimensional coordinate system;

[0024] By combining the coronal plane in the 2D coordinate system and the 3D coordinate system, and based on the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state, the three-dimensional coordinate data of the remaining bone features of the lower limb are calculated.

[0025] In some embodiments, constructing the lower limb force line based on the three-dimensional coordinate data of the bone features of the lower limb portion and the three-dimensional coordinate data of the bone features of the remaining portion of the lower limb includes:

[0026] The lower limb force line is constructed based on the three-dimensional coordinates of the hip center point, the knee joint functional axis, the medial malleolus point, the lateral malleolus point, the medial femoral condyle point, the lateral femoral condyle point, the medial tibial plateau point, and the lateral tibial plateau point.

[0027] Secondly, the present invention provides a system for constructing lower limb force lines, comprising:

[0028] The acquisition module is used to acquire full-length images of the lower limbs;

[0029] The processing module, connected to the acquisition module, is used to select several anatomical markers from the full-length image of the lower limb, acquire the two-dimensional coordinate data of each anatomical marker to establish a 2D coordinate system, and establish the two-dimensional geometric positional relationship of each anatomical marker in the 2D coordinate system.

[0030] The marking component is fixed to the lower limb, and the three-dimensional coordinates of the bone features of the lower limb and the data of the marking tracking points of the marking component fixed to the lower limb are obtained using a stereo imaging device and a probe tool. The three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component is established. The bone features of the lower limb include the medial malleolus, lateral malleolus, hip center and knee joint functional axis.

[0031] The processing module is also used to calculate the three-dimensional coordinate data of the bone features of the lower limb in the extended state by utilizing the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component.

[0032] A calculation module, connected to the processing module, uses the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state to calculate the three-dimensional coordinate data of the remaining bone features of the lower limb; wherein, the remaining bone features of the lower limb include the medial femoral condyle, the lateral femoral condyle, the medial tibial plateau, and the lateral tibial plateau.

[0033] The construction module constructs the force line of the lower limb based on the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the bone features of the remaining lower limb.

[0034] In some embodiments, the plurality of anatomical landmarks include the hip center point, the medial femoral condyle point, the lateral femoral condyle point, the medial tibial plateau point, the lateral tibial plateau point, the medial malleolus point, and the lateral malleolus point;

[0035] The processing module acquires the two-dimensional coordinate data of each of the anatomical marker points to establish a 2D coordinate system, including:

[0036] The processing module acquires the two-dimensional coordinate data of each of the anatomical markers and constructs the 2D coordinate system on the full-length image of the lower limb based on the two-dimensional coordinate data of the anatomical markers.

[0037] In some embodiments, the step of acquiring the three-dimensional coordinates of the lower limb bone features and the data of the tracking points of the marker component fixed to the lower limb using a stereoscopic imaging device and the probe tool, and establishing the three-dimensional geometric positional relationship between the lower limb bone features and the marker component, includes:

[0038] The stereoscopic imaging device is used to acquire the three-dimensional coordinates of the medial malleolus point and the lateral malleolus point, as well as the data of the marking tracking points of the marking component fixed on the lower limb, to establish the three-dimensional geometric positional relationship between the medial malleolus point, the lateral malleolus point, and the marking component;

[0039] The stereoscopic imaging device is used to acquire data of the marking tracking points of the marking component fixed to the lower limb when the lower limb makes a conical motion around the hip center, and the data of the hip center is acquired to establish the three-dimensional geometric positional relationship between the hip center and the marking component.

[0040] The stereoscopic imaging device is used to acquire data on the marking tracking points of the marking component fixed to the lower limb during open-ended cyclic flexion and extension movements of the lower limb, and to acquire data on the knee joint functional axis, thereby establishing a three-dimensional geometric positional relationship between the knee joint functional axis and the marking component.

[0041] In some embodiments, the processing module is further configured to calculate the three-dimensional coordinate data of the lower limb bone features in an extended state by utilizing the three-dimensional geometric positional relationship between the lower limb bone features and the marking component, specifically including:

[0042] The stereoscopic imaging device is used to acquire data on the marking and tracking points of the marking component fixed to the lower limb when the lower limb is in an extended state;

[0043] Using the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component fixed to the lower limb, as well as the data of the marking tracking points of the marking component fixed to the lower limb in the extended state, the three-dimensional coordinate data of the bone features of the lower limb in the extended state are calculated.

