Joint replacement surgery processing method and device fusing precise perception of soft tissue

Abstract

The joint replacement surgery processing method and device fusing precise perception of soft tissue can realize real-time quantitative perception of soft tissue tension, and display the soft tissue tension in real time through augmented reality. According to the current soft tissue distribution state, different surgical scheme effects are provided to the doctor, the soft tissue adjustment precision is improved, the postoperative functional recovery effect of the patient is improved, the operation time is reduced, the operation execution efficiency of the doctor is improved, the operation pressure of the doctor is reduced, and the pain of the patient is reduced. It comprises: (1) dynamic visualization model construction; (2) tension dynamic distribution visualization enhancement; (3) intraoperative soft tissue release precise guidance.

Description

Technical Field

[0001] This invention relates to the field of medical image processing technology, and more particularly to a method and apparatus for joint replacement surgery that integrates precise soft tissue perception. Background Technology

[0002] The incidence of osteoarthritis is gradually increasing among the elderly, leading to loss of motor function and impacting their quality of life. Joint replacement surgery is a major treatment for osteoarthritis, but patients may face joint failure after the procedure. The primary factor leading to joint failure largely depends on the initial placement of the artificial joint prosthesis. Surgeons need to consider soft tissue and ligament balance when planning the prosthesis placement, but intraoperative adjustment of soft tissues is highly dependent on the surgeon's clinical experience and is difficult to quantify. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, the technical problem to be solved by this invention is to provide a joint replacement surgery method that integrates precise soft tissue perception. This method can realize real-time quantitative perception of soft tissue tension and display the soft tissue tension in real-time using augmented reality rendering. Based on the current soft tissue distribution, it provides different surgical plans to doctors, improves the precision of soft tissue adjustment, improves the postoperative functional recovery of patients, reduces surgical time, improves the efficiency of doctors' surgical execution, and reduces the pressure on doctors and the pain of patients.

[0004] The technical solution of this invention is: a joint replacement surgery method that integrates precise soft tissue perception, comprising the following steps:

[0005] (1) Dynamic visualization model construction, including:

[0006] (a) Obtain the patient's preoperative CT images and model the bone tissue, and at the same time obtain the corresponding prosthesis data to select the prosthesis model, realize the matching of the prosthesis and bone tissue and construct the correspondence between bone tissue and prosthesis;

[0007] (b) Obtain preoperative MR images of patients to model soft tissue shape and sparsely acquire soft tissue tension based on a novel spacer. Process the acquired data to realize tension distribution modeling in the surgical area and construct a dynamic tension distribution model.

[0008] (2) Enhanced visualization of dynamic tension distribution: The generated model and the patient's joints are registered in pose. The posture of the femur and tibia is tracked using an optical tracking device. The relative position of the femur and tibia is calculated and the angle between them is automatically calculated. At the same time, the current tension data is measured by the sensor. Combined with the tension data and joint posture, the current soft tissue shape and tension distribution are displayed after prediction.

[0009] (3) Precise guidance for intraoperative soft tissue release: Based on the predicted soft tissue shape and tension distribution, the corresponding recommended surgical plan is searched in the surgical plan database. The predicted release effect is shown to the doctor, and the prosthesis matching effect of the current surgical plan is also displayed. The doctor selects one of the surgical plans based on his own experience to obtain the best surgical results.

[0010] This invention first segments and models the bone tissue. By reconstructing the 3D structure of prostheses from a prosthesis library and matching their optimal pose with the bone tissue model, a matching correspondence between bone tissue and prostheses is obtained. Next, the soft tissue is segmented and modeled. Dynamic tension of the soft tissue is sparsely collected using an intermittent pressure sensor to construct a dynamic tension model. During surgery, an optical tracking system tracks the relative relationship between the femur and tibia in real time and collects soft tissue tension, displaying a real-time soft tissue tension heatmap under the current joint posture. Based on the current soft tissue tension heatmap, a matching surgical plan is searched in the surgical plan database, and the release effect is predicted, displaying the prosthesis installation effect, thereby accurately guiding the surgeon to perform soft tissue release operations during joint replacement surgery. Therefore, it can achieve real-time quantitative perception of soft tissue tension and display the augmented reality rendering of soft tissue tension in real time. Based on the current soft tissue distribution, it provides surgeons with different surgical plan effects, improving the accuracy of soft tissue adjustment, enhancing postoperative functional recovery, reducing surgical time, increasing surgeon efficiency, and alleviating surgical stress and patient suffering.

