Femoral stem prosthesis installation indication method, surgical robot system and computer equipment

Abstract

The invention relates to a femoral stem prosthesis installation indication method, a surgical robot system and computer equipment, and the method comprises the steps: obtaining target medical image data, and determining the index data of the opposite side according to the target medical image data; the real-time position of the femoral stem prosthesis is tracked, and index data of the operation side are determined; determining an index data difference value according to the index data of the opposite side and the index data of the operation side; and according to the index data difference value, determining a target movement vector indicating the installation of the femoral stem prosthesis. According to the method and the device, the problems of long installation time and low installation precision caused by the fact that the installation direction of the femoral stem prosthesis cannot be indicated in the prior art are solved, and the installation of the femoral stem prosthesis is rapidly and accurately completed according to the target movement vector indicating the optimal installation of the femoral stem prosthesis; the mounting precision is ensured.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a femoral stem prosthesis installation indication method, a surgical robot system and a computer device. Background Art

[0002] Total hip arthroplasty (THA, also known as artificial hip replacement) is a new technology for treating hip joint diseases. It can effectively correct joint deformity, improve joint function, relieve diseases such as osteonecrosis, and greatly improve the patient's quality of life. During the operation, part of the femur on the surgical side will be replaced by the femoral stem prosthesis. The installation position of the femoral stem prosthesis ultimately determines the difference in length of the contralateral lower limb and the difference in contralateral joint eccentricity, and these two indicators directly affect the accuracy of the operation; otherwise, it is very likely to cause the patient's prosthesis to fall off or the patient to feel uncomfortable.

[0003] At present, surgical navigation systems are involved in the surgical process of total hip replacement. The surgical navigation system can not only effectively assist doctors in operation, but also greatly improve the accuracy of surgery. In the existing technology, users are required to adjust the installation direction of the femoral stem prosthesis based on their experience and make repeated adjustments, which increases the installation time of the femoral stem prosthesis and has low installation accuracy.

[0004] There is a problem in the related art that the installation direction of the femoral stem prosthesis cannot be indicated, resulting in a long installation time and low installation accuracy. Currently, no effective solution has been proposed. Summary of the invention

[0005] In this embodiment, a femoral stem prosthesis installation indication method, a surgical robot system and a computer device are provided to solve the problem in the related art that the installation direction of the femoral stem prosthesis cannot be indicated, resulting in a long installation time and low installation accuracy.

[0006] In a first aspect, a femoral stem prosthesis installation indication method is provided in this embodiment, comprising:

[0007] Acquire target medical image data, and determine the index data of the opposite side according to the target medical image data;

[0008] Tracking the real-time position of the femoral stem prosthesis and determining the index data of the surgical side;

[0009] Determining an indicator data difference according to the indicator data of the contralateral side and the indicator data of the surgical side;

[0010] A target movement vector indicating the installation of the femoral stem prosthesis is determined based on the indicator data difference.

[0011] In some of these embodiments, the indicator data includes lower limb length and joint eccentricity.

[0012] In some embodiments, the method further comprises:

[0013] Instructing the movement of the femoral stem prosthesis according to the target movement vector;

[0014] When the real-time position of the femoral stem prosthesis changes, the target movement vector and the index data difference are updated and displayed.

[0015] In some embodiments, the method further comprises:

[0016] Instructing the movement of the femoral stem prosthesis according to the target movement vector;

[0017] When the absolute value of the indicator data difference is less than a preset threshold, it indicates that the femoral stem prosthesis has been installed to the planned position.

[0018] In some embodiments, determining a target movement vector indicating installation of the femoral stem prosthesis according to the indicator data difference includes:

[0019] Determining a first target movement vector of the femoral stem prosthesis in the sagittal plane according to the index data difference;

[0020] Determining a second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the index data difference;

[0021] A target movement vector indicating the installation of the femoral stem prosthesis is determined according to the first target movement vector and the second target movement vector.