[0044] In some embodiments, the calculation module uses the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state to calculate the three-dimensional coordinate data of the remaining bone features of the lower limb, specifically including:

[0045] The plane containing the hip center and the knee joint functional axis when the lower limb is in an extended state is set as the coronal plane in a three-dimensional coordinate system;

[0046] By combining the coronal plane in the 2D coordinate system and the 3D coordinate system, and based on the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state, the three-dimensional coordinate data of the remaining bone features of the lower limb are calculated.

[0047] In some embodiments, the construction module constructs a lower limb force line based on the three-dimensional coordinate data of the bone features of the lower limb portion and the three-dimensional coordinate data of the bone features of the remaining portion of the lower limb, including:

[0048] The lower limb force line is constructed based on the three-dimensional coordinates of the hip center point, knee joint functional axis, medial malleolus point, lateral malleolus point, medial femoral condyle point, lateral femoral condyle point, medial tibial plateau point, and lateral tibial plateau point.

[0049] The beneficial effects of the method and system for constructing lower limb force lines provided by the present invention are as follows: Two-dimensional coordinate data are established by selecting each bony marker point in the full-length image of the lower limb; and three-dimensional coordinates of some bone features of the lower limb in the extended state and data of the marker tracking points of the lower limb are collected by a stereoscopic image capturing device and a probe tool. Through two-dimensional to three-dimensional spatial transformation, the three-dimensional coordinate data of all bone features required for force line calculation are obtained. The method is simple to operate and can monitor the lower limb force lines in real time and accurately. Attached Figure Description

[0050] Figure 1 A flowchart illustrating the method for constructing lower limb force lines according to an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram illustrating the selection of bone feature points in a full-length lower limb image, as provided by an embodiment of the present invention.

[0052] Figure 3 A schematic diagram of the two-dimensional coordinates of bone feature points in an embodiment of the present invention;

[0053] Figure 4 A schematic diagram illustrating the use of a probe tool to obtain partial bone feature points of the lower limb in an extended state, as provided in the embodiments of the present invention;

[0054] Figure 5 A schematic diagram of the three-dimensional coordinates of bone feature points in an embodiment of the present invention;

[0055] Figure 6 A schematic diagram of the lower limb force line calculated according to the embodiments provided by the present invention;

[0056] Figure 7 This is a schematic diagram of the lower limb force line construction system provided by the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, but does not exclude other elements or objects.

[0058] refer to Figure 1As shown, this embodiment of the invention provides a method for constructing lower limb force lines, including:

[0059] S101: Obtain the full-length image of the lower limb.

[0060] In this step, X-rays can be used to photograph the lower limbs of the human body to obtain a long image of the lower limbs.

[0061] S102: Select several anatomical markers from the full-length image of the lower limb, obtain the two-dimensional coordinate data of each anatomical marker to establish a 2D coordinate system, and establish the two-dimensional geometric positional relationship of each anatomical marker in the 2D coordinate system.

[0062] refer to Figure 2 and Figure 3 As shown, in this step, several anatomical markers selected from the full-length lower limb image include the hip center point A, the medial femoral condyle point B, the lateral femoral condyle point C, the medial tibial plateau point D, the lateral tibial plateau point E, the medial malleolus point F, and the lateral malleolus point G. Each anatomical marker has a corresponding pixel position. A 2D coordinate system is established using the pixel positions of three of these anatomical markers. This allows for the construction of a 2D coordinate system on the full-length lower limb image using the two-dimensional coordinate data of each anatomical marker. The two-dimensional geometric positional relationships between these anatomical markers can then be calculated within this 2D coordinate system.

[0063] This allows for the acquisition of two-dimensional coordinate data of the anatomical marker points in the 2D coordinate system. Combined with... Figure 2 and Figure 3 As shown, the coordinates of hip center point A are HJC2, the coordinates of medial femoral condyle point B are ME2, the coordinates of lateral femoral condyle point C are LE2, the coordinates of medial tibial plateau point D are MP2, the coordinates of lateral tibial plateau point E are LP2, the coordinates of medial malleolus point F are MM2, and the coordinates of lateral malleolus point G are LM2.

