Grinding visualization rendering method, system, device and storage medium in surgical navigation

Abstract

The present invention proposes a method for visualizing grinding during surgical navigation, comprising the following steps: acetabular cup model planning, moving the acetabular cup model to a predetermined position of the acetabulum model; grinding image generation, generating a grinding image of the acetabulum model based on the relative positional relationship between the acetabular cup model and the acetabulum model, and layering the grinding image; surface rendering, drawing a mesh surface for the layered grinding image, and assigning different colors to mesh surfaces at different levels. The present invention uses surface rendering to achieve visualization of grinding during surgical navigation, directly using triangular meshes or polygons to represent the surface. This representation method can accurately capture the boundaries and details of anatomical structures. By using lighting and shadow effects, surface rendering can emphasize surface features, making it easier for doctors to identify tissue structures with higher clarity and details.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a method, system, device and storage medium for visual rendering of grinding in surgical navigation. Background Art

[0002] Surgical navigation utilizes imaging and computer-assisted technology to provide doctors with real-time, three-dimensional anatomical information and positioning guidance during surgery, helping them perform surgeries accurately. The navigation system processes and reconstructs patient images and provides guidance to doctors through a visual interface.

[0003] During navigation-guided hip replacement surgery, the acetabulum model polishing process needs to be visualized and rendered in real time within the interface. This involves the following steps:

[0004] The first step, such as Figure 1 As shown, during preoperative planning, in the image space (image coordinate system F image Move the acetabular cup model and place it at a reasonable position on the patient's acetabulum model. The area where the acetabular cup model and the acetabulum model overlap (the shaded area) is the part that needs to be ground away during the operation.

[0005] The second step is Figure 2 As shown, during the operation, the grinding instrument and the patient's acetabulum (pelvis) are rigidly connected to an optical tracking array, and the positioning camera can return the camera coordinate system F in real time. camera To the grinding equipment tracking array coordinate system F toolRF The transformation matrix T cameraToToolRF , and F camera To the acetabulum tracking array coordinate system F boneRF The transformation matrix T cameraToBoneRF After image registration, the two matrices can be used for image navigation and positioning. The final result is that the relative position of the patient's acetabulum and the grinding instrument in the real world matches the relative position of the acetabulum model and the grinding instrument model in the image space. Moving the real patient's acetabulum or the real grinding instrument will cause the acetabulum model and the grinding instrument model in the image to move accordingly.

[0006] The third step is to use the image as a guide to move the grinding tool to the area to be ground.

[0007] The fourth step is to use a grinding instrument to grind. As the real acetabulum is gradually ground away, the acetabulum model in the image space also needs to be deformed accordingly until the part to be ground ( Figure 1 During the grinding process, if the grinding exceeds the planned grinding area, the over-ground surface of the acetabulum model needs to be displayed in a different color to warn the operator.

[0008] During this process, the grinding effect of the acetabulum model must be recalculated each time the grinding head model's position is updated. Existing techniques pre-colorize the acetabulum image to determine the degree of grinding, then perform voxel calculations using the grinding head image. Finally, using volume rendering, the voxel model is projected onto a screen to produce a real-time 3D model of the acetabulum grinding process. However, this approach suffers from unrealistic visual effects, lacks smoothness, and fails to accurately reflect the grinding effect, hindering the doctor's intuitive judgment of the grinding effect. Summary of the Invention

[0009] The present invention proposes a method, system, device and storage medium for visual rendering of grinding in surgical navigation, which solves the problems of visual rendering of the grinding process through volume rendering in the existing technology, such as unrealistic model visual effects and insufficient smoothness of the generated model.

[0010] The technical solution of the present invention is achieved as follows:

[0011] A first aspect of the present invention provides a method for visualizing and rendering grinding in surgical navigation, comprising the following steps:

[0012] Acetabular cup model planning, moving the acetabular cup model to the predetermined position of the acetabulum model;

[0013] Grinding image generation: generating a grinding image of the acetabulum model according to the relative position relationship between the acetabular cup model and the acetabulum model, and performing layered processing on the grinding image;

[0014] Surface rendering: draw the mesh surface of the layered grinding image and assign different colors to the mesh surfaces of different layers.