[0022] In some embodiments, determining a first target movement vector of the femoral stem prosthesis in the sagittal plane direction according to the indicator data difference includes:

[0023] Controlling the femoral stem prosthesis axis of the femoral stem prosthesis to coincide with the medullary cavity axis of the femur;

[0024] Determine a first movement vector of the medullary cavity axis projected in the sagittal plane direction according to the upper end point and the lower end point of the medullary cavity axis;

[0025] Determine a second movement vector of the projection of the femoral stem prosthesis axis in the sagittal plane according to the upper end point and the lower end point of the femoral stem prosthesis axis;

[0026] A first target movement vector of the femoral stem prosthesis in the sagittal plane direction is determined according to the first movement vector and the second movement vector.

[0027] In some embodiments, determining a second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the indicator data difference includes:

[0028] Determining a third movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral lower limb length difference in the index data difference;

[0029] Determining a fourth movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral joint eccentricity difference in the index data difference;

[0030] A second target movement vector of the femoral stem prosthesis in the coronal plane direction is determined according to the third movement vector and the fourth movement vector.

[0031] In some embodiments, the method of determining the third movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral lower limb length difference in the indicator data difference, and the method of determining the fourth movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral joint eccentricity difference in the indicator data difference include:

[0032] Compare the length of the lower limb on the surgical side with the length of the lower limb on the opposite side, and obtain a third movement vector according to the comparison result; wherein the direction of the third movement vector is a direction that reduces the absolute value of the difference between the length of the lower limb and the length of the lower limb on the opposite side;

[0033] The combined eccentricity of the surgical side is compared with the combined eccentricity of the contralateral side, and a fourth movement vector is obtained according to the comparison result; wherein the direction of the fourth movement vector is a direction that reduces the absolute value of the difference between the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side.

[0034] In some embodiments, the real-time position of the femoral stem prosthesis is tracked to determine the index data of the surgical side, including:

[0035] Tracking the real-time position of the femoral stem prosthesis and determining the relative position of the femoral stem prosthesis and the femur;

[0036] According to the relative position, the index data of the surgical side is determined.

[0037] In a second aspect, a surgical robot system is provided in this embodiment, the system includes a femoral stem prosthesis installation indication device, the femoral stem prosthesis installation indication device includes: an acquisition module, a first processing module, a second processing module and an indication module;

[0038] The acquisition module is used to acquire target medical image data and determine the index data of the opposite side according to the target medical image data;

[0039] The first processing module is used to track the real-time position of the femoral stem prosthesis and determine the index data of the surgical side;

[0040] The second processing module is used to determine the index data difference according to the index data of the contralateral side and the index data of the surgical side;

[0041] The indication module is used to determine a target movement vector indicating the installation of the femoral stem prosthesis according to the indicator data difference.

[0042] In a third aspect, a computer device is provided in this embodiment, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the femoral stem prosthesis installation indication method described in the first aspect is implemented.

[0043] In a fourth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the femoral stem prosthesis installation indication method described in the first aspect is implemented.

[0044] Compared with the related art, the femoral stem prosthesis installation indication method, surgical robot system and computer equipment provided in this embodiment obtain target medical image data and determine the index data of the opposite side according to the target medical image data; track the real-time position of the femoral stem prosthesis to determine the index data of the surgical side; determine the index data difference according to the index data of the opposite side and the index data of the surgical side; determine the target movement vector indicating the installation of the femoral stem prosthesis according to the index data difference, which solves the problem in the related art that the installation direction of the femoral stem prosthesis cannot be indicated, resulting in a long installation time and low installation accuracy. The user can directly complete the installation of the femoral stem prosthesis quickly and accurately according to the target movement vector indicating the optimal installation of the femoral stem prosthesis, thereby ensuring the installation accuracy.