[0011] This invention provides a joint replacement surgery processing device that integrates precise soft tissue sensing, comprising:

[0012] The model building module, configured to create dynamic visualization models, executes the following:

[0013] (a) Obtain the patient's preoperative CT images and model the bone tissue, and at the same time obtain the corresponding prosthesis data to select the prosthesis model, realize the matching of the prosthesis and bone tissue and construct the correspondence between bone tissue and prosthesis;

[0014] (b) Obtain preoperative MR images of patients to model soft tissue shape and sparsely acquire soft tissue tension based on a novel spacer. Process the acquired data to realize tension distribution modeling in the surgical area and construct a dynamic tension distribution model.

[0015] The visualization enhancement module is configured to perform pose registration between the generated model and the patient's joints, track the posture of the femur and tibia using optical tracking devices, calculate the relative position of the femur and tibia and automatically determine the angle between them; at the same time, it measures the current tension data through sensors, and combines the tension data and joint posture to display the predicted current soft tissue shape and tension distribution.

[0016] The precise release guidance module is configured to search for corresponding recommended surgical plans in the surgical plan database based on the predicted soft tissue shape and tension distribution. It displays the predicted release effect to the doctor and shows the prosthesis matching effect of the current surgical plan. The doctor can select one of the surgical plans based on his own experience to obtain the best surgical results. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the joint replacement surgery method based on the present invention, which integrates precise soft tissue perception.

[0018] Figure 2 This is a schematic diagram of the bone tissue and prosthesis matching process implemented in this invention.

[0019] Figure 3 This is a schematic diagram of the soft tissue tension modeling process implemented in this invention.

[0020] Figure 4 This is a schematic diagram of the enhanced visualization process for dynamic tension distribution implemented in this invention.

[0021] Figure 5 This is a schematic diagram of the precise guidance process for intraoperative soft tissue release in accordance with the present invention. Detailed Implementation

[0022] like Figure 1 As shown, this joint replacement surgery method, which integrates precise soft tissue perception, includes the following steps:

[0023] (1) Dynamic visualization model construction, including:

[0024] (a) Obtain the patient's preoperative CT images and model the bone tissue, and at the same time obtain the corresponding prosthesis data to select the prosthesis model, realize the matching of the prosthesis and bone tissue and construct the correspondence between bone tissue and prosthesis;

[0025] (b) Obtain preoperative MR images of patients to model soft tissue shape and sparsely acquire soft tissue tension based on a novel spacer. Process the acquired data to realize tension distribution modeling in the surgical area and construct a dynamic tension distribution model.

[0026] (2) Enhanced visualization of dynamic tension distribution: The generated model and the patient's joints are registered in pose. The posture of the femur and tibia is tracked using an optical tracking device. The relative position of the femur and tibia is calculated and the angle between them is automatically calculated. At the same time, the current tension data is measured by the sensor. Combined with the tension data and joint posture, the current soft tissue shape and tension distribution are displayed after prediction.

[0027] (3) Precise guidance for intraoperative soft tissue release: Based on the predicted soft tissue shape and tension distribution, the corresponding recommended surgical plan is searched in the surgical plan database. The predicted release effect is shown to the doctor, and the prosthesis matching effect of the current surgical plan is also displayed. The doctor selects one of the surgical plans based on his own experience to obtain the best surgical results.

[0028] This invention first segments and models the bone tissue, then performs optimal pose matching between the 3D reconstructed prosthesis and the bone tissue model to obtain the corresponding relationship between the bone tissue and the prosthesis. Next, it segments and models the soft tissue, using a spacer to sparsely collect dynamic tension data, constructing a dynamic tension model. During surgery, an optical tracking system tracks the relative relationship between the femur and tibia in real time and collects soft tissue tension, displaying a real-time soft tissue tension heatmap under the current joint posture. Based on the soft tissue tension heatmap, it searches a surgical plan database for matching surgical plans, predicts the release effect, and displays the prosthesis installation effect, thereby accurately guiding the surgeon to perform soft tissue release operations during joint replacement surgery. Therefore, it can achieve real-time quantitative perception of soft tissue tension and display it in real-time using augmented reality rendering. Based on the current soft tissue distribution, it provides surgeons with different surgical plan effects, improving the accuracy of soft tissue adjustment, enhancing postoperative functional recovery, reducing surgical time, increasing surgeon efficiency, and alleviating surgical stress and patient suffering.