[0064] S103: Fix the marking component to the lower limb, use a stereo imaging device and the probe tool to acquire the three-dimensional coordinates of the bone features of the lower limb and the data of the marking tracking points of the marking component fixed to the lower limb, and establish the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component; wherein, the bone features of the lower limb include the medial malleolus, the lateral malleolus, the hip center and the knee joint functional axis.

[0065] refer to Figures 3 to 5 As shown, the specific operation method for this step is as follows:

[0066] The marking component is attached to the lower limb so that it can move synchronously with the lower limb. It should be noted that since the probe tool can only detect some bone features, the remaining bone features need to be calculated and derived subsequently.

[0067] Subsequently, the plane containing the hip center point A and the knee joint functional axis EF in the extended state of the lower limb is set as the coronal plane in the three-dimensional coordinate system to establish the three-dimensional coordinate system.

[0068] The stereoscopic imaging device is used to acquire the three-dimensional coordinates of the medial malleolus point F and the lateral malleolus point G, as well as the data of the marking tracking points of the marking component fixed on the lower limb, to establish the three-dimensional geometric positional relationship between the medial malleolus point F, the lateral malleolus point G, and the marking component;

[0069] The stereo imaging device is used to acquire data of the marking tracking points of the marking component fixed to the lower limb when the lower limb makes a conical motion around the hip center A, and the data of the hip center A is acquired to establish the three-dimensional geometric positional relationship between the hip center A and the marking component.

[0070] The stereoscopic imaging device is used to acquire data on the marking tracking points of the marking component fixed to the lower limb during open-ended cyclic flexion and extension movements of the lower limb, and to acquire data on the knee joint functional axis EF, thereby establishing a three-dimensional geometric positional relationship between the knee joint functional axis EF and the marking component.

[0071] S104: Calculate the three-dimensional coordinate data of the bone features of the lower limb in the extended state by utilizing the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component.

[0072] In this step, the three-dimensional geometric positional relationship between the lower limb bone features and the marking component fixed to the lower limb, as well as the data of the marking tracking points of the marking component fixed to the lower limb in the extended state, is used to calculate the three-dimensional coordinate data of the lower limb bone features. The three-dimensional coordinate data of the lower limb bone features includes the three-dimensional coordinates of the hip center point, the knee joint functional axis, the medial malleolus point, and the lateral malleolus point. Specifically, the three-dimensional coordinates of the hip center point A are HJC3, the medial malleolus point F are MM3, and the lateral malleolus point G are LM3.

[0073] S105: Using the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state, the three-dimensional coordinate data of the remaining bone features of the lower limb are calculated; wherein, the remaining bone features of the lower limb include the medial femoral condyle, the lateral femoral condyle, the medial tibial plateau, and the lateral tibial plateau.

[0074] Specifically, in this step, the coronal planes of the 2D coordinate system and the 3D coordinate system are combined. Based on the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the 3D coordinate data of the bone features of the lower limb in the extended state, the 3D coordinate data of the remaining bone features of the lower limb are calculated. The 3D coordinate data of the remaining bone features of the lower limb includes the 3D coordinates of the medial femoral condyle (ME3), the 3D coordinates of the lateral femoral condyle (LE3), the 3D coordinates of the medial tibial plateau point D (MP3), and the 3D coordinates of the lateral tibial plateau point (LP3).

[0075] S106: Construct the force line of the lower limb based on the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the bone features of the remaining lower limb.

[0076] refer to Figure 6 As shown, in this step, the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the bone features of the remaining lower limb include all parameters that can be used to construct the lower limb force line. A three-dimensional dynamic lower limb force line (such as...) is constructed using the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the bone features of the remaining lower limb. Figure 6 (White line).

[0077] In this embodiment, two-dimensional coordinate data is established by selecting each bony marker point in the full-length image of the lower limb; and the three-dimensional coordinates of some bone features of the lower limb in the extended state and the data of the marker tracking points of the lower limb are collected by the stereoscopic image capturing device and the probe tool. Through the two-dimensional to three-dimensional spatial transformation, the three-dimensional coordinate data of all bone features required for force line calculation are obtained. This method is simple to operate and can monitor the force line of the lower limb in real time and accurately.