[0045] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0047] Figure 1 It is a hardware structure block diagram of a terminal device of a femoral stem prosthesis installation indication method provided in an embodiment of the present application;

[0048] Figure 2 It is a flow chart of a femoral stem prosthesis installation indication method provided by an embodiment of the present application;

[0049] Figure 3 is a flow chart of a femoral stem prosthesis installation indication method provided by another embodiment of the present application;

[0050] Figure 4 It is a schematic diagram of the relative position flow of the femoral stem prosthesis and the femoral model in the screen coordinate system provided by an embodiment of the present application;

[0051] Figure 5 It is a schematic diagram of a process of determining the relative position of a femoral stem prosthesis and a pelvic model in a screen coordinate system provided by an embodiment of the present application;

[0052] Figure 6 is a schematic diagram of determining a first target motion vector provided by an embodiment of the present application;

[0053] Figure 7 is a schematic diagram of determining a second target motion vector provided by an embodiment of the present application;

[0054] Figure 8 It is a structural block diagram of a femoral stem prosthesis installation indication device provided in one embodiment of the present application.

[0055] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input and output device; 210, acquisition module; 220, first processing module; 230, second processing module; 240, indication module. DETAILED DESCRIPTION

[0056] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0057] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0058] The method embodiment provided in this embodiment can be executed in a terminal, a hip joint surgery system, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 4 is a hardware structure diagram of a terminal of the femoral stem prosthesis installation instruction method of this embodiment. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0059] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the femoral stem prosthesis installation indication method in the present embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0060] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0061] In this embodiment, a femoral stem prosthesis installation indication method is provided. Figure 2 FIG. 1 is a flow chart of the femoral stem prosthesis installation instruction method of the present embodiment, as shown in FIG. Figure 2 As shown, the process includes the following steps:

[0062] Step S210, acquiring target medical image data, and determining the index data of the opposite side according to the target medical image data;

[0063] Step S220, tracking the real-time position of the femoral stem prosthesis and determining the index data of the surgical side;

[0064] Step S230, determining the index data difference according to the index data of the contralateral side and the index data of the operated side;

[0065] Step S240, determining a target movement vector for indicating installation of the femoral stem prosthesis according to the index data difference.

[0066] It should be noted that the target medical image data refers to the target medical image data of the target object; for example, in actual application, the method of obtaining the target medical image data in the embodiment of the present application includes but is not limited to obtaining the target medical image data that meets the above requirements from pre-stored data in a database; it can also be downloading the target medical image data that meets the requirements from a network platform; it can also be generating the corresponding target medical image data according to demand, etc. The embodiment of the present application does not limit the method of obtaining the target medical image data.

[0067] There are many ways to determine the contralateral index data based on the target medical image data, such as: using image processing technology to process the target medical image data, and then analyzing the contralateral index data; or inputting the target medical image data into a well-trained neural network model to output the contralateral index data, etc.

[0068] Among them, the contralateral side and the surgical side are determined by the position of the femur replaced by the femoral stem prosthesis. If part of the femur on the left side is replaced by the femoral stem prosthesis, then the left side is considered to be the surgical side, and the right side is considered to be the contralateral side. It can be considered that: the index data on the contralateral side represents the reference basis for the installation of the femoral stem prosthesis; the index data on the surgical side represents the current installation effect of the femoral stem prosthesis. During the installation of the femoral stem prosthesis, the femoral stem prosthesis will be moved, so the index data on the surgical side will change according to the real-time position of the femoral stem prosthesis; while the index data on the contralateral side remains unchanged. The method of obtaining the index data on the surgical side can also be similar to the method of obtaining the index data on the contralateral side, which will not be repeated here.

[0069] Among them, the difference of the indicator data is determined according to the indicator data of the contralateral side and the indicator data of the surgical side, specifically: the indicator data of the contralateral side is compared with the indicator data of the surgical side, and the difference between the two is determined, which is the difference of the indicator data. If the length of the lower limb or the combined eccentricity of the surgical side can be controlled to remain unchanged, and only the combined eccentricity or the length of the lower limb can be changed; then the indicator data can include the length of the lower limb or the combined eccentricity, and the difference of the indicator data is the difference of the length of the contralateral lower limb or the difference of the combined eccentricity of the contralateral side. If both the length of the lower limb and the combined eccentricity of the surgical side change, then the indicator data includes the length of the lower limb and the combined eccentricity, and the difference of the indicator data is the difference of the length of the contralateral lower limb and the difference of the combined eccentricity of the contralateral side. Preferably, the indicator data can include the length of the lower limb and the combined eccentricity; then the difference of the indicator data is also the difference of the length of the contralateral lower limb and the difference of the combined eccentricity of the contralateral side.

