Planning method and device for prosthetic fixation nails

Abstract

The present application discloses a planning method and device for prosthetic fixation nails, which relate to the field of medical device technology. The method comprises: obtaining a medical image of a target object, wherein the medical image is a CT image or an MRI image; when the medical image is a CT image, determining the implantation method of the prosthetic fixation nail according to a safe zone strategy; when the medical image is an MRI image, determining the implantation method of the prosthetic fixation nail according to a deep learning strategy. The present application solves the technical problem that the prior art cannot guarantee the stability and safety of implanting a prosthetic fixation nail after implanting an acetabular prosthesis.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a planning method and device for prosthetic fixation nails. Background Art

[0002] With the continuous development of technology, more and more surgical robots and surgical navigation systems are appearing in the medical field. Surgical robots and navigation have brought great benefits to patients to a certain extent, improving surgical accuracy, shortening the learning cycle of doctors during surgery, and improving the visibility of doctors to the surgical site during surgery. In hip replacement surgery, implanting acetabular prosthesis and assisted screw fixation is a common method to improve bone integration and long-term stability. Therefore, preoperative planning and intraoperative navigation of the implantation position and length of the screw are very important. With the emergence of surgical navigation systems, the implantation of prostheses is more accurate, so the planning and implantation of screws also need to be more accurate.

[0003] However, since the acetabulum of patients undergoing hip replacement surgery is damaged to a certain extent and the outer wall of the acetabulum is relatively thin, if the screw of appropriate length is not selected and implanted in the appropriate direction during screw implantation, it is very likely that the screw will penetrate the bone, possibly causing blood vessel or nerve damage. Sometimes, a certain degree of prosthesis stability may be sacrificed in order to avoid potential risks.

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

[0005] The present application provides a planning method and device for prosthesis fixing nails, so as to at least solve the technical problem in the prior art that the stability and safety of the prosthesis fixing nails implanted after the acetabular prosthesis is implanted cannot be guaranteed.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a planning method for a prosthetic fixing nail is provided, comprising: obtaining a medical image of a target object, wherein the medical image is a CT image or an MRI image; when the medical image is a CT image, determining an implantation method of the prosthetic fixing nail according to a safe zone strategy, wherein the implantation method of the prosthetic fixing nail includes at least the length, implantation position and implantation angle of the prosthetic fixing nail, wherein the safe zone strategy is used to determine an area that needs to be avoided during the planning of the prosthetic fixing nail through a bone model constructed based on the CT image and selected feature points; when the medical image is an MRI image, determining an implantation method of the prosthetic fixing nail according to a deep learning strategy, wherein the deep learning strategy is used to determine an area that needs to be avoided during the planning of the prosthetic fixing nail through bone and soft tissue structures marked on the MRI image.

[0007] Optionally, after acquiring the medical image of the target object, the planning method of the prosthesis fixing nail also includes: planning the placement position of the prosthesis according to the medical image and position constraints, wherein the position constraints are used to ensure that the prosthesis coverage is greater than a preset threshold by adjusting the model of the acetabulum, wherein the prosthesis coverage characterizes the coverage degree of the acetabulum by the prosthesis placement posture; determining the nail hole of the prosthesis fixing nail on the prosthesis according to the placement position of the prosthesis; and adjusting the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail.

[0008] Optionally, after adjusting the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail, the planning method of the prosthesis fixing nail also includes: obtaining the implantation angle of the prosthesis fixing nail; calculating the bottom surface area of ​​the cone formed by the implantation range and the area of ​​the bottom surface of the cone in the bone according to the length of the prosthesis fixing nail and the implantation angle of the prosthesis fixing nail; calculating the ratio of the bottom surface area of ​​the cone to the area of ​​the bottom surface of the cone in the bone; when the ratio is greater than a preset threshold, determining that the implantation direction of the prosthesis fixing nail is a safe direction.

[0009] Optionally, when the medical image is a CT image, the implantation method of the prosthesis fixing nail is determined according to the safety zone strategy, including: constructing a skeletal model of the target object according to the CT image; determining the safety area of ​​the target object according to feature points, wherein the feature points include the anterior superior iliac spine of the affected side and the center of the affected side acetabulum, and the safety area represents the area where the implantation of the prosthesis fixing nail is allowed; determining the implantation method of the prosthesis fixing nail according to the safety area and the safety direction.

[0010] Optionally, determining a safe area of ​​the target object based on feature points includes: using a line segment connecting the anterior superior iliac spine of the affected side and the center of the affected acetabulum as a dividing line; obtaining a perpendicular line to the dividing line; dividing the pelvic area of ​​the target object into N areas based on the dividing line and the perpendicular line, where N is an integer greater than 1; and determining a safe area from the N areas.

[0011] Optionally, determining a safe area from N areas includes: determining the safety probability of each area in the N areas according to the physiological condition of the human acetabulum; determining an area with a safety probability less than or equal to a preset safety threshold as a dangerous area, wherein the dangerous area indicates that implantation of prosthetic fixation nails is not allowed; and determining an area with a safety probability greater than a preset safety threshold as a safe area.

[0012] Optionally, when the medical image is an MRI image, the implantation method of the prosthesis fixing nail is determined according to the deep learning strategy, including: marking the bone and soft tissue structure on the MRI image; segmenting the bone and soft tissue structure through the deep learning model to obtain the segmented structure; determining the safe area of ​​the implantation position of the prosthesis fixing nail according to the segmented structure; and determining the implantation method of the prosthesis fixing nail according to the safe area and the safe direction.

[0013] Optionally, determining a safe area for the implantation position of the prosthesis fixing nail based on the segmented structure includes: calculating a cone formed by the insertion direction and implantation angle of the prosthesis fixing nail based on the segmented structure; determining an area where the cone intersects with the main blood vessels and nerves of the target object as a dangerous area for the implantation position of the prosthesis fixing nail, wherein the dangerous area indicates that implantation of the prosthesis fixing nail is not allowed; and determining an area where the cone does not intersect with the main blood vessels and nerves of the target object as a safe area for the implantation position of the prosthesis fixing nail.

