Measuring and positioning method and device for unicompartmental knee arthroplasty

Abstract

The invention relates to the field of medical instruments, in particular to a measuring and positioning method and device for unicompartmental knee arthroplasty, and the method comprises the steps: obtaining and analyzing the motion data of a joint part in a motion process, determining the motion posture characteristics of the joint part in an original state, and forming the first multi-degree-of-freedom motion three-dimensional representation information of the joint part; the method comprises the following steps: predicting and analyzing interstitial space three-dimensional data formed by performing osteotomy operation on a joint part, determining unicondylar installation three-dimensional information in the interstitial space, predicting second multi-degree-of-freedom action three-dimensional characterization information of the joint part after unicondylar replacement, and comparing the two pieces of multi-degree-of-freedom action three-dimensional characterization information, so as to determine the position of the joint part. And determining optimal single-condyle installation position information so as to determine single-condyle installation axis pose features, and generating single-condyle replacement measurement positioning reference information. According to the method, reliable and accurate measurement positioning reference information can be provided for implementation of the unicompartmental knee arthroplasty, accurate positioning navigation guidance is provided for subsequent implementation of the unicompartmental knee arthroplasty, and the implementation success rate of the unicompartmental knee arthroplasty is increased.

Description

[Technical field]

[0001] The invention relates to the field of medical devices, and in particular to a measurement and positioning method and device for unicompartmental replacement. [Background technology]

[0002] The medial unicondyle (i.e., medial femoral condyle) of the joints of people who are engaged in specific jobs or who are obese is prone to wear and tear, which affects the normal movement of the joint. Unicompartmental knee replacement is the use of an artificial unicondyle to replace the severely worn medial condyle. As a key bone structure in the joint, the unicondyle has an important influence on the distribution of force lines during the movement of the joint. If the artificial unicondyle cannot be accurately installed in the matching position inside the joint during the unicondylar knee replacement, the artificial unicondyle will have a large position deviation compared to the original medial unicondyle in the joint, which will cause the problem of force line distortion in the joint after the unicondylar knee replacement, seriously affecting the normal movement of the joint.

[0003] The accuracy of the installation and positioning of the artificial unicompartment in the existing unicompartmental replacement is largely determined by the experience of the surgeon. The traditional unicompartmental replacement is to measure and identify the internal structure of the joint in real time after dissecting it, and to determine the installation position of the artificial unicompartment in the joint in real time based on the surgeon's experience, which increases the uncertainty of the effect of the unicompartmental replacement. The existing unicompartmental replacement does not pre-measure the joint and perform predictive measurement of the installation and positioning of the artificial unicompartment before implementation. It cannot provide reliable and accurate measurement and positioning reference information for the implementation of unicompartmental replacement, and cannot provide accurate positioning and navigation guidance for unicompartmental replacement. It can be seen that how to measure and position the installation of the artificial unicompartment before the implementation of unicompartmental replacement is of great significance to reduce the uncertainty of the implementation effect of unicompartmental replacement and improve the success rate of unicompartmental replacement. [Summary of the invention]

[0004] In order to provide reliable and accurate measurement and positioning reference information for the implementation of unicompartmental replacement, provide precise positioning and navigation guidance for unicompartmental replacement, and improve the success rate of unicompartmental replacement, the present invention provides a measurement and positioning method for unicompartmental replacement, and the method comprises the following steps:

[0005] Acquire motion data of the joint during the activity process, analyze the motion data, and determine the motion posture characteristics of the joint in the original state; based on the motion posture characteristics, form first multi-degree-of-freedom motion three-dimensional representation information of the joint;

[0006] Predicting the three-dimensional data of the gap space formed by the osteotomy operation at the joint site, analyzing the three-dimensional data of the gap space, and determining the three-dimensional information of the unicompartmental installation inside the gap space; predicting the three-dimensional representation information of the second multi-degree-of-freedom action after the unicompartmental replacement surgery at the joint site based on the three-dimensional representation information of the first multi-degree-of-freedom action and the three-dimensional representation information of the second multi-degree-of-freedom action, and determining the optimal unicompartmental installation position information inside the gap space based on the three-dimensional representation information of the first multi-degree-of-freedom action and the three-dimensional representation information of the second multi-degree-of-freedom action;

[0007] Based on the optimal unicompartmental installation position information, the unicompartmental installation axis position characteristics inside the gap space are determined; based on the unicompartmental installation axis position characteristics, unicompartmental replacement measurement positioning reference information is generated.

[0008] Preferably, the acquisition of motion data of the joint during the activity process, analyzing the motion data, and determining the motion posture characteristics of the joint in the original state; and forming the first multi-degree-of-freedom motion three-dimensional representation information of the joint based on the motion posture characteristics, specifically includes:

[0009] Collect a number of activity behavior images corresponding to all allowed activity behaviors of the joint part, perform dynamic joint boundary recognition on each activity behavior image, and obtain the motion deformation data of the joint part corresponding to each allowed activity behavior; based on the motion deformation data of the joint part corresponding to all allowed activity behaviors, determine the motion posture characteristics of the joint part in the original state; wherein the motion posture characteristics include the motion angle ranges corresponding to all allowed activity posture dimensions when the joint part is in the original state;

[0010] Based on the motion posture characteristics and the structural contour of the joint part, the joint part is mapped in three dimensions in the world coordinate system to obtain first multi-degree-of-freedom motion three-dimensional representation information of the joint part; wherein the first multi-degree-of-freedom motion three-dimensional representation information includes three-dimensional motion amplitude information corresponding to the multi-degree-of-freedom azimuth in the world coordinate system when the joint part is in its original state.

[0011] Preferably, the three-dimensional data of the gap space formed by the osteotomy operation at the joint part is predicted, the three-dimensional data of the gap space is analyzed, and the three-dimensional information of the unicompartmental installation inside the gap space is determined; based on the three-dimensional information of the unicompartmental installation, the three-dimensional representation information of the second multi-degree-of-freedom action after the unicompartmental replacement is predicted at the joint part, specifically:

[0012] Based on the bone structure damage state of the joint part, determine the three-dimensional path for the osteotomy operation at the joint part; based on the three-dimensional path for the osteotomy operation and the osteotomy operation action offset, predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint part; based on the three-dimensional data of the gap space and the shape and size of the single condyle, determine the three-dimensional installation information of the single condyle inside the gap space; wherein the three-dimensional installation information of the single condyle includes the three-dimensional position information of all subspaces inside the gap space that allow the installation of the single condyle;

[0013] Based on the three-dimensional position information of all subspaces within the gap space that allow the installation of a single condyle, dynamic modeling is performed on the joint parts of each subspace after the single condyle is installed, and three-dimensional mapping of the movements of the joint parts of each subspace after the single condyle is installed is performed in the world coordinate system to obtain a number of second multi-degree-of-freedom movement three-dimensional representation information corresponding one-to-one to all subspaces.