[0070] Among them, the definition of the contralateral lower limb length difference in imaging is the difference between the distance between the line connecting the lesser trochanter on the surgical side and the line connecting the lesser trochanter on the contralateral side when the line connecting the anterior superior iliac spines of the pelvis is parallel to the x-axis of the medical image, the femoral canal axis is at an angle of 9° to the z-axis of the medical image, and the maximum eccentricity of the femur is parallel to the coronal plane. The definition of the contralateral joint eccentricity difference in imaging is the difference between the distance between the femoral canal axis on the surgical side and the pelvic midline axis and the distance between the femoral canal axis on the contralateral side and the pelvic midline axis when the line connecting the anterior superior iliac spines of the pelvis is parallel to the x-axis of the medical image, the femoral canal axis is parallel to the z-axis of the medical image, and the maximum eccentricity of the femur is parallel to the coronal plane.

[0071] Since the index data difference can represent the difference between the current installation position of the femoral stem prosthesis and the planned position (the index data difference is 0 when the position of the femoral stem prosthesis coincides with the planned position), the target movement vector indicating the installation of the femoral stem prosthesis can be determined based on the index data difference; the target movement vector can provide an indication of the optimal installation direction of the femoral stem prosthesis. After obtaining the target movement vector, information processing or analysis can be further performed based on the target movement vector, and applied in different scenarios based on the processing results or analysis results.

[0072] In the related art, the user is required to adjust the installation direction of the femoral stem prosthesis based on experience and repeated adjustments, which increases the installation time of the femoral stem prosthesis and reduces the installation accuracy. However, the present application obtains the target medical image data through the above steps, and determines the index data of the opposite side according to the target medical image data; tracks the real-time position of the femoral stem prosthesis and determines the index data of the surgical side; determines the index data difference according to the index data of the opposite side and the index data of the surgical side; determines the target movement vector indicating the installation of the femoral stem prosthesis according to the index data difference, and the target movement vector can provide an indication of the optimal installation direction of the femoral stem prosthesis. The user can directly complete the installation of the femoral stem prosthesis quickly and accurately according to the target movement vector indicating the optimal installation of the femoral stem prosthesis; ensure the installation accuracy; thereby solving the problem in the related art that the installation direction of the femoral stem prosthesis cannot be indicated, resulting in a long installation time and low installation accuracy.

[0073] In some of the embodiments, Figure 3 As shown, the femoral stem prosthesis installation instruction method also includes the following steps:

[0074] Step S250, instructing the movement of the femoral stem prosthesis according to the target movement vector;

[0075] Step S260, when the real-time position of the femoral stem prosthesis changes, the target movement vector and the index data difference are updated and displayed.

[0076] Specifically, the target movement vector can indicate the optimal movement direction and movement amount of the femoral stem prosthesis; each time the femoral stem prosthesis moves according to the optimal movement direction and movement amount indicated by the target movement vector, the real-time position of the femoral stem prosthesis will be updated in real time; then based on the real-time position of the femoral stem prosthesis after the change, steps S220 to S240 are executed to determine a new target movement vector and a new index data difference; the original target movement vector and the original index data difference are updated to the new target movement vector and the new index data difference for display. Among them, the direction of the target movement vector is the direction of movement; the size of the target movement vector is the required movement amount.

[0077] In this embodiment, the movement of the femoral stem prosthesis is indicated according to the target movement vector; when the real-time position of the femoral stem prosthesis changes, the target movement vector and the indicator data difference are updated and displayed; thereby, the indicated target movement vector and the indicator data difference always match the real-time position of the femoral stem prosthesis, and the user can be quickly guided to complete the installation of the femoral stem, realizing intelligent prompts.