[0014] Optionally, the length of the prosthesis fixing nail is adjusted according to the nail hole of the prosthesis fixing nail, including: detecting the probability of the prosthesis fixing nail located in the nail hole penetrating the bone through simulation; adjusting the length of the prosthesis fixing nail according to the probability of the prosthesis fixing nail located in the nail hole penetrating the bone and a length constraint condition, wherein the length constraint condition is used to ensure that the probability of the prosthesis fixing nail located in the nail hole penetrating the bone is less than a preset probability by adjusting the length of the prosthesis fixing nail.

[0015] Optionally, in the process of adjusting the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail, the planning method of the prosthesis fixing nail also includes: prohibiting the implantation of the prosthesis fixing nail in the nail hole when it is detected that the length of the prosthesis fixing nail located in the nail hole has been adjusted to be less than a preset length and the probability of the prosthesis fixing nail penetrating the bone at this length is greater than or equal to a preset probability.

[0016] According to another aspect of an embodiment of the present application, a planning device for a prosthetic fixing nail is also provided, including: a first acquisition unit, which acquires a medical image of a target object, wherein the medical image is a CT image or an MRI image; a first determination unit, which determines an implantation method of the prosthetic fixing nail according to a safe zone strategy when the medical image is a CT image, wherein the implantation method of the prosthetic fixing nail includes at least the length, implantation position and implantation angle of the prosthetic fixing nail, wherein the safe zone strategy is used to determine an area that needs to be avoided in the planning process of the prosthetic fixing nail through a bone model constructed based on the CT image and selected feature points; a second determination unit, which determines an implantation method of the prosthetic fixing nail according to a deep learning strategy when the medical image is an MRI image, wherein the deep learning strategy is used to determine an area that needs to be avoided in the planning process of the prosthetic fixing nail through bone and soft tissue structures marked on the MRI image.

[0017] Optionally, the first acquisition unit includes: a first planning subunit, a first determining subunit and a first adjusting subunit. The first planning subunit is used to plan the placement of the prosthesis according to the medical image and the position constraint condition, wherein the position constraint condition is used to ensure that the prosthesis coverage is greater than a preset threshold by adjusting the model of the acetabulum, wherein the prosthesis coverage characterizes the coverage degree of the acetabulum by the prosthesis placement posture; the first determining subunit is used to determine the nail hole of the prosthesis fixing nail on the prosthesis according to the placement position of the prosthesis; the first adjusting subunit is used to adjust the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail.

[0018] Optionally, the first adjustment subunit includes: a first acquisition module, a first calculation module, a second calculation module and a first determination module. The first acquisition module is used to acquire the implantation angle of the prosthesis fixing nail; the first calculation module is used to calculate the bottom surface area of ​​the cone formed by the implantation range and the area of ​​the bottom surface of the cone in the bone according to the length of the prosthesis fixing nail and the implantation angle of the prosthesis fixing nail; the second calculation module is used to calculate the ratio of the bottom surface area of ​​the cone to the area of ​​the bottom surface of the cone in the bone; the first determination module is used to determine that the implantation direction of the prosthesis fixing nail is a safe direction when the ratio is greater than a preset threshold.

[0019] Optionally, the first determination unit includes: a first construction subunit, a second determination subunit and a third determination subunit. The first construction subunit is used to construct a bone model of the target object based on the CT image; the second determination subunit is used to determine the safety area of ​​the target object based on the feature points, wherein the feature points include the anterior superior iliac spine of the affected side and the center of the affected side acetabulum, and the safety area represents the area where the prosthesis fixing nail is allowed to be implanted; the third determination subunit is used to determine the implantation method of the prosthesis fixing nail based on the safety area and the safety direction.

[0020] Optionally, the second determination subunit includes: a second determination module, a second acquisition module, a third determination module and a fourth determination module. The second determination module is used to use the line segment connecting the anterior superior iliac spine of the affected side and the center of the acetabulum of the affected side as a segmentation line; the second acquisition module is used to acquire a perpendicular line to the segmentation line; the third determination module is used to divide the pelvic area of ​​the target object into N areas based on the segmentation line and the perpendicular line, wherein N is an integer greater than 1; and the fourth determination module is used to determine a safe area from the N areas.

[0021] Optionally, the fourth determination module includes: a first determination submodule, a second determination submodule and a third determination submodule. The first determination submodule is used to determine the safety probability of each of the N regions according to the physiological conditions of the human acetabulum; the second determination submodule is used to determine the region with a safety probability less than or equal to a preset safety threshold as a dangerous region, wherein the dangerous region indicates that implantation of prosthetic fixation nails is not allowed; the third determination submodule is used to determine the region with a safety probability greater than a preset safety threshold as a safe region.

[0022] Optionally, the second determination unit includes: a first labeling subunit, a first segmentation subunit, a fourth determination subunit and a fifth determination subunit. The first labeling subunit is used to label the bone and soft tissue structure on the MRI image; the first segmentation subunit is used to segment the bone and soft tissue structure through a deep learning model to obtain a segmentation structure; the fourth determination subunit is used to determine the safe area of ​​the implantation position of the prosthesis fixing nail according to the segmentation structure; the fifth determination subunit is used to determine the implantation method of the prosthesis fixing nail according to the safe area and the safe direction.

[0023] Optionally, the fourth determination subunit includes: a third calculation module, a fifth determination module and a sixth determination module. The third calculation module is used to calculate the cone formed by the insertion direction and implantation angle of the prosthesis fixing nail according to the segmentation structure; the fifth determination module is used to determine the area where the cone intersects with the main blood vessels and nerves of the target object as a dangerous area for the implantation position of the prosthesis fixing nail, wherein the dangerous area indicates that the implantation of the prosthesis fixing nail is not allowed; the sixth determination module is used to determine the area where the cone does not intersect with the main blood vessels and nerves of the target object as a safe area for the implantation position of the prosthesis fixing nail.

[0024] Optionally, the first adjustment subunit includes: a first detection module and a first adjustment module. The first detection module is used to detect the probability of the prosthesis fixing nail located in the nail hole penetrating the bone by simulation; the first adjustment module is used to adjust the length of the prosthesis fixing nail according to the probability of the prosthesis fixing nail located in the nail hole penetrating the bone and the length constraint condition, wherein the length constraint condition is used to ensure that the probability of the prosthesis fixing nail located in the nail hole penetrating the bone is less than a preset probability by adjusting the length of the prosthesis fixing nail.