[0015] The present invention uses surface rendering to visualize grinding during surgical navigation, directly using triangular meshes or polygons to represent the surface. This representation method can accurately capture the boundaries and details of anatomical structures. By using lighting and shading effects, surface rendering can emphasize surface features, making it easier for doctors to identify tissue structures, with higher clarity and detail. At the same time, surface rendering requires less storage space and less preprocessing time, meeting the real-time performance requirements of navigation. The geometric data of surface rendering is usually composed of relatively few vertices and faces, which makes operations such as rotating, scaling, and cutting the model faster and smoother. For surgical navigation, doctors need to frequently adjust the perspective and zoom in on details. The high interactivity and response speed of surface rendering can improve the accuracy and efficiency of surgical operations.

[0016] Specifically, the method of acetabular cup model planning includes:

[0017] Import the acetabular cup model and move it to the position and angle where the acetabulum model is to be placed by translation and rotation;

[0018] The bottom center of the acetabular cup model is used as the sphere center and the bottom radius of the acetabular cup model is used as the sphere radius to generate a hemispherical shell model for calculating the grinding area.

[0019] The method for generating a milled image of an acetabulum model comprises the following steps:

[0020] Get the vtkPolyData data of the current grinding head model and convert it into image stencil data;

[0021] Create a bounding box for the acetabulum image to be ground. The bounding box is defined by the left boundary x min , right boundary x max , front boundary y min , rear boundary y max , lower boundary z min , upper boundary z max determined;

[0022] Along the z-axis direction of the bounding box, a slice of the bounding box is generated at every interval SpacingZ. SpacingZ represents the physical size of each voxel in the z-axis direction. The number of slices generated is (z max -z min ) / SpacingZ, the length and width of the slice are (x max -x min ) and (y max -y min );

[0023] The grinding head model is cut by using a number of slices to obtain a number of cross-sectional lines;

[0024] For each section line, traverse along the y-axis direction and record the x-axis coordinate value of the section line at each integer y-axis coordinate value;

[0025] According to the coordinate values ​​of all cross-section lines, the mask data of the grinding head model is created, that is, the projection of the grinding head model on each slice;

[0026] Then, the hemispherical shell model is cut by the slices to obtain a plurality of cross-sectional lines, and the mask data of the hemispherical shell model is created by the above method, that is, the projection of the hemispherical shell model on each slice;

[0027] Use the vtkImageStencil filter and use the mask data of the grinding head model as a mask. For the image of the acetabulum model to be ground, set the voxel pixel values ​​within the mask to 0, and keep the voxel pixel values ​​outside the mask unchanged to generate the reamed_image of the acetabulum after grinding.

[0028] Furthermore, the layered processing of the grinding image includes the following steps:

[0029] Use the vtkImageStencil filter and use the mask data of the hemispherical shell model as a mask. For the reamed_image image of the ground acetabulum, set the voxel pixel values ​​within the mask to 0, and keep the voxel pixel values ​​outside the mask unchanged, to obtain the reamed_image1 image where the ground acetabulum image and the hemispherical shell model intersect.

[0030] Use the Sobel edge detection algorithm to get the boundary of the image reamed_image1;

[0031] Binarize the boundary of image reamed_image1;

[0032] Perform an AND operation on the image reamed_image1 and the binary processed boundary to obtain the partial image reamed_image2 where the boundary intersects with the image reamed_image1;

[0033] Add image reamed_image1 and image reamed_image to obtain image image1;

[0034] Add image image1 and image reamed_image2 to obtain image image2.

[0035] Specifically, image2 contains the following three levels:

[0036] The first level is the intersection of the ground acetabulum image and the hemispherical shell model, and the pixel value of the voxels in this level is 1;

[0037] The second level is the part of the acetabulum image after grinding except the part intersecting with the hemispherical shell model. The pixel value of the voxels in this level is 2;

[0038] The third level is the intersection of the boundary of the acetabulum image after grinding and the hemispherical shell model, and the pixel value of the voxel in this level is 3.