[0014] Preferably, determining the optimal unicompartmental installation position information inside the gap space based on the first multi-degree-of-freedom motion three-dimensional representation information and the second multi-degree-of-freedom motion three-dimensional representation information is specifically:

[0015] The first multi-degree-of-freedom motion three-dimensional characterization information is compared with each second multi-degree-of-freedom motion three-dimensional characterization information to identify a second multi-degree-of-freedom motion three-dimensional characterization information having a minimum motion three-dimensional deviation with the first multi-degree-of-freedom motion three-dimensional characterization information; and the position information of the subspace corresponding to the second multi-degree-of-freedom motion three-dimensional characterization information having the minimum motion three-dimensional deviation within the gap space is used as the optimal unicompartmental installation position information within the gap space.

[0016] Preferably, based on the optimal unicompartmental installation position information, determining the unicompartmental installation axis position characteristics inside the gap space; based on the unicompartmental installation axis position characteristics, generating unicompartmental replacement measurement positioning reference information, specifically:

[0017] The optimal unicondylar installation position information is compared with the three-dimensional outer contour of the unicondylar to determine the characteristic axis placement posture feature of the unicondylar installation in the corresponding subspace inside the gap space; wherein the characteristic axis placement posture feature includes the placement azimuth angle features of three mutually perpendicular axes passing through the geometric center of the unicondylar in the corresponding subspace inside the gap space;

[0018] The unicompartmental installation axis position feature mapping is converted into the operating coordinate system of unicompartmental replacement to generate unicompartmental replacement measurement positioning reference information.

[0019] In another aspect, the present invention provides a measurement and positioning device for unicompartmental knee replacement, the device comprising the following modules:

[0020] The joint original motion posture recognition module is used to obtain the motion data of the joint part during the activity process, analyze the motion data, and determine the motion posture characteristics of the joint part in the original state;

[0021] A first multi-degree-of-freedom action three-dimensional representation module, used for forming first multi-degree-of-freedom action three-dimensional representation information of the joint part based on the action posture feature;

[0022] The second multi-degree-of-freedom action three-dimensional characterization module is used to predict the three-dimensional data of the gap space formed by the osteotomy operation performed on the joint part, analyze the three-dimensional data of the gap space, and determine the three-dimensional information of the unicompartmental installation inside the gap space; based on the three-dimensional information of the unicompartmental installation, predict the second multi-degree-of-freedom action three-dimensional characterization information of the joint part after the unicompartmental replacement surgery;

[0023] A unicompartmental optimal installation position determination module, configured to determine the optimal unicompartmental installation position information inside the gap space based on the first multi-degree-of-freedom motion three-dimensional representation information and the second multi-degree-of-freedom motion three-dimensional representation information;

[0024] A unicompartmental installation axis position and posture determination module, used to determine the unicompartmental installation axis position and posture characteristics inside the gap space based on the optimal unicompartmental installation position information;

[0025] The unicompartmental replacement measurement positioning determination module is used to generate unicompartmental replacement measurement positioning reference information based on the unicompartmental installation axis posture characteristics.

[0026] Preferably, the joint original motion posture recognition module obtains motion data of the joint part during the activity process, analyzes the motion data, and determines the motion posture characteristics of the joint part in the original state, specifically:

[0027] Collect a number of activity behavior images corresponding to all allowed activity behaviors of the joint part, perform dynamic joint boundary recognition on each activity behavior image, and obtain the motion deformation data of the joint part corresponding to each allowed activity behavior; based on the motion deformation data of the joint part corresponding to all allowed activity behaviors, determine the motion posture characteristics of the joint part in the original state; wherein the motion posture characteristics include the motion angle ranges corresponding to all allowed activity posture dimensions when the joint part is in the original state;

[0028] The first multi-degree-of-freedom action three-dimensional representation module forms first multi-degree-of-freedom action three-dimensional representation information of the joint part based on the action posture feature, specifically:

[0029] Based on the motion posture characteristics and the structural contour of the joint part, the joint part is mapped in three dimensions in the world coordinate system to obtain first multi-degree-of-freedom motion three-dimensional representation information of the joint part; wherein the first multi-degree-of-freedom motion three-dimensional representation information includes three-dimensional motion amplitude information corresponding to the multi-degree-of-freedom azimuth in the world coordinate system when the joint part is in its original state.

[0030] Preferably, the second multi-degree-of-freedom action three-dimensional characterization module predicts the three-dimensional data of the gap space formed by the osteotomy operation performed on the joint part, analyzes the three-dimensional data of the gap space, and determines the three-dimensional information of the unicompartmental installation inside the gap space; based on the three-dimensional information of the unicompartmental installation, predicts the second multi-degree-of-freedom action three-dimensional characterization information of the joint part after the unicompartmental replacement surgery, specifically:

[0031] Based on the bone structure damage state of the joint part, determine the three-dimensional path for the osteotomy operation at the joint part; based on the three-dimensional path for the osteotomy operation and the osteotomy operation action offset, predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint part; based on the three-dimensional data of the gap space and the shape and size of the single condyle, determine the three-dimensional installation information of the single condyle inside the gap space; wherein the three-dimensional installation information of the single condyle includes the three-dimensional position information of all subspaces inside the gap space that allow the installation of the single condyle;

[0032] Based on the three-dimensional position information of all subspaces within the gap space that allow the installation of a single condyle, dynamic modeling is performed on the joint parts of each subspace after the single condyle is installed, and three-dimensional mapping of the movements of the joint parts of each subspace after the single condyle is installed is performed in the world coordinate system to obtain a number of second multi-degree-of-freedom movement three-dimensional representation information corresponding one-to-one to all subspaces.

[0033] Preferably, the unicompartmental optimal installation position determination module determines the optimal unicompartmental installation position information inside the gap space based on the first multi-degree-of-freedom motion three-dimensional representation information and the second multi-degree-of-freedom motion three-dimensional representation information, specifically:

[0034] The first multi-degree-of-freedom motion three-dimensional characterization information is compared with each second multi-degree-of-freedom motion three-dimensional characterization information to identify a second multi-degree-of-freedom motion three-dimensional characterization information having a minimum motion three-dimensional deviation with the first multi-degree-of-freedom motion three-dimensional characterization information; and the position information of the subspace corresponding to the second multi-degree-of-freedom motion three-dimensional characterization information having the minimum motion three-dimensional deviation within the gap space is used as the optimal unicompartmental installation position information within the gap space.