[0025] Optionally, the first adjustment subunit includes: a first prohibition module, used to prohibit the implantation of the prosthetic fixing nail in the nail hole when it is detected that the length of the prosthetic fixing nail located in the nail hole has been adjusted to less than a preset length and the probability of the prosthetic fixing nail penetrating the bone at this length is greater than or equal to a preset probability.

[0026] In the present application, a medical image of the target object is first obtained, wherein the medical image is a CT image or an MRI image, and then when the medical image is a CT image, the implantation method of the prosthesis fixing nail is determined according to the safety zone strategy, wherein the implantation method of the prosthesis fixing nail includes at least the length, implantation position and implantation angle of the prosthesis fixing nail, wherein the safety zone strategy is used to determine the area that needs to be avoided in the planning process of the prosthesis fixing nail through the bone model constructed based on the CT image and the selected feature points, and when the medical image is an MRI image, the implantation method of the prosthesis fixing nail is determined according to the deep learning strategy, wherein the deep learning strategy is used to determine the area that needs to be avoided in the planning process of the prosthesis fixing nail through the bone and soft tissue structures marked on the MRI image.

[0027] From the above content, it can be seen that in the present application, different strategies are adopted to determine the safe zone and the dangerous zone of the prosthesis fixing nail by obtaining different medical images, and the length, implantation position and implantation angle of the prosthesis fixing nail are analyzed, thereby achieving the technical effect of improving the stability and safety of the prosthesis fixing nail, thereby solving the technical problem in the prior art that the stability and safety of the prosthesis fixing nail after the acetabular prosthesis is implanted cannot be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 is a flow chart of an optional prosthesis fixation nail planning method according to an embodiment of the present application;

[0030] Figure 2 is a schematic diagram of an optional pelvic safety zone division according to an embodiment of the present application;

[0031] Figure 3 It is a schematic diagram of an optional planning device for a prosthesis fixing nail according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] It should also be noted that the information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) collected by this application are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data are in compliance with the relevant laws, regulations and standards of the relevant regions, necessary confidentiality measures are taken, and public order and good customs are not violated, and corresponding operation portals are provided for users to choose to authorize or refuse. For example, an interface is set up between this system and relevant users or institutions. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or institution through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or institution.

[0035] According to an embodiment of the present application, an embodiment of a method for planning a prosthetic fixing nail is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0036] It should be noted that an intelligent medical system is used as the execution subject of the prosthesis fixing nail planning method of the embodiment of the present application. It is understandable that the prosthesis fixing nail planning method provided in the embodiment of the present application can also be executed by other systems or devices, and the embodiment of the present application does not specifically limit this.

[0037] Figure 1 is a flow chart of an optional prosthesis fixing nail planning method according to an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:

[0038] Step S101, obtaining a medical image of a target object.

[0039] In step S101 , the medical image is a CT image or an MRI image.

[0040] Optionally, the medical images include but are not limited to CT images, MRI images, images taken using X-rays, and the like.

[0041] Step S102: when the medical image is a CT image, determining the implantation method of the prosthesis fixing nail according to the safety zone strategy.

[0042] In step S102, the implantation method of the prosthesis fixing nail at least includes the length, implantation position and implantation angle of the prosthesis fixing nail.

[0043] In step S102, the safety zone strategy is used to determine the area that needs to be avoided during the planning of the prosthesis fixing nail through the bone model constructed based on the CT image and the selected feature points.

[0044] Alternatively, the safe zone strategy is a practical strategy developed through a combination of scientific anatomical research, advanced medical technology, and clinical practice experience.

[0045] Optionally, the area to be avoided refers to a dangerous area, ie, an area where implantation of prosthetic fixation nails is not allowed.

[0046] Step S103: When the medical image is an MRI image, determine the implantation method of the prosthesis fixing nail according to the deep learning strategy.

[0047] In step S103, the deep learning strategy is used to determine the areas that need to be avoided during the planning of the prosthesis fixation nails by using the bone and soft tissue structures marked on the MRI image.

[0048] Optionally, when the medical image is an MRI image, a prosthesis fixation nail planning method based on a safety zone may be used for cross-validation.

[0049] It can be seen from the contents of steps S101 to S103 that in the present application, a medical image of the target object is first obtained, wherein the medical image is a CT image or an MRI image, and then when the medical image is a CT image, the implantation method of the prosthesis fixing nail is determined according to the safe zone strategy, wherein the implantation method of the prosthesis fixing nail includes at least the length, implantation position and implantation angle of the prosthesis fixing nail, wherein the safe zone strategy is used to determine the area that needs to be avoided in the planning process of the prosthesis fixing nail through the bone model constructed based on the CT image and the selected feature points, and when the medical image is an MRI image, the implantation method of the prosthesis fixing nail is determined according to the deep learning strategy, wherein the deep learning strategy is used to determine the area that needs to be avoided in the planning process of the prosthesis fixing nail through the bone and soft tissue structures marked on the MRI image.

[0050] From the above content, it can be seen that in the present application, different strategies are adopted to determine the safe zone and the dangerous zone of the prosthesis fixing nail by obtaining different medical images, and the length, implantation position and implantation angle of the prosthesis fixing nail are analyzed, thereby achieving the technical effect of improving the stability and safety of the prosthesis fixing nail, thereby solving the technical problem in the prior art that the stability and safety of the prosthesis fixing nail after the acetabular prosthesis is implanted cannot be guaranteed.

[0051] In an optional embodiment, the intelligent medical system plans the placement position of the prosthesis based on medical images and position constraints, wherein the position constraints are used to ensure that the prosthesis coverage is greater than a preset threshold by adjusting the model of the acetabulum, wherein the prosthesis coverage characterizes the degree of coverage of the acetabulum by the prosthesis placement posture, and then determines the nail holes of the prosthesis fixing pins on the prosthesis according to the placement position of the prosthesis, and finally adjusts the length of the prosthesis fixing pins according to the nail holes of the prosthesis fixing pins.

[0052] Optionally, the prosthesis includes an acetabular cup, a patch, or the like that requires fixation with a fixing pin, and the prosthesis model and brand are not limited.

[0053] Optionally, the intelligent medical system obtains the accurate structure and bone condition of the acetabulum through medical images, determines the preliminary placement position of the prosthesis based on the analysis of the medical images, and then adjusts the model of the acetabulum to ensure that the prosthesis coverage is greater than a preset threshold. If the prosthesis coverage is less than the preset threshold, a patch can be added or the acetabulum cup model can be increased to ultimately determine the optimal placement position and model of the prosthesis, then determine the nail hole for the prosthesis fixing pin based on the placement position of the prosthesis, insert the prosthesis fixing pin into the nail hole, and finally adjust the length of the prosthesis fixing pin based on the nail hole of the prosthesis fixing pin.