[0078] In some of the embodiments, the femoral stem prosthesis installation instruction method further includes the following steps:

[0079] Step S270, instructing the movement of the femoral stem prosthesis according to the target movement vector;

[0080] Step S280: When the absolute value of the indicator data difference is less than a preset threshold, it indicates that the femoral stem prosthesis has been installed to the planned position.

[0081] Specifically, steps S250 and S260 and steps S270 and S280 can be considered as parallel execution schemes, and the order is not limited. It can also be considered that steps S250 and S260 can be embedded in steps S270 and S280, and the target movement vector and the index data difference will be updated and displayed after each movement, and when the absolute value of the index data difference is less than the preset threshold, it indicates that the femoral stem prosthesis has been installed to the planned position. Among them, the preset threshold can be 0.5mm, etc., and there is no limitation on this.

[0082] In this embodiment, the movement of the femoral stem prosthesis is indicated according to the target movement vector; when the absolute value of the indicator data difference is less than the preset threshold, it indicates that the femoral stem prosthesis has been installed to the planned position; thereby ensuring the installation accuracy and installation effect of the femoral stem prosthesis.

[0083] In some embodiments, the step S220 of tracking the real-time position of the femoral stem prosthesis and determining the index data of the surgical side includes the following steps:

[0084] Step S221, tracking the real-time position of the femoral stem prosthesis and determining the relative position of the femoral stem prosthesis and the femur;

[0085] Step S222, determining the index data of the surgical side according to the relative position.

[0086] Specifically, the optical tracking of the optical system is used to track the real-time position of the femoral stem prosthesis. Since the position of the femur is fixed, the relative position of the femoral stem prosthesis and the femur can be determined; in order to facilitate subsequent processing, the femoral stem prosthesis and the femur can be converted to a specified coordinate system for processing. For example, the specified coordinate system can be a world coordinate system, a screen coordinate system, etc.

[0087] After determining the relative position of the femoral stem prosthesis and the femur, the index data of the surgical side can be converted.

[0088] In this embodiment, the real-time position of the femoral stem prosthesis is tracked to quickly determine the index data of the surgical side. Compared with the method of using complex image processing to calculate the index data of the surgical side, the occupation of computing resources can be reduced.

[0089] In some embodiments, the tracking of the real-time position of the femoral stem prosthesis and determining the relative position of the femoral stem prosthesis and the femur in step S221 includes the following steps:

[0090] Step S2211, setting a femoral stem prosthesis array and a femoral array on the femoral stem prosthesis and the femur respectively;

[0091] Step S2212, determining a first transformation matrix according to the acquired position of the femoral array in the optical system coordinate system and the position of the femoral stem prosthesis array in the optical system coordinate system; the first transformation matrix is ​​a transformation matrix from the femoral stem prosthesis coordinate system to the femoral coordinate system of the femoral model, or a transformation matrix from the femoral stem prosthesis coordinate system to the pelvic coordinate system of the pelvic model;

[0092] Step S2213, determining a second conversion matrix according to the target medical image data; the second conversion matrix is ​​a conversion matrix from the screen coordinate system to the femur coordinate system of the femur model, or a conversion matrix from the screen coordinate system to the pelvic coordinate system of the pelvic model;

[0093] Step S2214, tracking the real-time position of the femoral stem prosthesis, and determining the relative position of the femoral stem prosthesis, the femoral model, and the pelvic model in the screen coordinate system based on the first conversion relationship and the second conversion relationship.

[0094] Specifically, arrays are set on the femoral stem prosthesis and the femur respectively, and a femoral stem prosthesis model with a femoral stem prosthesis array and a femoral model with a femoral array can be generated in the optical system; the position changes of the femoral stem prosthesis array and the femoral array are tracked by optical tracking of the optical system to confirm their real-time positions. Among them, the femoral stem prosthesis model, the femoral model and the pelvic model can be obtained through model registration. For example: by collecting the position information of key points on the femur or pelvis, registering in the screen coordinate system to generate a femoral model or a pelvic model. Since the femoral stem uses a standardized generated instrument, the femoral stem prosthesis model can be directly generated in the screen coordinate system through the instrument information registration.