[0035] Preferably, the unicompartmental installation axis posture determination module determines the unicompartmental installation axis posture characteristics inside the gap space based on the optimal unicompartmental installation position information, specifically:

[0036] The optimal unicondylar installation position information is compared with the three-dimensional outer contour of the unicondylar to determine the characteristic axis placement posture feature of the unicondylar installation in the corresponding subspace inside the gap space; wherein the characteristic axis placement posture feature includes the placement azimuth angle features of three mutually perpendicular axes passing through the geometric center of the unicondylar in the corresponding subspace inside the gap space;

[0037] The unicompartmental replacement measurement and positioning determination module generates unicompartmental replacement measurement and positioning reference information based on the unicompartmental installation axis position and posture characteristics, specifically:

[0038] The unicompartmental installation axis position feature mapping is converted into the operating coordinate system of unicompartmental replacement to generate unicompartmental replacement measurement positioning reference information.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The motion data of the joint parts in the activity process are obtained, and the motion data are analyzed to determine the motion posture characteristics of the joint parts in the original state; based on the motion posture characteristics, the first multi-degree-of-freedom motion three-dimensional representation information of the joint parts is formed. Different types of joint parts such as wrist joints, elbow joints, shoulder joints, knee joints, and hip joints all have a single condyle, and the shape, size, and location of the single condyle under different types of joint parts are different, and the bending motion direction and angle range of different types of joint parts in the original state (that is, without any surgery) are also different. Before performing unicompartmental replacement on different types of joint parts, it is necessary to carry out unicompartmental replacement with precise matching of the original unicompartmental position of different types of joint parts to ensure that the joint parts after unicompartmental replacement can maintain the original bending motion direction and angle range as much as possible. To this end, it is necessary to obtain the motion data of the joint parts in the original state in advance, obtain the motion posture characteristics of the joint parts in the original state by analyzing the data, and accurately and comprehensively quantify the bending motion direction and angle range that the joint parts can achieve. Based on the movement posture characteristics of the joint in its original state, the first multi-degree-of-freedom movement three-dimensional characterization information of the joint is formed, thereby performing a global three-dimensional characterization of the angle rotation range of the joint performing bending movements in different directions in its original state, which serves as the spatial position reference for subsequent identification of the optimal unicompartmental installation position for unicompartmental knee replacement.

[0041] Predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint, analyze the three-dimensional data of the gap space, and determine the three-dimensional information of the unicondylar installation inside the gap space; based on the three-dimensional information of the unicondylar installation, predict the three-dimensional representation information of the second multi-degree-of-freedom action after the joint has completed the unicondylar replacement; based on the three-dimensional representation information of the first multi-degree-of-freedom action and the three-dimensional representation information of the second multi-degree-of-freedom action, determine the optimal unicondylar installation position information inside the gap space. When performing unicondylar replacement, it is necessary to osteotomize the original worn medial unicondylar at the joint and remove the worn medial unicondylar. In this way, a gap space will be formed in the area inside the joint where the medial unicondylar is removed, and this gap space will also be the space corresponding to the subsequent replacement of the artificial unicondylar. Affected by the removal process of the medial unicondyle and the requirements for the replacement installation space of the artificial unicondyle, the volume of the gap space must be larger than the volume of the artificial unicondyle, so there are many different installation position options when the artificial unicondyle is installed inside the gap space. Each installation position option corresponds to different dynamic posture characteristics of the joint after the unicondyle replacement. In order to select the best installation position of the unicondyle in the gap space before performing unicondyle replacement, the three-dimensional data of the gap space formed by the osteotomy operation at the joint is predicted, so as to determine the three-dimensional information of the unicondyle installation inside the gap space, and based on the three-dimensional information of the unicondyle installation, the corresponding second multi-degree-of-freedom action three-dimensional representation information is predicted when the artificial unicondyle is replaced and installed at different positions in the gap space. The three-dimensional characterization information of the second multi-degree-of-freedom motion corresponding to different positions is then compared with the three-dimensional characterization information of the first multi-degree-of-freedom motion to identify the optimal unicompartmental installation position information within the gap space, thereby accurately determining the optimal installation position of the artificial unicompartmental knee before unicompartmental knee replacement, so that the artificial unicompartmental knee can be quickly installed when the unicompartmental knee replacement is actually performed later.

[0042] Based on the optimal unicompartmental installation position information, the unicompartmental installation axis position characteristics inside the gap space are determined; based on the unicompartmental installation axis position characteristics, the unicompartmental replacement measurement and positioning reference information is generated. The optimal unicompartmental installation position information is to limit the installation position of the artificial unicompartment inside the gap space, but the artificial unicompartment itself has a certain three-dimensional shape. In order to ensure that the artificial unicompartmental replacement can function normally inside the joint after installation, it is also necessary to adjust the placement orientation and posture of the artificial unicompartment inside the gap space. For this reason, based on the optimal unicompartmental installation position information, the unicompartmental installation axis position characteristics inside the gap space are determined, so as to limit the replacement installation of the artificial unicompartment from multiple orientations and postures. In addition, based on the unicompartmental installation axis position characteristics, the unicompartmental replacement measurement and positioning reference information is generated to provide precise positioning and navigation guidance for the subsequent actual implementation of unicompartmental replacement, thereby improving the success rate of unicompartmental replacement.

Brief Description of the Drawings

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. 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 creative work. Among them:

[0044] Figure 1 The present invention provides a flow chart of a method for measuring and positioning unicompartmental knee replacement.

[0045] Figure 2 The present invention is a structural diagram of a measurement and positioning device for unicompartmental replacement. [Specific implementation method]

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention rather than all structures are shown in the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0047] The terms "include" and "have" and any variations thereof in the present invention are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or equipment.

[0048] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0049] See also Figure 1 As shown, the present invention provides a measurement and positioning method for unicompartmental knee replacement, the method comprising the following steps:

[0050] S100, obtaining motion data of the joint during the activity process, analyzing the motion data, and determining the motion posture characteristics of the joint in the original state; based on the motion posture characteristics, forming the first multi-degree-of-freedom motion three-dimensional representation information of the joint.