[0054] Optionally, the intelligent medical system can perform operations such as adding, adjusting, and deleting the prosthesis, and can also display the position of the prosthesis fixing pins and perform addition and deletion operations, and can adjust the length of the prosthesis fixing pins.

[0055] From the above content, it can be seen that the accuracy and success rate of the operation are ensured through the analysis of medical images, optimization of the prosthesis placement, determination of the nail holes and adjustment of the length of the prosthesis fixing nails.

[0056] In an optional embodiment, the intelligent medical system first obtains the implantation angle of the prosthesis fixing pin, and then calculates the bottom area of ​​the cone formed by the implantation range and the area of ​​the bottom of the cone in the bone according to the length of the prosthesis fixing pin and the implantation angle of the prosthesis fixing pin, and then calculates the ratio of the bottom area of ​​the cone to the area of ​​the bottom of the cone in the bone. When the ratio is greater than a preset threshold, the implantation direction is determined to be a safe direction.

[0057] Optionally, the restriction of the implantation direction of the prosthesis fixing nail hole is usually conical, that is, the hole for installing the prosthesis fixing nail is not a simple straight hole, but a conical hole, for example, the hole mouth is large, gradually tapers inward, and forms a taper. Therefore, the taper formed by the implantation direction of the prosthesis fixing nail needs to be considered during planning, and the implantation direction of the prosthesis fixing nail must be adapted to the conical shape of the hole. Therefore, the intelligent medical system first obtains the expected implantation angle of the prosthesis fixing nail, which determines how the fixing nail will pass through the bone and fix the prosthesis in the bone, and then calculates the bottom area of ​​the cone formed by the implantation range and the area of ​​the bottom of the cone in the bone, and calculates the ratio of the bottom area of ​​the cone to the area of ​​the bottom of the cone in the bone. When the ratio is greater than the preset threshold, the system confirms that the implantation direction is safe and allows the prosthesis fixing nail to be implanted at the implantation angle. When the ratio is less than the preset threshold, the system confirms that the implantation direction is dangerous and prohibits the prosthesis fixing nail from being implanted at the implantation angle.

[0058] Optionally, the intelligent medical system obtains the expected implantation angle of the prosthesis fixing nail as According to the length L of the prosthesis fixation nail, calculate the bottom area A of the cone formed by the possible implantation range, and calculate the area B of the bottom of the cone inside the bone and the area C not inside the bone, and calculate the ratio , set the preset threshold for the implant range of the prosthesis fixation nail When the ratio S is greater than the preset threshold E, it is considered that the implantation angle For safe direction.

[0059] Optionally, for example, the position of the prosthesis is planned based on the data of CT impact segmentation, and a size 54 acetabular cup is selected, with an angle of abduction of 40 degrees and an anteversion of 20 degrees. Two prosthesis fixing screws are added to the prosthesis fixing screw holes in the posterior superior area of ​​the acetabulum, one of which has a length of 25 degrees. According to the length of the prosthesis fixing screw of 25 degrees and the possible implantation angle of 5 degrees, the bottom surface area of ​​the cone formed by the possible implantation range is 218, and the area of ​​the bottom surface of the cone in the bone, 200, and the area not in the bone, 18, are calculated, and the safety probability is calculated. , the preset threshold of the implantation range of the prosthesis fixing nail is set to 0.8. At this time, the safety probability 0.92 is greater than the preset threshold 0.8, indicating that the implantation angle of 5 degrees is a safe direction and the prosthesis fixing nail can be implanted at this implantation angle.

[0060] From the above content, it can be seen that by confirming the implantation direction of the prosthesis fixing nail, the safety and effectiveness of selecting the implantation direction of the fixing nail during surgery are ensured, which can help doctors make more accurate and reliable decisions when performing surgery to ensure the success of the prosthesis fixing nail implantation.

[0061] In an optional embodiment, the intelligent medical system constructs a skeletal model of the target object based on the CT image, and determines the safe area of ​​the target object based on the feature points, wherein the feature points include the anterior superior iliac spine of the affected side and the center of the affected side acetabulum, and the safe area represents the area where the implantation of the prosthesis fixing nail is allowed. Finally, the implantation method of the prosthesis fixing nail is determined based on the safe area and the safe direction.

[0062] Optionally, the intelligent medical system obtains CT images of the patient, through which it can reconstruct an accurate three-dimensional model of the patient's pelvic area, including key structures such as the acetabulum and anterior superior iliac spine. In the bone model, the intelligent medical system identifies specific feature points, such as the anterior superior iliac spine and acetabulum center on the affected side, calculates and determines the safe area based on these feature points and other anatomical structures, and finally determines the implantation method of the prosthesis fixation nail based on the safe area and safety direction.

[0063] Optionally, a safe zone strategy is selected based on CT images. When the prosthetic fixing nail implantation area is in the safe zone and the prosthetic fixing nail implantation angle is in a safe direction, the prosthetic fixing nail implantation plan is considered acceptable and it is determined that the prosthetic fixing nail can be implanted in the area.

[0064] Optionally, after the planning of the implantation area of ​​the prosthesis fixing nails is completed, it is necessary to determine whether the prosthesis can be fixed stably. If it cannot be fixed stably, the position of the prosthesis can be adjusted or more prosthesis fixing nails can be added. When continuing to add prosthesis fixing nails, it is necessary to judge the safe area and safe direction of the newly added prosthesis fixing nails.

[0065] From the above content, it can be seen that the intelligent medical system uses CT imaging and analysis technology, combined with anatomical knowledge and safety considerations, to provide doctors with key auxiliary information and precise implantation plans to ensure that risks are minimized during surgery.

[0066] In an optional embodiment, the intelligent medical system uses the line segment connecting the anterior superior iliac spine of the affected side and the center of the affected acetabulum as the dividing line, and obtains the perpendicular line of the dividing line, and then divides the pelvic area of ​​the target object into N areas based on the dividing line and the perpendicular line, where N is an integer greater than 1, and finally determines the safe area from the N areas.