[0039] Specifically, the method for drawing the mesh surface of the grinding image after layering processing is as follows: import the image image2 into the vtkDiscreteFlyingEdge3D software to draw the mesh surface, set three isosurfaces corresponding to the mesh surfaces with pixel values ​​of 1, 2, and 3 in the image image2, and use a smoothing filter to smooth the drawn mesh surface.

[0040] Specifically, the method of assigning different colors to mesh surfaces at different levels is:

[0041] Set the mesh faces with voxel values ​​of 1 to the first color;

[0042] Set the mesh face with voxel value 2 to the second color;

[0043] Sets the mesh faces with voxel value 3 to the third color.

[0044] A second aspect of the present invention provides a grinding virtual visualization rendering system for surgical navigation, comprising:

[0045] An acetabular cup model planning module, used for moving the acetabular cup model to a predetermined position of the acetabulum model;

[0046] A grinding image generation module is used to generate a grinding image of the acetabulum model according to the relative position relationship between the acetabulum cup model and the acetabulum model;

[0047] A grinding image layering module is used to perform layering processing on the grinding image;

[0048] The surface drawing and rendering module is used to draw the mesh surface of the grinding image after layering processing and give different colors to the mesh surfaces of different layers.

[0049] A third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the steps of the above-mentioned visualization rendering method when executing the computer program.

[0050] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned visualization rendering method are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 A schematic diagram of preoperative planning for navigation-based acetabular replacement surgery in the prior art;

[0053] Figure 2 A schematic diagram of the intraoperative grinding operation of a navigation-based acetabular replacement surgery in the prior art;

[0054] Figure 3 This is a flow chart of a method for visualizing grinding in surgical navigation according to the present invention;

[0055] Figure 4 A schematic diagram of the process of acetabular cup model planning in an embodiment of the present invention;

[0056] Figure 5 Schematic diagram of the relative positions of the hemispherical shell model and the acetabular cup model in an embodiment of the present invention;

[0057] Figure 6 Schematic diagram of the structure of the acetabulum model bounding box in an embodiment of the present invention;

[0058] Figure 7 Schematic diagram of a mask for a grinding head according to an embodiment of the present invention;

[0059] Figure 8 Schematic diagram of a mask of a hemispherical shell according to an embodiment of the present invention;

[0060] Figure 9 is a schematic diagram of an image reamed_image in an embodiment of the present invention;

[0061] Figure 10 is a schematic diagram of image reamed_image1 in an embodiment of the present invention;

[0062] Figure 11 is a schematic diagram of image reamed_image2 in an embodiment of the present invention;

[0063] Figure 12 is a schematic diagram of image image1 in an embodiment of the present invention;

[0064] Figure 13 is a schematic diagram of image image2 in an embodiment of the present invention;

[0065] Figure 14 Schematic diagram of the grid surface of image image2 in an embodiment of the present invention;

[0066] Figure 15 Schematic diagram of a mesh surface after smoothing in an embodiment of the present invention;

[0067] Figure 16 This is the effect diagram after the mesh surface is colored in an embodiment of the present invention. DETAILED DESCRIPTION

[0068] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0069] Reference Figure 3A first aspect of an embodiment of the present invention provides a method for visualizing grinding in surgical navigation, comprising the following steps:

[0070] Acetabular cup model planning, moving the acetabular cup model to the predetermined position of the acetabulum model;

[0071] Grinding image generation: generating a grinding image of the acetabulum model according to the relative position relationship between the acetabular cup model and the acetabulum model, and performing layered processing on the grinding image;

[0072] Surface rendering: draw the mesh surface of the layered grinding image and assign different colors to the mesh surfaces of different layers.

[0073] The present invention uses surface rendering to visualize grinding during surgical navigation, directly using triangular meshes or polygons to represent the surface. This representation method can accurately capture the boundaries and details of anatomical structures. By using lighting and shading effects, surface rendering can emphasize surface features, making it easier for doctors to identify tissue structures, with higher clarity and detail. At the same time, surface rendering requires less storage space and less preprocessing time, meeting the real-time performance requirements of navigation. The geometric data of surface rendering is usually composed of relatively few vertices and faces, which makes operations such as rotating, scaling, and cutting the model faster and smoother. For surgical navigation, doctors need to frequently adjust the perspective and zoom in on details. The high interactivity and response speed of surface rendering can improve the accuracy and efficiency of surgical operations.