[0051] Furthermore, a plurality of activity behavior images corresponding to all allowed activity behaviors of the joint part are collected, and the joint boundary dynamic recognition is performed on each activity behavior image to obtain the motion deformation data of the joint part corresponding to each allowed activity behavior; based on the motion deformation data of the joint part corresponding to all allowed activity behaviors, the motion posture features of the joint part in the original state are determined; wherein the motion posture features include the motion angle ranges corresponding to all allowed activity posture dimensions when the joint part is in the original state;

[0052] Based on the motion posture characteristics and the structural contours of the joints, the joints are mapped in three dimensions in the world coordinate system to obtain first multi-degree-of-freedom motion three-dimensional representation information of the joints; wherein the first multi-degree-of-freedom motion three-dimensional representation information includes three-dimensional motion amplitude information corresponding to the multi-degree-of-freedom azimuth in the world coordinate system when the joints are in their original state.

[0053] The joints of the human body mainly include different types of joints such as wrist joints, elbow joints, shoulder joints, knee joints, hip joints, etc. The shapes, sizes and functions of these joints are not the same, and accordingly, the shapes, sizes and positions of the single condyle inside these joints are also different. In the existing implementation of unicompartmental knee replacement, the shape, size and position of the single condyle inside the joint can only be determined after the joint is dissected. At this time, the surgeon needs to make a quick judgment and identification in a short time to perform the corresponding surgical operation. The purpose of the present invention is to determine the position information of the unicompartmental knee replacement installation before performing unicompartmental knee replacement on the joint, that is, to complete the preliminary measurement and positioning preparation of unicompartmental knee replacement without the need for open dissection of the joint.

[0054] Specifically, before performing unicompartmental replacement on different types of joints, it is necessary to perform unicompartmental replacement with precise matching of the original unicompartmental position of the different types of joints in order to ensure that the joints after unicompartmental replacement can maintain the original bending direction and angle range as much as possible. Before performing unicompartmental replacement, the original bending motion parameters of the joints are measured and determined, and used as a reference benchmark to ensure that the original bending motion parameters and flexibility of the joints can be restored or completely restored after unicompartmental replacement. To this end, all the activities of the joints in all allowed activities are dynamically photographed to obtain corresponding activity images, and the joint boundaries are dynamically identified for each activity image to obtain the changes in the boundary pixel contours of the joints during the corresponding allowed activity, thereby obtaining the motion deformation data of the joints corresponding to each allowed activity. Among them, the allowed activity of the joints can be, but is not limited to, the action behavior generated by the joints in multiple bending directions or swinging directions with the maximum angle range or amplitude range. Then, motion features are extracted from the motion deformation data of the joints corresponding to all allowed activity behaviors, and the motion posture features of the joints in their original states are obtained. This allows for accurate and comprehensive quantitative determination of the original achievable bending motion direction and angle range of the joints, corresponding to the pitch direction, yaw direction, and roll direction of the allowed activity posture dimensions when the joints are in their original states.

[0055] In addition, the movement posture characteristics and structural contours of the joint are combined to perform three-dimensional mapping of the joint movement in the world coordinate system, and the three-dimensional movement amplitude information corresponding to the multi-degree-of-freedom azimuth in the world coordinate system when the joint is in the original state (i.e., the first multi-degree-of-freedom movement three-dimensional representation information) is obtained, thereby performing a global three-dimensional representation of the angular rotation range of the joint bending movement in different directions in the original state, which serves as the spatial position reference for the subsequent identification of the optimal unicompartmental installation position for unicompartmental knee replacement.

[0056] S200, predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint site, analyze the three-dimensional data of the gap space, and determine the three-dimensional information of the unicondylar installation inside the gap space; based on the three-dimensional information of the unicondylar installation, predict the three-dimensional representation information of the second multi-degree-of-freedom movement of the joint site after the unicondylar replacement surgery; based on the three-dimensional representation information of the first multi-degree-of-freedom movement and the three-dimensional representation information of the second multi-degree-of-freedom movement, determine the optimal unicondylar installation position information inside the gap space.

[0057] Further, based on the bone structure damage state of the joint, the three-dimensional path for executing the osteotomy operation at the joint is determined; based on the three-dimensional path for executing the osteotomy operation and the osteotomy operation action offset, the three-dimensional data of the gap space formed by executing the osteotomy operation at the joint is predicted; based on the three-dimensional data of the gap space and the shape and size of the single condyle, the three-dimensional information of the installation of the single condyle inside the gap space is determined; wherein the three-dimensional information of the installation of the single condyle includes the three-dimensional position information of all subspaces inside the gap space that allow the installation of the single condyle;

[0058] Based on the three-dimensional position information of all subspaces within the gap space that allow the installation of a single condyle, dynamic modeling is performed on the joint parts of each subspace after the single condyle is installed, and three-dimensional mapping of the movements of the joint parts of each subspace after the single condyle is installed is performed in the world coordinate system to obtain a number of second multi-degree-of-freedom movement three-dimensional representation information corresponding one-to-one to all subspaces.

[0059] Furthermore, the first multi-degree-of-freedom motion three-dimensional characterization information is compared with each second multi-degree-of-freedom motion three-dimensional characterization information to identify a second multi-degree-of-freedom motion three-dimensional characterization information having a minimum motion three-dimensional deviation with the first multi-degree-of-freedom motion three-dimensional characterization information; and the position information of the subspace corresponding to the second multi-degree-of-freedom motion three-dimensional characterization information having the minimum motion three-dimensional deviation within the gap space is used as the optimal unicompartmental installation position information within the gap space.

[0060] When performing unicompartmental replacement, the worn medial unicompartment of the joint needs to be osteotomized to remove the worn medial unicompartment. This will form a gap space in the area of ​​the joint where the medial unicompartment is removed, and this gap space will subsequently replace the space corresponding to the artificial unicompartment. Based on the bone structure damage state of the joint, the three-dimensional path for the osteotomy operation at the joint is determined; based on the three-dimensional path for the osteotomy operation and the osteotomy operation action offset, the three-dimensional data of the gap space formed by the osteotomy operation at the joint is predicted.

[0061] Affected by the removal process of the medial unicondyle and the space margin requirement for the replacement installation of the artificial unicondyle, the volume of the gap space must be larger than that of the artificial unicondyle, so there are many different installation position options when the artificial unicondyle is installed inside the gap space. Each installation position option corresponds to different dynamic posture characteristics of the joint after the unicondyle replacement. In order to select the best installation position of the unicondyle inside the gap space before the unicondyle replacement, the three-dimensional data of the gap space formed by the osteotomy operation at the joint is predicted. Based on the three-dimensional data of the gap space and the shape and size of the unicondyle, the three-dimensional installation information of the unicondyle inside the gap space is determined; wherein, the three-dimensional installation information of the unicondyle includes the three-dimensional position information of all subspaces inside the gap space that allow the unicondyle to be installed.