[0067] Optionally, Figure 2 is a schematic diagram of an optional pelvic safety zone division according to an embodiment of the present application, such as Figure 2 As shown in the figure, the line segment connecting the anterior superior iliac spine and the center of the acetabulum on the affected side is used as the dividing line A. Based on the cup mouth perspective (looking at the acetabulum from the side of the human body, the cup-shaped concave part of the acetabulum observed, i.e. Figure 2The perpendicular line B of the dividing line is obtained from the front view angle of the dividing line. Based on the dividing line A and the perpendicular line B, the pelvis is divided into four areas, which are marked as the posterior upper area, the posterior lower area, the anterior upper area and the anterior lower area. Finally, the safe area is determined from these N segmented areas.

[0068] From the above content, it can be seen that by dividing the patient's pelvis into areas and determining the safe areas, doctors are provided with a more detailed and precise area division method and implantation plan, which can help optimize the operational safety of the pelvic area during surgery, thereby improving the success rate of the operation.

[0069] In an optional embodiment, the intelligent medical system determines the safety probability of each of N areas based on the physiological condition of the human acetabulum, and determines the area with a safety probability less than or equal to a preset safety threshold as a dangerous area, wherein the dangerous area indicates that implantation of prosthetic fixation nails is not allowed, and the area with a safety probability greater than the preset safety threshold is determined as a safe area.

[0070] Optionally, the physiological condition of the human acetabulum refers to using medical imaging data or other physiological parameters to understand and analyze the structure and characteristics of the human acetabulum, which includes the shape, density, bone condition, etc. of the acetabulum.

[0071] Optionally, the intelligent medical system determines the safety probability of four areas according to the physiological conditions of the human acetabulum, namely, the posterior superior area A%, the posterior inferior area B%, the anterior superior area C%, and the anterior inferior area D% (the higher the percentage, the safer the area), and the intelligent medical system will pre-set a safety threshold As the boundary between the safe area and the dangerous area, this preset safety threshold can be a fixed value or a guiding value based on clinical experience and research. Greater than the preset safety threshold The area indicates that the risk of prosthetic fixation nail implantation is low and the implantation operation can be performed safely. Less than or equal to the preset safety threshold The areas indicated by the prosthetic fixation nail implantation have a higher risk and may lead to adverse consequences, such as fractures or nerve damage. These areas are usually not suitable for implanting prosthetic fixation nails. The intelligent medical system will delete the prosthetic fixation nails in this area.

[0072] Optionally, for example, the safety probabilities of the four areas are defined as 80% for the posterior superior area, 30% for the posterior inferior area, 40% for the anterior superior area, and 10% for the anterior inferior area, wherein the higher the percentage, the safer the area is, and a regional safety probability threshold of 70% is set. At this time, it is judged that the safety probability of the posterior superior area of ​​80% is greater than the threshold of 70%, indicating that the posterior superior area can safely perform the prosthesis fixation nail implantation operation, and the posterior superior area is determined as a safe area.

[0073] From the above content, it can be seen that the intelligent medical system determines the safe area where the prosthesis fixation nails are allowed by comparing the safety probability of each area with the preset safety threshold, and accurately guides the doctor to select the appropriate implantation area during the operation, thereby improving the safety and success rate of the operation. At the same time, this personalized method can be adjusted according to the specific situation of each patient to ensure the best treatment effect.

[0074] In an optional embodiment, the intelligent medical system marks the bone and soft tissue structures on the MRI image, segments the bone and soft tissue structures through a deep learning model to obtain the segmented structure, determines the safe area for the implantation position of the prosthesis fixing nail based on the segmented structure, and finally determines the implantation method of the prosthesis fixing nail based on the safe area and the safe direction.

[0075] Optionally, the intelligent medical system uses MRI image data as the main input, and uses its high contrast advantage to accurately distinguish bone and soft tissue structures, annotate the bones, blood vessels, main nerves and other soft tissues in the MRI data, and segment the bone and soft tissue structures through a deep learning model to obtain a segmented structure. Based on the segmented structure generated by the deep learning model, the system further determines the safe area for the implantation position of the prosthesis fixing nail, and finally determines the implantation method of the prosthesis fixing nail according to the safe area and safe direction.

[0076] Optionally, a deep learning strategy is selected based on MRI images, and when the prosthetic fixing nail implantation area is in a safe zone and the prosthetic fixing nail implantation angle is in a safe direction, the prosthetic fixing nail implantation plan is considered acceptable, and it is determined that the prosthetic fixing nail can be implanted in the area.

[0077] From the above content, we can see that by integrating MRI images, deep learning segmentation technology and safety assessment, the intelligent medical system can provide doctors with highly accurate and personalized implant plans, thereby improving the success rate of surgery and providing patients with safer and more effective treatment plans.

[0078] In an optional embodiment, the intelligent medical system calculates the cone formed by the insertion direction and implantation angle of the prosthesis fixing nail based on the segmented structure, and determines the area where the cone intersects with the main blood vessels and nerves of the target object as a dangerous area for the implantation position of the prosthesis fixing nail, wherein the dangerous area indicates that the implantation of the prosthesis fixing nail is not allowed, and the area where the cone does not intersect with the main blood vessels and nerves of the target object is determined as a safe area for the implantation position of the prosthesis fixing nail.

[0079] Optionally, since the bones and soft tissues of the pelvis have been segmented, it is possible to directly determine whether the implantation position of the prosthetic fixation nail is within the safe zone based on the segmentation model. The intelligent medical system will calculate the formed conical area based on the preset insertion direction and implantation angle. The system determines the safe area by analyzing the relationship between the conical area and the main blood vessels and nerves of the target object. If the conical area intersects with the main blood vessels or nerves, these areas are marked as dangerous areas. In these areas, the implantation of the prosthetic fixation nail may cause damage to the blood vessels or nerves, and therefore it is not suitable for implantation. If the conical area does not intersect with the main blood vessels and nerves of the target object, these areas are determined as safe areas. In these areas, the implantation of the prosthetic fixation nail will not cause direct risks to the main blood vessels and nerve structures, and the implantation operation can be performed safely.

[0080] From the above content, it can be seen that the intelligent medical system ensures the safety of the implantation position of the prosthesis fixing nail and reduces the surgical risk by calculating the insertion direction of the prosthesis fixing nail and the impact of the cone formed by the implantation angle on the patient.