[0078] refer to Figures 1 to 7 As shown, in another embodiment of the present invention, a system for constructing lower limb force lines is provided, comprising:

[0079] An acquisition module is used to acquire a full-length image of the lower limb. A processing module, connected to the acquisition module, is used to select several anatomical markers from the full-length lower limb image, acquire the two-dimensional coordinate data of each anatomical marker to establish a 2D coordinate system, and establish the two-dimensional geometric positional relationship of each anatomical marker in the 2D coordinate system. A marker component is fixed to the lower limb, and a stereoscopic image acquisition device and the probe tool are used to acquire the three-dimensional coordinates of some bone features of the lower limb and the data of the marker tracking points fixed to the lower limb, and to establish the three-dimensional geometric positional relationship between the bone features of the lower limb and the marker component; wherein, the bone features of the lower limb include the medial malleolus, lateral malleolus, hip center, and knee joint functional axis. The processing module is also used to calculate the three-dimensional coordinate data of the bone features of the lower limb in the extended state using the three-dimensional geometric positional relationship between the bone features of the lower limb and the marker component. A calculation module, connected to the processing module, calculates the three-dimensional coordinate data of the remaining bone features of the lower limb using the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state. The remaining bone features of the lower limb include the medial femoral condyle, the lateral femoral condyle, the medial tibial plateau, and the lateral tibial plateau. A construction module constructs the lower limb force line based on the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the remaining bone features of the lower limb.

[0080] Among them, several of the anatomical landmarks include the hip center point, the medial femoral condyle point, the lateral femoral condyle point, the medial tibial plateau point, the lateral tibial plateau point, the medial malleolus point, and the lateral malleolus point.

[0081] Specifically, the stereoscopic imaging device is an infrared navigation lens, which binds the marking component to the lower limb so that the marking component can move synchronously with the lower limb. The stereoscopic imaging device acquires the three-dimensional coordinates of the medial malleolus and lateral malleolus, as well as data on the tracking points of the marking component fixed to the lower limb, establishing a three-dimensional geometric positional relationship between the medial malleolus, lateral malleolus, and the marking component. The stereoscopic imaging device also acquires data on the tracking points of the marking component fixed to the lower limb when the lower limb performs conical motion around the hip center, acquires data on the hip center, and establishes a three-dimensional geometric positional relationship between the hip center and the marking component. Finally, the stereoscopic imaging device acquires data on the tracking points of the marking component fixed to the lower limb during open-ended cyclic flexion and extension movements of the lower limb, acquires data on the knee joint functional axis, and establishes a three-dimensional geometric positional relationship between the knee joint functional axis and the marking component.

[0082] The processing module is further configured to calculate the three-dimensional coordinate data of the bone features of the lower limb in the extended state by utilizing the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component. Specifically, this includes: acquiring data of the marking tracking points of the marking component fixed to the lower limb in the extended state using the stereoscopic image capturing device; and calculating the three-dimensional coordinate data of the bone features of the lower limb in the extended state by utilizing the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component fixed to the lower limb, as well as the data of the marking tracking points of the marking component fixed to the lower limb in the extended state.

[0083] The processing module sets the plane containing the hip center and the knee joint functional axis of the lower limb in the extended state as the coronal plane in a three-dimensional coordinate system.

[0084] By combining the coronal planes of the 2D coordinate system and the 3D coordinate system, and based on the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state, the three-dimensional coordinate data of the remaining bone features of the lower limb are calculated. The three-dimensional coordinate data of the remaining bone features of the lower limb includes the three-dimensional coordinates of the medial femoral condyle, the lateral femoral condyle, the medial tibial plateau, and the lateral tibial plateau.

[0085] Finally, the construction module constructs the lower limb force line based on the three-dimensional coordinates of the hip center point, knee joint functional axis, medial malleolus point, lateral malleolus point, medial femoral condyle point, lateral femoral condyle point, medial tibial plateau point, and lateral tibial plateau point.

[0086] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A method for constructing a lower limb force line, characterized in that, include: Obtain full-length images of the lower limbs; Several anatomical markers are selected from the full-length image of the lower limb, and two-dimensional coordinate data of each anatomical marker are obtained to establish a 2D coordinate system. The two-dimensional geometric positional relationship of each anatomical marker in the 2D coordinate system is then established. The marking component is fixed to the lower limb, and the three-dimensional coordinates of the bone features of the lower limb and the data of the marking tracking points of the marking component fixed to the lower limb are obtained using a stereo imaging device and a probe tool. The three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component is established. The bone features of the lower limb include the medial malleolus, lateral malleolus, hip center and knee joint functional axis. Using the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component, the three-dimensional coordinate data of the bone features of the lower limb in the extended state are calculated; Using the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state, the three-dimensional coordinate data of the bone features of the remaining lower limb are calculated; wherein, the bone features of the remaining lower limb include the medial femoral condyle, the lateral femoral condyle, the medial tibial plateau, and the lateral tibial plateau. Based on the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the bone features of the remaining lower limb, the force line of the lower limb is constructed.