[0029] like Figure 2 As shown, preferably, in step (a), the patient's joint CT / MR image data are acquired before the operation, and the corresponding three-dimensional models of bone tissue and soft tissue are segmented and reconstructed from the image data;

[0030] Obtain prosthesis data from the prosthesis database and perform three-dimensional reconstruction of the prosthesis. Use the optimal spatial matching method to register the bone tissue model with the prosthesis to obtain the registration correspondence between the bone tissue model and the prosthesis model.

[0031] like Figure 3 As shown, preferably, in step (b), the soft tissue tension is dynamically and sparsely collected using a spacer, and the tension data is used to model the soft tissue tension model to obtain the functional relationship between the magnitude and position of the soft tissue tension. The tension model and the soft tissue spatial model are then combined to generate a dynamic tension distribution model of the soft tissue.

[0032] like Figure 4As shown, preferably, in step (2), the generated soft tissue dynamic tension distribution model and bone tissue and prosthesis model are used to acquire two landmarks of the patient's femur and tibia using an optical tracker to obtain the femur and tibia pose information and perform pose registration. The relative positional relationship between the femur and tibia is captured, and the angle between them is calculated in real time. At the same time, the current soft tissue tension data is measured by a pressure interval sensor. The two data are then transmitted to the augmented reality rendering surgical area to automatically generate a soft tissue dynamic tension heat map.

[0033] like Figure 5 As shown, preferably, in step (3), based on the currently generated tension heat map, a matching surgical release plan is searched in the joint replacement surgery database based on the surgical plan and the soft tissue tension distribution map;

[0034] The system provides doctors with multiple matching surgical release options, predicts the surgical outcomes of different options, and demonstrates the implant placement results. Doctors can then select an option based on their experience, and the system is demonstrated to them in real-time during the surgical procedure.

[0035] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium. When executed, the program includes the steps of the methods of the above embodiments. The storage medium can be ROM / RAM, magnetic disk, optical disk, memory card, etc. Therefore, corresponding to the method of the present invention, the present invention also includes a joint replacement surgery processing device integrating precise soft tissue sensing. This device is typically represented in the form of functional modules corresponding to the steps of the method. The device includes:

[0036] The model building module, configured to create dynamic visualization models, executes the following:

[0037] (a) Obtain the patient's preoperative CT images and model the bone tissue, and at the same time obtain the corresponding prosthesis data to select the prosthesis model, realize the matching of the prosthesis and bone tissue and construct the correspondence between bone tissue and prosthesis;

[0038] (b) Obtain preoperative MR images of patients to model soft tissue shape and sparsely acquire soft tissue tension based on a novel spacer. Process the acquired data to realize tension distribution modeling in the surgical area and construct a dynamic tension distribution model.

[0039] The visualization enhancement module is configured to perform pose registration between the generated model and the patient's joints, track the posture of the femur and tibia using optical tracking devices, calculate the relative position of the femur and tibia and automatically determine the angle between them; at the same time, it measures the current tension data through sensors, and combines the tension data and joint posture to display the predicted current soft tissue shape and tension distribution.

[0040] The precise release guidance module is configured to search for corresponding recommended surgical plans in the surgical plan database based on the predicted soft tissue shape and tension distribution. It then presents the predicted release effect to the doctor and displays the prosthesis matching effect of the current surgical plan. The doctor can then select one of the surgical plans based on their own experience to obtain the best surgical results.

[0041] Preferably, in step (a), the patient's joint CT / MR image data are acquired before the operation, and the corresponding three-dimensional models of bone tissue and soft tissue are segmented and reconstructed from the image data;

[0042] Obtain prosthesis data from the prosthesis database, perform 3D reconstruction of the prostheses, and utilize optimal...

[0043] Spatial matching methods register the bone tissue model with the prosthesis to obtain the bone tissue model and

[0044] Registration correspondence of prosthesis models.