[0081] In an optional embodiment, the intelligent medical system detects the probability of a prosthetic fixing nail located in a nail hole penetrating bone through simulation, and adjusts the length of the prosthetic fixing nail according to the probability of the prosthetic fixing nail located in the nail hole penetrating bone and a length constraint, wherein the length constraint is used to ensure that the probability of the prosthetic fixing nail located in the nail hole penetrating bone is less than a preset probability by adjusting the length of the prosthetic fixing nail.

[0082] Optionally, a simulation technology is used to simulate the implantation process of the prosthesis fixing nail in the nail hole. During the simulation process, the intelligent medical system calculates the probability of the prosthesis fixing nail located in the nail hole penetrating the surrounding bone, and when the probability of the prosthesis fixing nail penetrating the bone is greater than a preset probability, the length of the prosthesis fixing nail is adjusted.

[0083] From the above content, it can be seen that the length of the prosthesis fixing nail is adjusted through simulation evaluation to ensure that the prosthesis fixing nail does not penetrate the bone, ensure the safety during the operation, reduce the risk during the implantation process, and improve the success rate of the operation.

[0084] In an optional embodiment, the intelligent medical system prohibits implanting a prosthetic fixing nail in the nail hole upon detecting that the length of the prosthetic fixing nail located in the nail hole has been adjusted to be less than a preset length and the probability of the prosthetic fixing nail penetrating the bone at this length is greater than or equal to a preset probability.

[0085] Optionally, when the intelligent medical system detects that the length of the prosthesis fixing nail located in the nail hole has been adjusted to less than a preset length, and the probability of the prosthesis fixing nail penetrating the bone at this length is greater than or equal to the preset probability, it indicates that the shortest prosthesis fixing nail will still penetrate the bone, and the nail hole cannot be used to place the prosthesis fixing nail.

[0086] From the above content, it can be seen that the intelligent medical system can effectively improve the safety and success rate of surgery, reduce possible adverse events during the implantation process, and thus optimize the patient's treatment outcomes.

[0087] According to an embodiment of the present application, an embodiment of a planning device for a prosthesis fixing nail is also provided. Figure 3 is a schematic diagram of an optional prosthesis fixing nail planning device according to an embodiment of the present application, such as Figure 3 As shown, the planning device for the prosthesis fixing nail includes: a first acquisition unit 301 , a first determination unit 302 , and a second determination unit 303 .

[0088] Optionally, the first acquisition unit 301 is used to acquire a medical image of the target object, wherein the medical image is a CT image or an MRI image; the first determination unit 302 is used to determine the implantation method of the prosthesis fixing nail according to the safety zone strategy when the medical image is a CT image, wherein the implantation method of the prosthesis fixing nail includes at least the length, implantation position and implantation angle of the prosthesis fixing nail, wherein the safety zone strategy is used to determine the area that needs to be avoided in the planning process of the prosthesis fixing nail through the bone model constructed based on the CT image and the selected feature points; the second determination unit 303 is used to determine the implantation method of the prosthesis fixing nail according to the deep learning strategy when the medical image is an MRI image, wherein the deep learning strategy is used to determine the area that needs to be avoided in the planning process of the prosthesis fixing nail through the bone and soft tissue structures marked on the MRI image.

[0089] Optionally, the first acquisition unit 301 includes: a first planning subunit, a first determining subunit and a first adjusting subunit. The first planning subunit is used to plan the placement of the prosthesis according to the medical image and the position constraint condition, wherein the position constraint condition is used to ensure that the prosthesis coverage is greater than a preset threshold by adjusting the model of the acetabulum, wherein the prosthesis coverage characterizes the coverage degree of the prosthesis placement posture for the acetabulum; the first determining subunit is used to determine the nail hole of the prosthesis fixing nail on the prosthesis according to the placement position of the prosthesis; the first adjusting subunit is used to adjust the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail.

[0090] Optionally, the first adjustment subunit includes: a first acquisition module, a first calculation module, a second calculation module and a first determination module. The first acquisition module is used to acquire the implantation angle of the prosthesis fixing nail; the first calculation module is used to calculate the bottom surface area of ​​the cone formed by the implantation range and the area of ​​the bottom surface of the cone in the bone according to the length of the prosthesis fixing nail and the implantation angle of the prosthesis fixing nail; the second calculation module is used to calculate the ratio of the bottom surface area of ​​the cone to the area of ​​the bottom surface of the cone in the bone; the first determination module is used to determine that the implantation direction is a safe direction when the ratio is greater than a preset threshold.

[0091] Optionally, the first determination unit 302 includes: a first construction subunit, a second determination subunit and a third determination subunit. The first construction subunit is used to construct a bone model of the target object according to the CT image; the second determination subunit is used to determine the safety area of ​​the target object according to the feature points, wherein the feature points include the anterior superior iliac spine of the affected side and the center of the affected side acetabulum, and the safety area represents the area where the prosthesis fixing nail is allowed to be implanted; the third determination subunit is used to determine the implantation method of the prosthesis fixing nail according to the safety area and the safety direction.

[0092] Optionally, the second determination subunit includes: a second determination module, a second acquisition module, a third determination module and a fourth determination module. The second determination module is used to use the line segment connecting the anterior superior iliac spine of the affected side and the center of the acetabulum of the affected side as a segmentation line; the second acquisition module is used to acquire a perpendicular line to the segmentation line; the third determination module is used to divide the pelvic area of ​​the target object into N areas based on the segmentation line and the perpendicular line, wherein N is an integer greater than 1; and the fourth determination module is used to determine a safe area from the N areas.

[0093] Optionally, the fourth determination module includes: a first determination submodule, a second determination submodule and a third determination submodule. The first determination submodule is used to determine the safety probability of each of the N regions according to the physiological conditions of the human acetabulum; the second determination submodule is used to determine the region with a safety probability less than or equal to a preset safety threshold as a dangerous region, wherein the dangerous region indicates that implantation of prosthetic fixation nails is not allowed; the third determination submodule is used to determine the region with a safety probability greater than a preset safety threshold as a safe region.