[0095] Among them, the first transformation matrix is ​​the transformation matrix from the femoral stem prosthesis coordinate system to the femoral coordinate system of the femoral model The real-time position of the array on the femur model in the optical system (OTC) coordinate system, and the transformation matrix from the femur coordinate system to the optical system coordinate system is determined The real-time position of the array on the femoral stem prosthesis model in the optical system coordinate system, and the transformation matrix from the optical system coordinate system to the femoral stem prosthesis coordinate system is determined Then by You can get Thus, the positions of all points under the femoral stem prosthesis in the femoral coordinate system are obtained. The second transformation matrix from the screen coordinate system to the femoral coordinate system is determined by registering the femoral CT image data and the femoral model in the target medical image data. Finally, the real-time position of the femoral stem prosthesis is tracked by the transformation matrix and the second transformation matrix Multiply them to determine the relative position of the femoral stem prosthesis and the femoral model in the real-time position in the screen coordinate system, such as Figure 4 shown.

[0096] Among them, the first transformation matrix is ​​the transformation matrix from the femoral stem prosthesis coordinate system to the pelvic coordinate system of the pelvic model; the real-time position of the array on the pelvic model in the optical system coordinate system determines the transformation matrix from the pelvic coordinate system to the optical system coordinate system; the real-time position of the array on the femoral stem prosthesis model in the optical system coordinate system determines the transformation matrix from the optical system coordinate system to the femoral stem prosthesis coordinate system. The two transformation matrices are then multiplied to obtain the transformation matrix from the femoral stem prosthesis coordinate system to the pelvic coordinate system of the pelvic model, thereby obtaining the position of all points under the femoral stem prosthesis in the pelvic coordinate system. The second transformation matrix from the screen coordinate system to the pelvic coordinate system is determined by the registration of the CT image data of the pelvis and the pelvic model in the target medical image data; finally, the real-time position of the femoral stem prosthesis is tracked, and the relative position of the femoral stem prosthesis at the real-time position and the pelvic model in the screen coordinate system is determined by multiplying the first transformation matrix and the second transformation matrix, such as Figure 5shown.

[0097] In this embodiment, the real-time position of the femoral stem prosthesis can be tracked by converting between transformation matrices. The relative positions of the femoral stem prosthesis, the femoral model and the pelvic model in the screen coordinate system are determined according to the first transformation relationship and the second transformation relationship, and then unified in the screen coordinate system for display, which is convenient for users.

[0098] In some embodiments, determining the target movement vector indicating the installation of the femoral stem prosthesis according to the indicator data difference in step S240 includes the following steps:

[0099] Step S241, determining a first target movement vector of the femoral stem prosthesis in the sagittal plane according to the index data difference;

[0100] Step S242, determining a second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the index data difference;

[0101] Step S243, determining a target movement vector indicating the installation of the femoral stem prosthesis according to the first target movement vector and the second target movement vector.

[0102] Specifically, the optimal movement direction of the femoral stem prosthesis is divided into movement in the sagittal plane direction and movement in the coronal plane direction; according to the difference in the index data, the first target movement vector of the femoral stem prosthesis in the sagittal plane direction is determined; according to the difference in the index data, the second target movement vector of the femoral stem prosthesis in the coronal plane direction is determined; finally, according to the first target movement vector and the second target movement vector, the target movement vector indicating the installation of the femoral stem prosthesis is determined. In this embodiment, the target movement vector is calculated by dividing it into movement in the sagittal plane direction and movement in the coronal plane direction, which can fit the three anatomical planes of the medical human body, thereby accelerating the calculation efficiency of the target movement vector.