[0045] Preferably, in step (b), a spacer is used to dynamically and sparsely collect soft tissue tension, and the tension data is used to model the soft tissue tension model to obtain the functional relationship between the magnitude and position of the soft tissue tension. The tension model and the soft tissue spatial model are then combined to generate a dynamic tension distribution model of the soft tissue.

[0046] Preferably, in the visualization enhancement module, the generated soft tissue dynamic tension distribution map model and bone tissue and prosthesis model are used to acquire two landmarks of the patient's femur and tibia using an optical tracker to obtain the femur and tibia pose information and perform pose registration. The relative positional relationship between the femur and tibia is captured, and the angle between them is calculated in real time. At the same time, the current soft tissue tension data is measured by a pressure interval sensor. Both are then input into the augmented reality rendering surgical area to automatically generate a soft tissue dynamic tension heatmap.

[0047] Preferably, in the precise release guidance module, based on the currently generated tension heatmap, a matching surgical release plan is searched in the joint replacement surgery database based on the surgical plan and the soft tissue tension distribution map;

[0048] The system provides doctors with multiple matching surgical release options, predicts the surgical outcomes of different options, and demonstrates the implant placement results. Doctors can then select an option based on their experience, and the system is demonstrated to them in real-time during the surgical procedure.

[0049] This invention achieves real-time quantitative perception of soft tissue tension through intelligent prosthesis selection and matching, and soft tissue tension modeling. It then displays the soft tissue tension in real-time using augmented reality rendering. Based on the current soft tissue distribution, it provides doctors with different surgical options, resulting in a better surgical experience and recovery for both doctors and patients in the following aspects:

[0050] 1. Improve the precision of soft tissue adjustment and enhance the postoperative functional recovery of patients.

[0051] 2. Reduce surgical time, improve doctors' surgical efficiency, and reduce doctors' surgical pressure and patients' pain.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A joint replacement surgery method integrating precise soft tissue perception, characterized by: It includes the following steps: (1) Dynamic visualization model construction, including: (a) Obtain the patient's preoperative CT images and model the bone tissue, and at the same time obtain the corresponding prosthesis data to select the prosthesis model, realize the matching of the prosthesis and bone tissue and construct the correspondence between bone tissue and prosthesis; (b) Obtain preoperative MR images of patients to model soft tissue shape and sparsely acquire soft tissue tension based on a novel spacer. Process the acquired data to realize tension distribution modeling in the surgical area and construct a dynamic tension distribution model. (2) Enhanced visualization of dynamic tension distribution: The generated model and the patient's joints are registered in pose. The posture of the femur and tibia is tracked using an optical tracking device. The relative position of the femur and tibia is calculated and the angle between them is automatically calculated. At the same time, the current tension data is measured by the sensor. Combined with the tension data and joint posture, the predicted current soft tissue shape and tension distribution are displayed. (3) Precise guidance for intraoperative soft tissue release: Based on the predicted soft tissue shape and tension distribution, the corresponding recommended surgical plan is searched in the surgical plan database and the doctor is shown the prediction of the release effect. At the same time, the prosthesis matching effect of the current surgical plan is displayed. The doctor selects one of the surgical plans based on his own experience to obtain the best surgical effect.

2. The joint replacement surgery method based on precise soft tissue perception according to claim 1, characterized in that: In step (a), the patient's joint CT and MR imaging data are acquired before the operation, and the corresponding three-dimensional models of bone and soft tissue are segmented and reconstructed from the imaging data. Obtain prosthesis data from the prosthesis database and perform three-dimensional reconstruction of the prosthesis. Use the optimal spatial matching method to register the bone tissue model with the prosthesis to obtain the registration correspondence between the bone tissue model and the prosthesis model.

3. The joint replacement surgery method based on precise soft tissue perception according to claim 2, characterized in that: In step (b), the spacer is used to dynamically and sparsely collect the soft tissue tension, and the tension data is used to model the soft tissue tension model to obtain the functional relationship between the magnitude and location of the soft tissue tension. The tension model and the soft tissue spatial model are combined to generate a dynamic tension distribution model of the soft tissue.