[0062] In addition, based on the unicompartmental installation three-dimensional information, the corresponding second multi-degree-of-freedom action three-dimensional representation information in the world coordinate system when the artificial unicompartmental replacement is installed at different positions in the gap space is predicted. The second multi-degree-of-freedom action three-dimensional representation information corresponding to different positions is then compared with the first multi-degree-of-freedom action three-dimensional representation information to identify the optimal unicompartmental installation position information inside the gap space. Specifically, the first multi-degree-of-freedom action three-dimensional representation information is compared with each second multi-degree-of-freedom action three-dimensional representation information to identify a second multi-degree-of-freedom action three-dimensional representation information with the minimum action three-dimensional deviation between the first multi-degree-of-freedom action three-dimensional representation information; and based on the position information of the subspace corresponding to the second multi-degree-of-freedom action three-dimensional representation information with the minimum action three-dimensional deviation inside the gap space as the optimal unicompartmental installation position information inside the gap space, the optimal installation position of the artificial unicompartmental replacement can be accurately determined before the unicompartmental replacement, so that the artificial unicompartmental replacement can be quickly installed when the unicompartmental replacement is actually implemented later.

[0063] S300, based on the optimal unicompartmental installation position information, determine the unicompartmental installation axis position characteristics inside the gap space; based on the unicompartmental installation axis position characteristics, generate unicompartmental replacement measurement positioning reference information.

[0064] Furthermore, the optimal unicondylar installation position information is compared with the three-dimensional outer contour of the unicondylar to determine the characteristic axis placement posture feature of the unicondylar installation in the corresponding subspace inside the gap space; wherein the characteristic axis placement posture feature includes the placement azimuth angle features of three mutually perpendicular axes passing through the geometric center of the unicondylar in the corresponding subspace inside the gap space;

[0065] The unicompartmental installation axis posture feature mapping is transformed into the operating coordinate system of unicompartmental knee replacement to generate unicompartmental knee replacement measurement positioning reference information.

[0066] The optimal unicompartmental installation position information is to limit the installation position of the artificial unicompartment in the gap space. However, the artificial unicompartment itself has a certain three-dimensional shape. In order to ensure that the artificial unicompartmental replacement can function normally inside the joint, it is also necessary to adjust the placement orientation of the artificial unicompartment in the gap space. The optimal unicompartmental installation position information is compared with the three-dimensional shape contour of the unicompartment to determine the characteristic axis placement orientation of the unicompartmental installation in the corresponding subspace inside the gap space; wherein, the characteristic axis placement orientation orientation includes the placement azimuth angle characteristics of the three mutually perpendicular axes passing through the geometric center of the unicompartment in the corresponding subspace inside the gap space, so as to determine the unicompartmental installation axis orientation orientation characteristics inside the gap space based on the optimal unicompartmental installation position information, so as to limit and constrain the replacement installation of the artificial unicompartmental from multiple orientation orientations.

[0067] In addition, based on the posture characteristics of the unicompartmental installation axis, the unicompartmental replacement measurement and positioning reference information is generated. In this way, when the unicompartmental replacement is actually performed later, the unicompartmental replacement measurement and positioning reference information can be mapped to the VR device worn by the surgeon, providing precise positioning and navigation guidance in the surgeon's visual scene, thereby improving the success rate of the unicompartmental replacement.

[0068] See also Figure 2 As shown, the present invention provides a measurement and positioning device for unicompartmental knee replacement, the device comprising the following modules:

[0069] The joint original motion posture recognition module is used to obtain the motion data of the joint during the activity process, analyze the motion data, and determine the motion posture characteristics of the joint in the original state;

[0070] A first multi-degree-of-freedom action three-dimensional representation module, used for forming first multi-degree-of-freedom action three-dimensional representation information of a joint part based on action posture characteristics;

[0071] The second multi-degree-of-freedom action three-dimensional characterization module is used to predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint site, analyze the three-dimensional data of the gap space, and determine the three-dimensional information of the unicondylar installation inside the gap space; based on the three-dimensional information of the unicondylar installation, predict the second multi-degree-of-freedom action three-dimensional characterization information of the joint site after the unicondylar replacement surgery;

[0072] A unicompartmental optimal installation position determination module, used to determine the optimal unicompartmental installation position information inside the gap space based on the first multi-degree-of-freedom motion three-dimensional representation information and the second multi-degree-of-freedom motion three-dimensional representation information;

[0073] A unicompartmental installation axis position and posture determination module is used to determine the unicompartmental installation axis position and posture characteristics inside the gap space based on the optimal unicompartmental installation position information;

[0074] The unicompartmental replacement measurement positioning determination module is used to generate unicompartmental replacement measurement positioning reference information based on the unicompartmental installation axis posture characteristics.

[0075] Furthermore, the joint original motion posture recognition module obtains the motion data of the joint part during the activity process, analyzes the motion data, and determines the motion posture characteristics of the joint part in the original state, specifically:

[0076] Collect a number of activity behavior images corresponding to all allowed activity behaviors of the joint part, perform dynamic joint boundary recognition on each activity behavior image, and obtain motion deformation data of the joint part corresponding to each allowed activity behavior; based on the motion deformation data of the joint part corresponding to all allowed activity behaviors, determine the motion posture features of the joint part in the original state; wherein the motion posture features include the motion angle ranges corresponding to all allowed activity posture dimensions when the joint part is in the original state;

[0077] The first multi-degree-of-freedom action three-dimensional representation module forms the first multi-degree-of-freedom action three-dimensional representation information of the joint part based on the action posture characteristics, specifically:

[0078] Based on the motion posture characteristics and the structural contours of the joints, the joints are mapped in three dimensions in the world coordinate system to obtain first multi-degree-of-freedom motion three-dimensional representation information of the joints; wherein the first multi-degree-of-freedom motion three-dimensional representation information includes three-dimensional motion amplitude information corresponding to the multi-degree-of-freedom azimuth in the world coordinate system when the joints are in their original state.