[0103] In some embodiments, determining the first target movement vector of the femoral stem prosthesis in the sagittal plane direction according to the indicator data difference in step S241 includes the following steps:

[0104] Step S2411, controlling the femoral stem prosthesis axis of the femoral stem prosthesis to coincide with the medullary cavity axis of the femur;

[0105] Step S2412, determining a first movement vector of the projection of the medullary cavity axis in the sagittal plane direction according to the upper end point and the lower end point of the medullary cavity axis;

[0106] Step S2413, determining a second movement vector of the projection of the femoral stem prosthesis axis in the sagittal plane according to the upper end point and the lower end point of the femoral stem prosthesis axis;

[0107] Step S2414: determining a first target movement vector of the femoral stem prosthesis in the sagittal plane according to the first movement vector and the second movement vector.

[0108] Specifically, the first projection coordinate system is constructed with the geometric center of the femoral stem prosthesis as the origin, the positive direction of the y-axis from the foot to the head, and the positive direction of the x-axis from the front to the back. The femoral stem prosthesis axis is controlled to coincide with the femoral medullary cavity axis; at this time, the femoral stem prosthesis is just in the optimal calculation plane of the lower limb length and joint eccentricity; in the first projection coordinate system, the first movement vector v of the femoral medullary cavity axis projected in the sagittal plane is calculated respectively. s (determined by the upper and lower endpoints of the medullary cavity axis) and the second translation vector v projected by the femoral stem prosthesis axis in the sagittal plane f (by the upper and lower endpoints of the femoral stem prosthesis axis); finally, the first target movement vector v1 of the femoral stem prosthesis in the sagittal plane is v s -v f ,like Figure 6 shown.

[0109] In this embodiment, the projections of the femoral stem prosthesis and the femur in the sagittal plane are used to quickly lock the first target movement vector of the femoral stem prosthesis in the sagittal plane, thereby simplifying the calculation amount and improving the calculation accuracy.

[0110] In some embodiments, determining the second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the index data difference in step S242 includes the following steps:

[0111] Step S2421, determining a third movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral lower limb length difference in the index data difference;

[0112] Step S2422, determining a fourth movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral joint eccentricity difference in the index data difference;

[0113] Step S2423, determining a second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the third movement vector and the fourth movement vector.

[0114] Specifically, in order to reduce the difference in length of the contralateral lower limb and the difference in joint eccentricity of the contralateral side, the third movement vector v of the femoral stem prosthesis projected in the coronal plane is split into l and the fourth translation vector v of the femoral stem prosthesis projected in the coronal plane c ; Among them, the third movement vector v l The third movement vector v is determined according to the difference in length of the contralateral lower limb in the index data difference; l The direction of the fourth movement vector v is the direction of reducing the length difference of the contralateral lower limb;c The fourth movement vector v is determined according to the contralateral joint eccentricity difference in the index data difference. c To reduce the direction of the contralateral joint eccentricity difference; finally, the second target movement vector v2 of the femoral stem prosthesis in the coronal plane direction = v c +v l ,like Figure 7 shown.

[0115] In this embodiment, the projection of the femoral stem prosthesis in the coronal plane is combined with the changes in the contralateral lower limb length difference and the contralateral joint eccentricity difference in the index data difference to quickly lock the second target movement vector of the femoral stem prosthesis in the coronal plane direction, thereby simplifying the calculation amount and improving the calculation accuracy.

[0116] It should be noted that the projection of the femoral stem prosthesis in the coronal plane direction can be performed in the second projection coordinate system, which is constructed with the geometric center of the femoral stem prosthesis as the origin, from the foot to the head as the positive direction of the y-axis, and from left to right as the positive direction of the x-axis.

[0117] In some embodiments, determining the third movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral lower limb length difference in the indicator data difference in step S2421 includes the following steps:

[0118] The length of the lower limb on the operated side is compared with the length of the lower limb on the opposite side, and a third movement vector is obtained based on the comparison result; wherein the direction of the third movement vector is a direction that reduces the absolute value of the difference between the length of the lower limb and the length of the lower limb on the opposite side.