2. The method for constructing the lower limb force line according to claim 1, characterized in that, Several of the aforementioned anatomical landmarks include the hip midpoint, the medial femoral condyle point, the lateral femoral condyle point, the medial tibial plateau point, the lateral tibial plateau point, the medial malleolus point, and the lateral malleolus point; The step of obtaining the two-dimensional coordinate data of each of the anatomical marker points to establish a 2D coordinate system includes: Two-dimensional coordinate data of each of the anatomical markers are obtained, and the 2D coordinate system is constructed on the full-length image of the lower limb based on the two-dimensional coordinate data of the anatomical markers.

3. The method for constructing the lower limb force line according to claim 2, characterized in that, The process of acquiring the three-dimensional coordinates of the lower limb bone features and the data of the tracking points of the marker component fixed to the lower limb using a stereoscopic imaging device and the probe tool, and establishing the three-dimensional geometric positional relationship between the lower limb bone features and the marker component, includes: The stereoscopic imaging device is used to acquire the three-dimensional coordinates of the medial malleolus point and the lateral malleolus point, as well as the data of the marking tracking points of the marking component fixed on the lower limb, to establish the three-dimensional geometric positional relationship between the medial malleolus point, the lateral malleolus point, and the marking component; The stereoscopic imaging device is used to acquire data of the marking tracking points of the marking component fixed to the lower limb when the lower limb makes a conical motion around the hip center, and the data of the hip center is acquired to establish the three-dimensional geometric positional relationship between the hip center and the marking component. The stereoscopic imaging device is used to acquire data on the marking tracking points of the marking component fixed to the lower limb during open-ended cyclic flexion and extension movements of the lower limb, and to acquire data on the knee joint functional axis, thereby establishing a three-dimensional geometric positional relationship between the knee joint functional axis and the marking component.

4. The method for constructing the lower limb force line according to claim 3, characterized in that, The step of calculating the three-dimensional coordinate data of the lower limb bone features in an extended state by utilizing the three-dimensional geometric positional relationship between the lower limb bone features and the marking component includes: The stereoscopic imaging device is used to acquire data on the marking and tracking points of the marking component fixed to the lower limb when the lower limb is in an extended state; Using the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component fixed to the lower limb, as well as the data of the marking tracking points of the marking component fixed to the lower limb in the extended state, the three-dimensional coordinate data of the bone features of the lower limb in the extended state are calculated.

5. The method for constructing the lower limb force line according to claim 4, characterized in that, The calculation of three-dimensional coordinate data of the remaining bone features of the lower limb using the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state includes: The plane containing the hip center and the knee joint functional axis when the lower limb is in an extended state is set as the coronal plane in a three-dimensional coordinate system; By combining the coronal plane in the 2D coordinate system and the 3D coordinate system, and based on the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state, the three-dimensional coordinate data of the remaining bone features of the lower limb are calculated.

6. The method for constructing the lower limb force line according to claim 5, characterized in that, The step of constructing the lower limb force line based on the three-dimensional coordinate data of the bone features of the lower limb portion and the three-dimensional coordinate data of the bone features of the remaining portion of the lower limb includes: The lower limb force line is constructed based on the three-dimensional coordinates of the hip center point, the knee joint functional axis, the medial malleolus point, the lateral malleolus point, the medial femoral condyle point, the lateral femoral condyle point, the medial tibial plateau point, and the lateral tibial plateau point.