[0079] Furthermore, the second multi-degree-of-freedom action three-dimensional characterization module predicts the three-dimensional data of the gap space formed by the osteotomy operation at the joint part, analyzes the three-dimensional data of the gap space, and determines the three-dimensional information of the unicondylar installation inside the gap space; based on the three-dimensional information of the unicondylar installation, the second multi-degree-of-freedom action three-dimensional characterization information after the joint part completes the unicondylar replacement surgery is predicted, specifically:

[0080] Based on the bone structure damage state of the joint, determine the three-dimensional path for the osteotomy operation at the joint; based on the three-dimensional path for the osteotomy operation and the osteotomy operation action offset, predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint; based on the three-dimensional data of the gap space and the shape and size of the single condyle, determine the three-dimensional information of the single condyle installation inside the gap space; wherein the three-dimensional information of the single condyle installation includes the three-dimensional position information of all subspaces within the gap space that allow the single condyle to be installed;

[0081] Based on the three-dimensional position information of all subspaces within the gap space that allow the installation of a single condyle, dynamic modeling is performed on the joint parts of each subspace after the single condyle is installed, and three-dimensional mapping of the movements of the joint parts of each subspace after the single condyle is installed is performed in the world coordinate system to obtain a number of second multi-degree-of-freedom movement three-dimensional representation information corresponding one-to-one to all subspaces.

[0082] Further, the unicompartmental optimal installation position determination module determines the optimal unicompartmental installation position information inside the gap space based on the first multi-degree-of-freedom motion three-dimensional characterization information and the second multi-degree-of-freedom motion three-dimensional characterization information, specifically:

[0083] The first multi-degree-of-freedom motion three-dimensional characterization information is compared with each second multi-degree-of-freedom motion three-dimensional characterization information to identify a second multi-degree-of-freedom motion three-dimensional characterization information having a minimum motion three-dimensional deviation with the first multi-degree-of-freedom motion three-dimensional characterization information; and the position information of the subspace corresponding to the second multi-degree-of-freedom motion three-dimensional characterization information having the minimum motion three-dimensional deviation within the gap space is used as the optimal unicompartmental installation position information within the gap space.

[0084] Furthermore, the unicompartmental installation axis posture determination module determines the unicompartmental installation axis posture characteristics inside the gap space based on the optimal unicompartmental installation position information, specifically:

[0085] The optimal unicondylar installation position information is compared with the unicondylar three-dimensional external contour to determine the characteristic axis placement posture feature of the unicondylar installation in the corresponding subspace inside the gap space; wherein the characteristic axis placement posture feature includes the placement azimuth angle features of three mutually perpendicular axes passing through the geometric center of the unicondylar in the corresponding subspace inside the gap space;

[0086] The unicompartmental replacement measurement and positioning determination module generates unicompartmental replacement measurement and positioning reference information based on the unicompartmental installation axis posture characteristics, specifically:

[0087] The unicompartmental installation axis posture feature mapping is transformed into the operating coordinate system of unicompartmental knee replacement to generate unicompartmental knee replacement measurement positioning reference information.

[0088] The operation and effect of the measurement and positioning device for unicompartmental arthroplasty of the present invention are corresponding to and consistent with the above-mentioned measurement and positioning method for unicompartmental arthroplasty, and the description of the automatic system for continuous weighting and packaging of powder materials will not be repeated here.

[0089] In addition, the measurement and positioning method of unicompartmental knee replacement of the present invention can be implemented by, but not limited to, the following embodiments to implement the measurement and positioning execution process:

[0090] First, the bending motion data of the joint part in the original state in the three-dimensional space during the activity process is obtained, and the rotational motion posture features of the pitch direction, yaw direction and roll direction are extracted for the bending motion data; wherein the rotational motion posture features may be but are not limited to the pitch angle θ, yaw angle φ and roll angle ψ corresponding to the pitch direction, yaw direction and roll direction respectively, the pitch angle θ variation range [θ1, θ2] corresponding to the pitch angle θ, yaw angle φ and roll angle ψ, the motion data of the yaw angle φ is the yaw angle φ variation range [φ1, φ2], and the motion data of the roll angle ψ is the roll angle ψ variation range [ψ1, ψ2]. The pitch angle θ variation range [θ1, θ2], the yaw angle φ variation range [φ1, φ2], and the roll angle ψ variation range [ψ1, ψ2] are then integrated to generate the first multi-degree-of-freedom motion three-dimensional characterization function f1 (θ, φ, ψ) corresponding to the joint part. The first multi-degree-of-freedom motion three-dimensional characterization function f1 (θ, φ, ψ) is a characterization function of the three parameters of the pitch angle θ, the yaw angle φ and the roll angle ψ, and can be constructed through a convolutional neural network model, which is a conventional technical means in this field and will not be described in detail here.

[0091] Second, predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint site, and the three-dimensional data of the gap space may include the coordinate information (x, y, z) of all spatial points inside the gap space in the world coordinate system; then, based on the three-dimensional data of the gap space, construct a three-dimensional characterization function V(x, y, z) corresponding to the gap space, and compare the three-dimensional characterization function V(x, y, z) with the three-dimensional shape function v(x, y, z) of the artificial monocondyle to determine the three-dimensional information inside the gap space that allows replacement installation of the artificial monocondyle, wherein the three-dimensional information that allows replacement installation of the artificial monocondyle may include but is not limited to the three-dimensional coordinates of the geometric center points corresponding to all subspaces inside the gap space that allow replacement installation of the artificial monocondyle, and each subspace corresponds to a replacement installation scheme of the artificial monocondyle.

[0092] Taking the geometric center point corresponding to each subspace as a reference, after the artificial unicompartmental joint is aligned with the geometric center and installed in the corresponding subspace (i.e., after the unicompartmental replacement surgery is completed), the new bending motion data of the joint part in the three-dimensional space during the activity process is determined, and the new rotational motion posture features in the pitch direction, yaw direction and roll direction are extracted from the new bending motion data; wherein the new rotational motion posture features may be, but are not limited to, the pitch angle θ′, yaw angle θ′ corresponding to the pitch direction, yaw direction and roll direction, respectively. The pitch angle θ′ corresponding to the roll angle ψ′ varies in the range [θ′1, θ′2], and the yaw angle The motion data is the yaw angle Range of variation The motion data of the roll angle ψ′ is the roll angle ψ′ change range [ψ′1, ψ′2]. Then the pitch angle θ′ change range [θ′1, θ′2], the yaw angle φ′ change range The rolling angle ψ′ variation range [ψ′1, ψ′2] is integrated to generate the second multi-degree-of-freedom motion three-dimensional representation function f2 corresponding to the joint The second multi-degree-of-freedom motion three-dimensional characterization function f2 is about the pitch angle θ′, yaw angle The characterization functions of the three parameters, φ′ and roll angle ψ′, can be constructed by a convolutional neural network model, which belongs to the conventional technical means in this field and will not be described in detail here. After the artificial monocondylar is installed in each subspace, a second multi-degree-of-freedom action three-dimensional characterization function f2 In this way, after installing the artificial single condyle, multiple subspaces correspond to multiple second multi-degree-of-freedom motion three-dimensional representation functions f2