[0074] Specifically, the method of acetabular cup model planning includes:

[0075] Import the acetabular cup model and move it to the position and angle where the acetabulum model is to be placed using the rigid body transformation matrix T (translation, rotation). Figure 4 As shown;

[0076] With the bottom center of the acetabular cup model as the sphere center and the bottom radius of the acetabular cup model as the sphere radius, a hemispherical shell model for calculating the grinding area is generated, such as Figure 5 As shown in FIG, the bottom surface of the hemispherical shell model is flush with the bottom surface of the acetabular cup model, and the normal direction is consistent with the normal direction of the acetabular cup model. The gap between the hemispherical shell model and the acetabular cup model is the planned grinding area.

[0077] The method for generating a milled image of an acetabulum model comprises the following steps:

[0078] Get the vtkPolyData data of the current grinding head model real_reamer, which is a form of describing the surface of a three-dimensional object using a set of polygons (triangles or quadrilaterals), and convert it into image stencil data using the vtkSurfaceToImageStencil method;

[0079] like Figure 6 As shown, the bounding box of the acetabulum image to be ground is established, and the range of the bounding box is determined by the left boundary x min , right boundary x max , front boundary y min , rear boundary y max , lower boundary z min , upper boundary z max determined;

[0080] Along the z-axis direction of the bounding box, a slice of the bounding box is generated at every interval SpacingZ. The number of slices generated is (z max -z min ) / SpacingZ, the length and width of the slice are (x max -x min ) and (y max -y min );

[0081] The image spacing refers to the spacing of each voxel in the width, depth, and height directions in physical space, where:

[0082] SpacingX: The physical size of each voxel in the x-axis direction.

[0083] SpacingY: The physical size of each voxel in the y-axis direction;

[0084] SpacingZ: The physical size of each voxel in the z-axis direction;

[0085] Use several slices to cut the grinding head model real_reamer into pieces and obtain several cross-section lines;

[0086] For each section line, traverse along the y-axis direction and record the x-axis coordinate value of the section line at each integer y-axis coordinate value;

[0087] According to the coordinate values ​​of all section lines, create the mask data real_reamer_stencil of the grinding head model real_reamer, that is, the projection of the grinding head model real_reamer on each slice, such as Figure 7 As shown;

[0088] Then, the hemispherical shell model shell is cut by the slice to obtain several cross-section lines, and the mask data shell_stencil of the hemispherical shell model shell is created by the above method, that is, the projection of the hemispherical shell model on each slice, such as Figure 8 As shown;

[0089] Use the vtkImageStencil filter to use the mask data of the grinding head model as a mask; for the image of the acetabulum model to be ground, use SetReverseStencil (reverse template) to set the voxel pixel values ​​within the mask to 0, and the voxel pixel values ​​outside the mask remain unchanged, generating the reamed_image of the acetabulum after grinding, as shown in the following example: Figure 9 As shown;

[0090] Furthermore, the layered processing of the grinding image includes the following steps:

[0091] Use the vtkImageStencil filter and use the mask data of the hemispherical shell model as a mask. For the reamed_image image of the acetabulum after grinding, set the voxel pixel values ​​within the mask to 0, and keep the voxel pixel values ​​outside the mask unchanged. Then, the image reamed_image1 where the acetabulum image after grinding intersects with the hemispherical shell model is obtained, as shown in the figure: Figure 10 As shown;

[0092] Use the Sobel edge detection algorithm to get the boundary of the image reamed_image1;

[0093] Binarize the boundary of image reamed_image1 so that the pixel value on the boundary is 1 if the value is greater than 1 and the pixel value is 0 if the value is less than 1.