[0094] Optionally, the second determination unit 303 includes: a first labeling subunit, a first segmentation subunit, a fourth determination subunit and a fifth determination subunit. The first labeling subunit is used to label the bone and soft tissue structure on the MRI image; the first segmentation subunit is used to segment the bone and soft tissue structure through a deep learning model to obtain a segmentation structure; the fourth determination subunit is used to determine the safe area of ​​the implantation position of the prosthesis fixing nail according to the segmentation structure; the fifth determination subunit is used to determine the implantation method of the prosthesis fixing nail according to the safe area and the safe direction.

[0095] Optionally, the fourth determination subunit includes: a third calculation module, a fifth determination module and a sixth determination module. The third calculation module is used to calculate the cone formed by the insertion direction and implantation angle of the prosthesis fixing nail according to the segmentation structure; the fifth determination module is used to determine the area where the cone intersects with the main blood vessels and nerves of the target object as a dangerous area for the implantation position of the prosthesis fixing nail, wherein the dangerous area indicates that the implantation of the prosthesis fixing nail is not allowed; the sixth determination module is used to determine the area where the cone does not intersect with the main blood vessels and nerves of the target object as a safe area for the implantation position of the prosthesis fixing nail.

[0096] Optionally, the first adjustment subunit includes: a first detection module and a first adjustment module. The first detection module is used to detect the probability of the prosthesis fixing nail located in the nail hole penetrating the bone by simulation; the first adjustment module is used to adjust the length of the prosthesis fixing nail according to the probability of the prosthesis fixing nail located in the nail hole penetrating the bone and the length constraint condition, wherein the length constraint condition is used to ensure that the probability of the prosthesis fixing nail located in the nail hole penetrating the bone is less than a preset probability by adjusting the length of the prosthesis fixing nail.

[0097] Optionally, the first adjustment subunit includes: a first prohibition module, used to prohibit the implantation of the prosthetic fixing nail in the nail hole when it is detected that the length of the prosthetic fixing nail located in the nail hole has been adjusted to less than a preset length and the probability of the prosthetic fixing nail penetrating the bone at this length is greater than or equal to a preset probability.

[0098] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0099] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0101] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0102] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0103] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program code.

[0104] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for planning a prosthesis fixing nail, characterized in that: include: Acquire a medical image of the target object, wherein the medical image is a CT image or an MRI image; When the medical image is the CT image, the implantation method of the prosthesis fixing nail is determined according to the safety zone strategy, wherein the implantation method of the prosthesis fixing nail at least includes the length, implantation position and implantation angle of the prosthesis fixing nail, wherein the safety zone strategy is used to determine the area to be avoided in the planning process of the prosthesis fixing nail through the bone model constructed based on the CT image and the selected feature points; Wherein, in the process of determining the implantation mode of the prosthesis fixing nail according to the safety zone strategy, the line segment connecting the anterior superior iliac spine of the affected side and the center of the acetabulum of the affected side is used as a segmentation line; a perpendicular line to the segmentation line is obtained; based on the segmentation line and the perpendicular line, the pelvic area of ​​the target object is divided into N areas, wherein N is an integer greater than 1; a safety area is determined from the N areas, wherein the safety area represents an area where the prosthesis fixing nail is allowed to be implanted; Determining the safe area from the N areas includes: determining the safety probability of each area in the N areas according to the physiological condition of the human acetabulum; determining an area with a safety probability less than or equal to a preset safety threshold as a dangerous area, wherein the dangerous area indicates that the implantation of the prosthesis fixing nail is not allowed; determining an area with a safety probability greater than the preset safety threshold as the safe area; When the medical image is the MRI image, the implantation method of the prosthesis fixing nail is determined according to a deep learning strategy, wherein the deep learning strategy is used to determine the area that needs to be avoided during the planning of the prosthesis fixing nail through the bone and soft tissue structures marked on the MRI image.

2. The method for planning a prosthesis fixing nail according to claim 1, characterized in that: After obtaining the medical image of the target object, the planning method of the prosthesis fixing nail further includes: Planning the placement of the prosthesis according to the medical image and the position constraint condition, wherein the position constraint condition is used to ensure that the prosthesis coverage rate is greater than a preset threshold by adjusting the model of the acetabulum, wherein the prosthesis coverage rate represents the coverage degree of the prosthesis placement posture for the acetabulum; Determining nail holes for prosthesis fixing nails on the prosthesis according to the placement position of the prosthesis; The length of the prosthesis fixing nail is adjusted according to the nail hole of the prosthesis fixing nail.

3. The method for planning a prosthesis fixing nail according to claim 2, characterized in that: After adjusting the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail, the prosthesis fixing nail planning method further includes: Obtaining the implantation angle of the prosthesis fixing nail; Calculating the bottom surface area of ​​the cone formed by the implantation range and the area of ​​the bottom surface of the cone within the bone according to the length of the prosthesis fixing nail and the implantation angle of the prosthesis fixing nail; Calculating the ratio of the bottom area of ​​the cone to the area of ​​the bottom of the cone within the bone; When the ratio is greater than a preset threshold, the implantation direction of the prosthesis fixing nail is determined to be a safe direction.

4. The method for planning a prosthesis fixing nail according to claim 3, characterized in that: When the medical image is the CT image, determining the implantation method of the prosthesis fixing nail according to the safety zone strategy includes: The implantation method of the prosthesis fixing nail is determined according to the safety area and the safety direction.

5. The method for planning a prosthesis fixing nail according to claim 3, characterized in that: When the medical image is the MRI image, determining the implantation method of the prosthesis fixing nail according to the deep learning strategy includes: annotating bone and soft tissue structures on the MRI image; Segmenting the bone and soft tissue structure through a deep learning model to obtain a segmented structure; Determine a safe area for implantation of the prosthesis fixing nail according to the segmentation structure; The implantation method of the prosthesis fixing nail is determined according to the safety area and the safety direction.

6. The method for planning a prosthesis fixing nail according to claim 5, characterized in that: Determining a safe area for implantation of the prosthesis fixing nail according to the segmentation structure includes: Calculating the insertion direction of the prosthesis fixing nail and the cone formed by the implantation angle according to the segmented structure; Determine the area where the cone intersects with the main blood vessels and nerves of the target object as a dangerous area for implanting the prosthesis fixing nail, wherein the dangerous area indicates that the implantation of the prosthesis fixing nail is not allowed; The area where the cone does not intersect with the main blood vessels and nerves of the target object is determined as a safe area for the implantation position of the prosthesis fixing nail.