[0093] Then the first multi-degree-of-freedom action three-dimensional representation function f1 With each second multi-degree-of-freedom action three-dimensional characterization function f2 Perform fitting comparison to determine the correlation deviation between the two characterization functions. If the correlation deviation is smaller, it indicates that the corresponding second multi-degree-of-freedom action three-dimensional characterization function f2 and the first multi-degree-of-freedom action three-dimensional characterization function f1 The higher the overlap between them, the more likely it is that the second multi-degree-of-freedom action three-dimensional characterization function f2 with the smallest associated deviation will be determined. The corresponding subspace is used as the optimal unicompartmental installation subspace inside the gap space, and the optimal unicompartmental installation position information corresponding to the optimal unicompartmental installation subspace inside the gap space is further determined. Among them, the first multi-degree-of-freedom motion three-dimensional representation function f1 With each second multi-degree-of-freedom action three-dimensional characterization function f2 The fitting comparison between them can be obtained by convolutional neural network calculation, which belongs to the conventional technical means in this field and will not be described in detail here.

[0094] Third, compare the optimal unicompartmental installation position information with the three-dimensional shape contour of the artificial unicompartment, that is, compare the three-dimensional spatial representation function V1 (x, y, z) of the optimal unicompartmental installation subspace with the three-dimensional shape contour representation function V2 (x, y, z) of the artificial unicompartmental, and determine the installation axis position characteristics of the artificial unicompartment in the optimal unicompartmental installation subspace, wherein the installation axis position characteristics may be but are not limited to the placement azimuth angles α, β, and γ of the three mutually perpendicular axes passing through the geometric center of the unicompartment in the corresponding subspace inside the gap space. Based on the above three placement azimuth angles α, β, and γ, generate the replacement measurement positioning reference information (x o ,y o , z o ) and (α, β, γ), where (x o ,y o , z o ) is the three-dimensional coordinate of the geometric center of the optimal unicompartmental installation subspace in the world coordinate system, and (α, β, γ) is the angle constraint condition composed of the above three placement azimuth angles α, β, γ.

[0095] Through the description of the above implementation methods, technicians in this field can clearly understand that each implementation method can be implemented by adding a necessary general hardware platform, and of course can also be implemented by combining hardware and software. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a computer product, and the present invention can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it, and other embodiments may also be used. Although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A measurement and positioning method for unicompartmental knee replacement, characterized in that: The method comprises the following steps: Acquire motion data of the joint during the activity process, analyze the motion data, and determine the motion posture characteristics of the joint in the original state; based on the motion posture characteristics, form first multi-degree-of-freedom motion three-dimensional representation information of the joint; Predicting the three-dimensional data of the gap space formed by the osteotomy operation at the joint site, analyzing the three-dimensional data of the gap space, and determining the three-dimensional information of the unicompartmental installation inside the gap space; predicting the three-dimensional representation information of the second multi-degree-of-freedom action after the unicompartmental replacement surgery at the joint site based on the three-dimensional representation information of the first multi-degree-of-freedom action and the three-dimensional representation information of the second multi-degree-of-freedom action, and determining the optimal unicompartmental installation position information inside the gap space based on the three-dimensional representation information of the first multi-degree-of-freedom action and the three-dimensional representation information of the second multi-degree-of-freedom action; Based on the optimal unicompartmental installation position information, the unicompartmental installation axis position characteristics inside the gap space are determined; based on the unicompartmental installation axis position characteristics, unicompartmental replacement measurement positioning reference information is generated.

2. The method according to claim 1, characterized in that The acquiring of motion data of the joint during the activity process, analyzing the motion data, and determining the motion posture characteristics of the joint in the original state; and forming the first multi-degree-of-freedom motion three-dimensional representation information of the joint based on the motion posture characteristics, specifically: Collect a number of activity behavior images corresponding to all allowed activity behaviors of the joint part, perform dynamic joint boundary recognition on each activity behavior image, and obtain the motion deformation data of the joint part corresponding to each allowed activity behavior; based on the motion deformation data of the joint part corresponding to all allowed activity behaviors, determine the motion posture characteristics of the joint part in the original state; wherein the motion posture characteristics include the motion angle ranges corresponding to all allowed activity posture dimensions when the joint part is in the original state; Based on the motion posture characteristics and the structural contour of the joint part, the joint part is mapped in three dimensions in the world coordinate system to obtain first multi-degree-of-freedom motion three-dimensional representation information of the joint part; wherein the first multi-degree-of-freedom motion three-dimensional representation information includes three-dimensional motion amplitude information corresponding to the multi-degree-of-freedom azimuth in the world coordinate system when the joint part is in its original state.

3. The method according to claim 1, characterized in that: The three-dimensional data of the gap space formed by the osteotomy operation at the joint part is predicted, and the three-dimensional data of the gap space is analyzed to determine the three-dimensional information of the unicompartmental installation inside the gap space; based on the three-dimensional information of the unicompartmental installation, the three-dimensional representation information of the second multi-degree-of-freedom action after the unicompartmental replacement is predicted at the joint part is specifically: Based on the bone structure damage state of the joint part, determine the three-dimensional path for the osteotomy operation at the joint part; based on the three-dimensional path for the osteotomy operation and the osteotomy operation action offset, predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint part; based on the three-dimensional data of the gap space and the shape and size of the single condyle, determine the three-dimensional installation information of the single condyle inside the gap space; wherein the three-dimensional installation information of the single condyle includes the three-dimensional position information of all subspaces inside the gap space that allow the installation of the single condyle; Based on the three-dimensional position information of all subspaces within the gap space that allow the installation of a single condyle, dynamic modeling is performed on the joint parts of each subspace after the single condyle is installed, and three-dimensional mapping of the movements of the joint parts of each subspace after the single condyle is installed is performed in the world coordinate system to obtain a number of second multi-degree-of-freedom movement three-dimensional representation information corresponding one-to-one to all subspaces.

4. The method according to claim 3, characterized in that The determining of the optimal unicompartmental installation position information inside the gap space based on the first multi-degree-of-freedom motion three-dimensional representation information and the second multi-degree-of-freedom motion three-dimensional representation information is specifically: The first multi-degree-of-freedom motion three-dimensional characterization information is compared with each second multi-degree-of-freedom motion three-dimensional characterization information to identify a second multi-degree-of-freedom motion three-dimensional characterization information having a minimum motion three-dimensional deviation with the first multi-degree-of-freedom motion three-dimensional characterization information; and the position information of the subspace corresponding to the second multi-degree-of-freedom motion three-dimensional characterization information having the minimum motion three-dimensional deviation within the gap space is used as the optimal unicompartmental installation position information within the gap space.