[0094] Perform an AND operation on the image reamed_image1 and the binary processed boundary to obtain the partial image reamed_image2 where the boundary intersects with the image reamed_image1, as shown in Figure 11 As shown;

[0095] Add image reamed_image1 and image reamed_image to get image image1, as shown in Figure 12 As shown, that is:

[0096] image1(x,y,z)=reamed_image(x,y,z)+reamed_image1(x,y,z)

[0097] Add image1 and imagereamed_image2 to obtain image2, as shown in Figure 13 As shown, that is:

[0098] image2(x,y,z)=image1(x,y,z)+reamed_image2(x,y,z).

[0099] Specifically, image2 contains the following three levels:

[0100] The first level is the intersection of the ground acetabulum image and the hemispherical shell model, and the pixel value of the voxels in this level is 1;

[0101] The second level is the part of the acetabulum image after grinding except the part intersecting with the hemispherical shell model. The pixel value of the voxels in this level is 2;

[0102] The third level is the intersection of the boundary of the acetabulum image after grinding and the hemispherical shell model, and the pixel value of the voxel in this level is 3.

[0103] Specifically, the method for drawing the mesh surface of the grinding image after layering is as follows: import the image image2 into the vtkDiscreteFlyingEdge3D software to draw the mesh surface, such as Figure 14 As shown; set 3 isosurfaces, corresponding to the mesh surfaces with pixel values ​​of 1, 2, and 3 in image2, disable gradient calculation, disable normal calculation, enable scalar value calculation, and use a smoothing filter to smooth the drawn mesh surface, as shown Figure 15 As shown;

[0104] Specifically, the method of assigning different colors to mesh surfaces at different levels is:

[0105] like Figure 16 As shown; create a color table and set different colors for the corresponding equal-value surfaces of different pixel values:

[0106] SetTableValue(1,0,1,0,1), sets the grid surface with voxel value 1 to the first color (green in this embodiment);

[0107] SetTableValue(2,1,0,0,1) sets the grid surface with a voxel value of 2 to the second color (red in this example);

[0108] SetTableValue(3,1,1,1,1) sets the grid surface with a voxel value of 3 to the third color (white in this embodiment).

[0109] For the area outside the acetabulum image after grinding, its pixel value is set to 0, which is correspondingly set to transparent.

[0110] During surgical navigation, as the grinding head continues to move deeper, the exposed grinding areas on the acetabulum model surface are displayed in sequence:

[0111] Green means the current grinding area is within the planned grinding area;

[0112] White means that the current grinding area exceeds the planned grinding area, and the excess thickness is within the allowable error range;

[0113] Red means that the current grinding area exceeds the planned grinding area, and the excess thickness is greater than the maximum value of the allowable error range.

[0114] During the polishing process of the acetabulum, the surface of the acetabulum model in the image is exposed in green, white, and red in turn to indicate the current polishing status. Figure 16 The red area is not shown.

[0115] A second aspect of an embodiment of the present invention provides a grinding virtual visualization rendering system for surgical navigation, comprising:

[0116] An acetabular cup model planning module, used for moving the acetabular cup model to a predetermined position of the acetabulum model;

[0117] A grinding image generation module is used to generate a grinding image of the acetabulum model according to the relative position relationship between the acetabulum cup model and the acetabulum model;

[0118] A grinding image layering module is used to perform layering processing on the grinding image;

[0119] The surface drawing and rendering module is used to draw the mesh surface of the grinding image after layering processing and give different colors to the mesh surfaces of different layers.

[0120] A third aspect of an embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the steps of the above-mentioned visualization rendering method when executing the computer program.