7. The method for planning a prosthesis fixing nail according to claim 2, characterized in that: Adjusting the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail comprises: Detecting the probability of the prosthesis fixing nail located in the nail hole penetrating the bone by means of simulation; The length of the prosthesis fixing nail is adjusted according to the probability of the prosthesis fixing nail located in the nail hole penetrating the bone and the length constraint condition, wherein the length constraint condition is used to ensure that the probability of the prosthesis fixing nail located in the nail hole penetrating the bone is less than a preset probability by adjusting the length of the prosthesis fixing nail.

8. The method for planning a prosthesis fixing nail according to claim 7, characterized in that: In the process of adjusting the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail, the planning method of the prosthesis fixing nail further includes: When it is detected that the length of the prosthesis fixing nail located in the nail hole has been adjusted to be less than a preset length, and the probability of the prosthesis fixing nail penetrating the bone at this length is greater than or equal to the preset probability, implanting the prosthesis fixing nail in the nail hole is prohibited.

9. A planning device for prosthesis fixing nails, characterized in that: include: A first acquisition unit is used to acquire a medical image of a target object, wherein the medical image is a CT image or an MRI image; a first determination unit, when the medical image is the CT image, determining an implantation method of the prosthesis fixing nail according to a safety zone strategy, wherein the implantation method of the prosthesis fixing nail at least includes a length, an implantation position, and an implantation angle of the prosthesis fixing nail, wherein the safety zone strategy is used to determine an area to be avoided in the planning process of the prosthesis fixing nail by using a bone model constructed based on the CT image and selected feature points; The prosthesis fixing nail planning device further includes: a second determination module, used to use the line segment connecting the anterior superior iliac spine of the affected side and the center of the acetabulum of the affected side as a segmentation line; a second acquisition module, used to acquire a perpendicular line to the segmentation line; a third determination module, used to divide the pelvic region of the target object into N regions based on the segmentation line and the perpendicular line, wherein N is an integer greater than 1; a fourth determination module, used to determine a safe region from the N regions, wherein the safe region represents a region where the prosthesis fixing nail is allowed to be implanted; The fourth determination module includes: a first determination submodule, used to determine the safety probability of each of the N areas according to the physiological condition of the human acetabulum; a second determination submodule, used to determine the area with a safety probability less than or equal to a preset safety threshold as a dangerous area, wherein the dangerous area indicates that the implantation of the prosthesis fixing nail is not allowed; a third determination submodule, used to determine the area with a safety probability greater than the preset safety threshold as the safe area; The second determination unit determines the implantation method of the prosthesis fixing nail according to a deep learning strategy when the medical image is the MRI image, wherein the deep learning strategy is used to determine the area that needs to be avoided during the planning of the prosthesis fixing nail through the bone and soft tissue structures marked on the MRI image.

10. The prosthesis fixing nail planning device according to claim 9, characterized in that: The first acquisition unit includes: A first planning subunit is used to plan the placement of the prosthesis according to the medical image and the position constraint condition, wherein the position constraint condition is used to ensure that the prosthesis coverage rate is greater than a preset threshold by adjusting the model of the acetabulum, wherein the prosthesis coverage rate represents the coverage degree of the prosthesis placement posture for the acetabulum; A first determining subunit is used to determine nail holes for prosthesis fixing nails on the prosthesis according to the placement position of the prosthesis; The first adjusting subunit is used to adjust the length of the prosthesis fixing nail according to the nail hole of the prosthesis fixing nail.

11. The prosthesis fixing nail planning device according to claim 10, characterized in that: The first adjustment subunit includes: A first acquisition module is used to acquire the implantation angle of the prosthesis fixing nail; A first calculation module is used to calculate the bottom surface area of ​​the cone formed by the implantation range and the area of ​​the bottom surface of the cone in the bone according to the length of the prosthesis fixing nail and the implantation angle of the prosthesis fixing nail; A second calculation module is used to calculate the ratio of the bottom surface area of ​​the cone to the area of ​​the bottom surface of the cone in the bone; The first determination module is used to determine that the implantation direction of the prosthesis fixing nail is a safe direction when the ratio is greater than a preset threshold.

12. The prosthesis fixing nail planning device according to claim 11, characterized in that: The first determining unit includes: The third determining subunit is used to determine the implantation method of the prosthesis fixing nail according to the safety area and the safety direction.

13. The prosthesis fixing nail planning device according to claim 11, characterized in that: The second determining unit includes: A first labeling subunit, used for labeling bones and soft tissue structures on the MRI image; A first segmentation subunit is used to segment the bone and soft tissue structure through a deep learning model to obtain a segmented structure; A fourth determining subunit, configured to determine a safe area for implanting the prosthesis fixing nail according to the segmentation structure; The fifth determining subunit is used to determine the implantation method of the prosthesis fixing nail according to the safety area and the safety direction.

14. The prosthesis fixing nail planning device according to claim 13, characterized in that: The fourth determining subunit includes: A third calculation module is used to calculate the insertion direction of the prosthesis fixing nail and the cone formed by the implantation angle according to the segmentation structure; A fifth determination module is used to determine the area where the cone intersects with the main blood vessels and nerves of the target object as a dangerous area for implanting the prosthesis fixing nail, wherein the dangerous area indicates that the implantation of the prosthesis fixing nail is not allowed; The sixth determination module is used to determine the area where the cone has no intersection with the main blood vessels and nerves of the target object as a safe area for the implantation position of the prosthesis fixing nail.

15. The prosthesis fixing nail planning device according to claim 10, characterized in that: The first adjustment subunit comprises: A first detection module is used to detect the probability of the prosthesis fixing nail located in the nail hole penetrating the bone by simulation; The first adjustment module is used to adjust the length of the prosthesis fixing nail located in the nail hole according to the probability of the prosthesis fixing nail penetrating the bone and the length constraint condition, wherein the length constraint condition is used to ensure that the probability of the prosthesis fixing nail located in the nail hole penetrating the bone is less than a preset probability by adjusting the length of the prosthesis fixing nail.

16. The planning device for prosthesis fixing nail according to claim 15, characterized in that: The first adjustment subunit comprises: The first prohibition module is used to prohibit implanting the prosthesis fixing nail in the nail hole when it is detected that the length of the prosthesis fixing nail located in the nail hole has been adjusted to be less than a preset length and the probability of the prosthesis fixing nail penetrating bone at this length is greater than or equal to the preset probability.

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