4. In the joint replacement surgery method with fusion of precise soft tissue perception as described in claim 3, in step (2), the generated soft tissue dynamic tension distribution map model and bone tissue and prosthesis model are used to obtain two landmarks of the patient's femur and tibia using an optical tracker to obtain the femur and tibia pose information and perform pose registration; the relative positional relationship between the femur and tibia is captured, the angle between the two is calculated in real time, and the current soft tissue tension data is measured by a pressure interval sensor; the two are transmitted into the augmented reality rendering surgical area to automatically generate a soft tissue dynamic tension heat map.

5. The joint replacement surgery method based on precise soft tissue perception according to claim 4, characterized in that: In step (3), based on the currently generated tension heatmap, a matching surgical release plan is searched in the joint replacement surgery database based on the surgical plan and the soft tissue tension distribution map; The system provides doctors with multiple matching surgical release options, predicts the surgical outcomes of different options, and demonstrates the implant placement results. Doctors can then select an option based on their experience, and the system is demonstrated to them in real-time during the surgical procedure.

6. An apparatus for performing the joint replacement surgery method based on precise soft tissue sensing according to claim 5, characterized in that: It includes: The model building module, configured to create dynamic visualization models, executes the following: (a) Obtain the patient's preoperative CT images and model the bone tissue, and at the same time obtain the corresponding prosthesis data to select the prosthesis model, realize the matching of the prosthesis and bone tissue and construct the correspondence between bone tissue and prosthesis; (b) Obtain preoperative MR images of patients to model soft tissue shape and sparsely acquire soft tissue tension based on a novel spacer. Process the acquired data to realize tension distribution modeling in the surgical area and construct a dynamic tension distribution model. The visualization enhancement module is configured to perform pose registration between the generated model and the patient's joints, track the pose of the femur and tibia using an optical tracking device, calculate the relative position of the femur and tibia and automatically determine the angle between them. Simultaneously, the current tension data is measured by sensors, and combined with the tension data and joint pose, the predicted current soft tissue shape and tension distribution are displayed; The precise release guidance module is configured to search for corresponding recommended surgical plans in the surgical plan database based on the predicted soft tissue shape and tension distribution. It displays the predicted release effect to the doctor and shows the prosthesis matching effect of the current surgical plan. The doctor can select one of the surgical plans based on his own experience to obtain the best surgical results.

7. The apparatus for a joint replacement surgery method incorporating precise soft tissue sensing according to claim 6, characterized in that: In (a), the patient's joint CT / MR image data are acquired before the operation, and the corresponding three-dimensional models of bone and soft tissue are segmented and reconstructed from the imaging data; Obtain prosthesis data from the prosthesis database and perform three-dimensional reconstruction of the prosthesis. Use the optimal spatial matching method to register the bone tissue model with the prosthesis to obtain the registration correspondence between the bone tissue model and the prosthesis model.

8. The apparatus for a joint replacement surgery method incorporating precise soft tissue sensing according to claim 7, characterized in that: In step (b), a spacer is used to dynamically and sparsely collect soft tissue tension, and the tension data is used to model the soft tissue tension model to obtain the functional relationship between the magnitude and location of soft tissue tension. The tension model and the soft tissue spatial model are combined to generate a dynamic tension distribution model of soft tissue.

9. The apparatus for a joint replacement surgery method incorporating precise soft tissue sensing according to claim 8, characterized in that: In the visualization enhancement module, the generated soft tissue dynamic tension distribution model and bone tissue and prosthesis model are used to acquire two landmarks of the patient's femur and tibia using an optical tracker to obtain the femur and tibia pose information and perform pose registration; the relative positional relationship of the femur and tibia is captured, and the angle between them is calculated in real time; at the same time, the current soft tissue tension data is measured through a pressure interval sensor; both are input into the augmented reality rendering surgical area to automatically generate a soft tissue dynamic tension heat map.

10. The apparatus for a joint replacement surgery method incorporating precise soft tissue sensing according to claim 9, characterized in that: In the precise release guidance module, based on the currently generated tension heatmap, a matching surgical release plan is searched in the joint replacement surgery database based on the surgical plan and the soft tissue tension distribution map. The system provides doctors with multiple matching surgical release options, predicts the surgical outcomes of different options, and demonstrates the implant placement results. Doctors can then select an option based on their experience, and the system is demonstrated to them in real-time during the surgical procedure.

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