7. A system for constructing lower limb force lines, characterized in that, include: The acquisition module is used to acquire full-length images of the lower limbs; The processing module, connected to the acquisition module, is used to select several anatomical markers from the full-length image of the lower limb, acquire the two-dimensional coordinate data of each anatomical marker to establish a 2D coordinate system, and establish the two-dimensional geometric positional relationship of each anatomical marker in the 2D coordinate system. The marking component is fixed to the lower limb, and the three-dimensional coordinates of the bone features of the lower limb and the data of the marking tracking points of the marking component fixed to the lower limb are obtained using a stereo imaging device and a probe tool. The three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component is established. The bone features of the lower limb include the medial malleolus, lateral malleolus, hip center and knee joint functional axis. The processing module is also used to calculate the three-dimensional coordinate data of the bone features of the lower limb in the extended state by utilizing the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component. A calculation module, connected to the processing module, uses the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state to calculate the three-dimensional coordinate data of the remaining bone features of the lower limb; wherein, the remaining bone features of the lower limb include the medial femoral condyle, the lateral femoral condyle, the medial tibial plateau, and the lateral tibial plateau. The construction module constructs the force line of the lower limb based on the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the bone features of the remaining lower limb.

8. The lower limb force line construction system according to claim 7, characterized in that, Several of the aforementioned anatomical landmarks include the hip midpoint, the medial femoral condyle point, the lateral femoral condyle point, the medial tibial plateau point, the lateral tibial plateau point, the medial malleolus point, and the lateral malleolus point; The processing module acquires the two-dimensional coordinate data of each of the anatomical marker points to establish a 2D coordinate system, including: The processing module acquires the two-dimensional coordinate data of each of the anatomical markers and constructs the 2D coordinate system on the full-length image of the lower limb based on the two-dimensional coordinate data of the anatomical markers.

9. The lower limb force line construction system according to claim 7, characterized in that, The process of acquiring the three-dimensional coordinates of the lower limb bone features and the data of the tracking points of the marker component fixed to the lower limb using a stereoscopic imaging device and the probe tool, and establishing the three-dimensional geometric positional relationship between the lower limb bone features and the marker component, includes: The stereoscopic imaging device is used to acquire the three-dimensional coordinates of the medial malleolus point and the lateral malleolus point, as well as the data of the marking tracking points of the marking component fixed on the lower limb, to establish the three-dimensional geometric positional relationship between the medial malleolus point, the lateral malleolus point, and the marking component; The stereoscopic imaging device is used to acquire data of the marking tracking points of the marking component fixed to the lower limb when the lower limb makes a conical motion around the hip center, and the data of the hip center is acquired to establish the three-dimensional geometric positional relationship between the hip center and the marking component. The stereoscopic imaging device is used to acquire data on the marking tracking points of the marking component fixed to the lower limb during open-ended cyclic flexion and extension movements of the lower limb, and to acquire data on the knee joint functional axis, thereby establishing a three-dimensional geometric positional relationship between the knee joint functional axis and the marking component.

10. The lower limb force line construction system according to claim 8, characterized in that, The processing module is further configured to calculate the three-dimensional coordinate data of the lower limb bone features in an extended state by utilizing the three-dimensional geometric positional relationship between the lower limb bone features and the marking component, specifically including: The stereoscopic imaging device is used to acquire data on the marking and tracking points of the marking component fixed to the lower limb when the lower limb is in an extended state; Using the three-dimensional geometric positional relationship between the bone features of the lower limb and the marking component fixed to the lower limb, as well as the data of the marking tracking points of the marking component fixed to the lower limb in the extended state, the three-dimensional coordinate data of the bone features of the lower limb in the extended state are calculated.

11. The lower limb force line construction system according to claim 9, characterized in that, The calculation module uses the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state to calculate the three-dimensional coordinate data of the remaining bone features of the lower limb, specifically including: The plane containing the hip center and the knee joint functional axis when the lower limb is in an extended state is set as the coronal plane in a three-dimensional coordinate system; By combining the coronal plane in the 2D coordinate system and the 3D coordinate system, and based on the two-dimensional geometric positional relationship of the anatomical markers in the 2D coordinate system and the three-dimensional coordinate data of the bone features of the lower limb in the extended state, the three-dimensional coordinate data of the remaining bone features of the lower limb are calculated.

12. The lower limb force line construction system according to claim 10, characterized in that, The construction module constructs the lower limb force line based on the three-dimensional coordinate data of the bone features of the lower limb and the three-dimensional coordinate data of the bone features of the remaining lower limb, including: The lower limb force line is constructed based on the three-dimensional coordinates of the hip center point, knee joint functional axis, medial malleolus point, lateral malleolus point, medial femoral condyle point, lateral femoral condyle point, medial tibial plateau point, and lateral tibial plateau point.

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