[0121] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned visualization rendering method are implemented.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for visualizing grinding in surgical navigation, characterized in that: The following steps are involved: Acetabular cup model planning, moving the acetabular cup model to the predetermined position of the acetabulum model; Grinding image generation: generating a grinding image of the acetabulum model according to the relative position relationship between the acetabular cup model and the acetabulum model, and performing layered processing on the grinding image; Surface rendering: draw the mesh surface of the grinding image after layering and give different colors to the mesh surfaces of different layers; Methods for cup model planning include: Import the acetabular cup model and move it to the position and angle where the acetabulum model is to be placed by translation and rotation; The bottom center of the acetabular cup model is used as the sphere center, and the bottom radius of the acetabular cup model is used as the sphere radius to generate a hemispherical shell model for calculating the grinding area. The method for generating a milled image of an acetabulum model comprises the following steps: Get the vtkPolyData data of the current grinding head model and convert it into image stencil data; Create a bounding box for the acetabulum image to be ground. The bounding box is defined by the left boundary x min , right boundary x max , front boundary y min , rear boundary y max , lower boundary z min , upper boundary z max determined; Along the z-axis direction of the bounding box, a slice of the bounding box is generated at every interval SpacingZ. SpacingZ represents the physical size of each voxel in the z-axis direction. The number of slices generated is (z max -z min ) / SpacingZ, the length and width of the slice are (x max -x min ) and (y max -y min ); The grinding head model is cut by using a number of slices to obtain a number of cross-sectional lines; For each section line, traverse along the y-axis direction and record the x-axis coordinate value of the section line at each integer y-axis coordinate value; According to the coordinate values ​​of all cross-section lines, the mask data of the grinding head model is created, that is, the projection of the grinding head model on each slice; Then, the hemispherical shell model is cut by the slices to obtain a plurality of cross-sectional lines, and the mask data of the hemispherical shell model is created by the above method, that is, the projection of the hemispherical shell model on each slice; Use the vtkImageStencil filter to use the mask data of the grinding head model as a mask; for the image of the acetabulum model to be ground, set the voxel pixel values ​​within the mask to 0, and keep the voxel pixel values ​​outside the mask unchanged, to generate the reamed_image of the acetabulum after grinding; The layering process for grinding images consists of the following steps: Use the vtkImageStencil filter and use the mask data of the hemispherical shell model as a mask. For the reamed_image image of the ground acetabulum, set the voxel pixel values ​​within the mask to 0, and keep the voxel pixel values ​​outside the mask unchanged, to obtain the reamed_image1 image where the ground acetabulum image and the hemispherical shell model intersect. Use the Sobel edge detection algorithm to get the boundary of the image reamed_image1; Binarize the boundary of image reamed_image1; Perform an AND operation on the image reamed_image1 and the binary processed boundary to obtain the partial image reamed_image2 where the boundary intersects with the image reamed_image1; Add image reamed_image1 and image reamed_image to obtain image image1; Add image1 and imagereamed_image2 to obtain image image2; Image image2 contains the following three levels: The first level is the intersection of the ground acetabulum image and the hemispherical shell model, and the pixel value of the voxels in this level is 1; The second level is the part of the acetabulum image after grinding except the part intersecting with the hemispherical shell model. The pixel value of the voxels in this level is 2; The third level is the intersection of the boundary of the acetabulum image after grinding and the hemispherical shell model, and the pixel value of the voxel in this level is 3.

2. The method for visualizing grinding in surgical navigation according to claim 1, wherein: The method for drawing the mesh surface of the grinding image after layering processing is as follows: import the image image2 into the vtkDiscreteFlyingEdge3D software to draw the mesh surface, set three isosurfaces corresponding to the mesh surfaces with pixel values ​​of 1, 2, and 3 in the image image2, and use a smoothing filter to smooth the drawn mesh surface.

3. The method for visualizing grinding in surgical navigation according to claim 2, wherein: The method of assigning different colors to mesh faces at different levels is: Set the mesh faces with voxel values ​​of 1 to the first color; Set the mesh face with voxel value 2 to the second color; Sets the mesh faces with voxel value 3 to the third color.

4. A grinding virtual visualization rendering system for surgical navigation, based on the visualization rendering method according to any one of claims 1 to 3, characterized in that: include: An acetabular cup model planning module, used for moving the acetabular cup model to a predetermined position of the acetabulum model; A grinding image generation module is used to generate a grinding image of the acetabulum model according to the relative position relationship between the acetabulum cup model and the acetabulum model; A grinding image layering module is used to perform layering processing on the grinding image; The surface drawing and rendering module is used to draw the mesh surface of the grinding image after layering processing and give different colors to the mesh surfaces of different layers.

5. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the visualization rendering method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the visualization rendering method according to any one of claims 1 to 3 are implemented.

Images