5. The method according to claim 1, characterized in that The method of determining the unicompartmental installation axis position characteristics inside the gap space based on the optimal unicompartmental installation position information; and generating unicompartmental replacement measurement positioning reference information based on the unicompartmental installation axis position characteristics is specifically as follows: The optimal unicondylar installation position information is compared with the three-dimensional outer contour of the unicondylar to determine the characteristic axis placement posture feature of the unicondylar installation in the corresponding subspace inside the gap space; wherein the characteristic axis placement posture feature includes the placement azimuth angle features of three mutually perpendicular axes passing through the geometric center of the unicondylar in the corresponding subspace inside the gap space; The unicompartmental installation axis position feature mapping is converted into the operating coordinate system of unicompartmental replacement to generate unicompartmental replacement measurement positioning reference information.

6. A measurement and positioning device for unicompartmental knee replacement, characterized in that: The device comprises the following modules: The joint original motion posture recognition module is used to obtain the motion data of the joint part during the activity process, analyze the motion data, and determine the motion posture characteristics of the joint part in the original state; A first multi-degree-of-freedom action three-dimensional representation module, used for forming first multi-degree-of-freedom action three-dimensional representation information of the joint part based on the action posture feature; The second multi-degree-of-freedom action three-dimensional characterization module is used to predict the three-dimensional data of the gap space formed by the osteotomy operation performed on the joint part, analyze the three-dimensional data of the gap space, and determine the three-dimensional information of the unicompartmental installation inside the gap space; based on the three-dimensional information of the unicompartmental installation, predict the second multi-degree-of-freedom action three-dimensional characterization information of the joint part after the unicompartmental replacement surgery; A unicompartmental optimal installation position determination module, configured to determine the optimal unicompartmental installation position information inside the gap space based on the first multi-degree-of-freedom motion three-dimensional representation information and the second multi-degree-of-freedom motion three-dimensional representation information; A unicompartmental installation axis position and posture determination module, used to determine the unicompartmental installation axis position and posture characteristics inside the gap space based on the optimal unicompartmental installation position information; The unicompartmental replacement measurement positioning determination module is used to generate unicompartmental replacement measurement positioning reference information based on the unicompartmental installation axis posture characteristics.

7. The device according to claim 6, characterized in that The joint original motion posture recognition module obtains the motion data of the joint part during the activity process, analyzes the motion data, and determines the motion posture characteristics of the joint part in the original state, specifically: Collect a number of activity behavior images corresponding to all allowed activity behaviors of the joint part, perform dynamic joint boundary recognition on each activity behavior image, and obtain the motion deformation data of the joint part corresponding to each allowed activity behavior; based on the motion deformation data of the joint part corresponding to all allowed activity behaviors, determine the motion posture characteristics of the joint part in the original state; wherein the motion posture characteristics include the motion angle ranges corresponding to all allowed activity posture dimensions when the joint part is in the original state; The first multi-degree-of-freedom action three-dimensional representation module forms first multi-degree-of-freedom action three-dimensional representation information of the joint part based on the action posture feature, specifically: Based on the motion posture characteristics and the structural contour of the joint part, the joint part is mapped in three dimensions in the world coordinate system to obtain first multi-degree-of-freedom motion three-dimensional representation information of the joint part; wherein the first multi-degree-of-freedom motion three-dimensional representation information includes three-dimensional motion amplitude information corresponding to the multi-degree-of-freedom azimuth in the world coordinate system when the joint part is in its original state.

8. The device according to claim 6, characterized in that The second multi-degree-of-freedom action three-dimensional characterization module predicts the three-dimensional data of the gap space formed by the osteotomy operation performed on the joint part, analyzes the three-dimensional data of the gap space, and determines the three-dimensional information of the unicompartmental installation inside the gap space; based on the three-dimensional information of the unicompartmental installation, predicts the second multi-degree-of-freedom action three-dimensional characterization information of the joint part after the unicompartmental replacement surgery, specifically: Based on the bone structure damage state of the joint part, determine the three-dimensional path for the osteotomy operation at the joint part; based on the three-dimensional path for the osteotomy operation and the osteotomy operation action offset, predict the three-dimensional data of the gap space formed by the osteotomy operation at the joint part; based on the three-dimensional data of the gap space and the shape and size of the single condyle, determine the three-dimensional installation information of the single condyle inside the gap space; wherein the three-dimensional installation information of the single condyle includes the three-dimensional position information of all subspaces inside the gap space that allow the installation of the single condyle; Based on the three-dimensional position information of all subspaces within the gap space that allow the installation of a single condyle, dynamic modeling is performed on the joint parts of each subspace after the single condyle is installed, and three-dimensional mapping of the movements of the joint parts of each subspace after the single condyle is installed is performed in the world coordinate system to obtain a number of second multi-degree-of-freedom movement three-dimensional representation information corresponding one-to-one to all subspaces.

9. The device according to claim 8, characterized in that The unicompartmental optimal installation position determination module determines the optimal unicompartmental installation position information inside the gap space based on the first multi-degree-of-freedom motion three-dimensional representation information and the second multi-degree-of-freedom motion three-dimensional representation information, specifically: The first multi-degree-of-freedom motion three-dimensional characterization information is compared with each second multi-degree-of-freedom motion three-dimensional characterization information to identify a second multi-degree-of-freedom motion three-dimensional characterization information having a minimum motion three-dimensional deviation with the first multi-degree-of-freedom motion three-dimensional characterization information; and the position information of the subspace corresponding to the second multi-degree-of-freedom motion three-dimensional characterization information having the minimum motion three-dimensional deviation within the gap space is used as the optimal unicompartmental installation position information within the gap space.

10. The device according to claim 6, characterized in that The unicompartmental installation axis position determination module determines the unicompartmental installation axis position characteristics inside the gap space based on the optimal unicompartmental installation position information, specifically: The optimal unicondylar installation position information is compared with the three-dimensional outer contour of the unicondylar to determine the characteristic axis placement posture feature of the unicondylar installation in the corresponding subspace inside the gap space; wherein the characteristic axis placement posture feature includes the placement azimuth angle features of three mutually perpendicular axes passing through the geometric center of the unicondylar in the corresponding subspace inside the gap space; The unicompartmental replacement measurement and positioning determination module generates unicompartmental replacement measurement and positioning reference information based on the unicompartmental installation axis position and posture characteristics, specifically: The unicompartmental installation axis position feature mapping is converted into the operating coordinate system of unicompartmental replacement to generate unicompartmental replacement measurement positioning reference information.

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