[0119] Specifically, in the second projection coordinate system, the length of the lower limb on the surgical side is compared with the length of the lower limb on the opposite side to confirm the length of the lower limb on the surgical side and the length of the lower limb on the opposite side; and then the third movement vector is obtained according to the comparison result. The third movement vector is the direction that reduces the absolute value of the difference between the length of the lower limb and the length of the lower limb on the opposite side. For example: when the length of the lower limb on the surgical side is longer than that of the lower limb on the opposite side, the femoral stem prosthesis is moved in the positive direction of the Y axis of the second projection coordinate system to shorten the length of the lower limb on the surgical side; when the length of the lower limb on the surgical side is shorter than that of the lower limb on the opposite side, the femoral stem prosthesis is moved in the negative direction of the Y axis of the second projection coordinate system to increase the length of the lower limb on the surgical side; the positive direction of the Y axis is determined as the direction to reduce the difference in the length of the lower limb, and the corresponding third movement vector is obtained; thereby completing the high-precision control of the difference in the length of the lower limb on the opposite side.

[0120] In some embodiments, determining the fourth movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral joint eccentricity difference in the index data difference in step S2422 includes the following steps:

[0121] The combined eccentricity of the surgical side is compared with the combined eccentricity of the contralateral side, and a fourth movement vector is obtained according to the comparison result; wherein the direction of the fourth movement vector is a direction that reduces the absolute value of the difference between the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side.

[0122] Specifically, in the second projection coordinate system, the combined eccentricity of the surgical side is compared with the combined eccentricity of the contralateral side to confirm the length of the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side; and then according to the comparison result, a fourth movement vector is obtained. The direction of the fourth movement vector is a direction that reduces the absolute value of the difference between the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side. For example: when the joint eccentricity of the operated side is longer than that of the contralateral side, the femoral stem prosthesis is moved in the inner direction of the human body's central axis (if the operated side is the left side, it is the positive direction of the X-axis, and if the operated side is the right side, it is the negative direction of the X-axis) to shorten the joint eccentricity of the operated side; when the length of the lower limb on the operated side is shorter than that of the lower limb on the contralateral side, the femoral stem prosthesis is moved in the outer direction of the human body's central axis (if the operated side is the left side, it is the negative direction of the X-axis, and if the operated side is the right side, it is the positive direction of the X-axis) to increase the joint eccentricity of the operated side; the positive direction of the X-axis is determined as the direction to reduce the difference in joint eccentricity, and the corresponding fourth movement vector is obtained; thereby completing high-precision control of the difference in joint eccentricity of the contralateral side.

[0123] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0124] In this embodiment, a femoral stem prosthesis installation indication device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be repeated hereafter. The terms "module", "unit", "subunit", etc. used below can implement a combination of software and / or hardware for predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, the implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0125] In this embodiment, a surgical robot system is also provided, the system comprising a femoral stem prosthesis installation indication device, Figure 8 : is a structural block diagram of the femoral stem prosthesis installation indication device of this embodiment, such as Figure 8 As shown, the device includes: an acquisition module 210, a first processing module 220, a second processing module 230 and an indication module 240;

[0126] An acquisition module 210, configured to acquire target medical image data and determine the contralateral index data according to the target medical image data;

[0127] The first processing module 220 is used to track the real-time position of the femoral stem prosthesis and determine the index data of the surgical side;

[0128] The second processing module 230 is used to determine the index data difference according to the index data of the contralateral side and the index data of the surgical side;

[0129] The indication module 240 is used to determine a target movement vector indicating the installation of the femoral stem prosthesis according to the index data difference.

[0130] The above-mentioned device solves the problem in the related art that the installation direction of the femoral stem prosthesis cannot be indicated, resulting in a long installation time and low installation accuracy. The user can directly complete the installation of the femoral stem prosthesis quickly and accurately according to the target movement vector indicating the optimal installation of the femoral stem prosthesis, thereby ensuring the installation accuracy.

[0131] In some of these embodiments, the indicator data includes lower extremity length and joint eccentricity.

[0132] In some of the embodiments, the femoral stem prosthesis installation indication device further includes a first moving module;

[0133] A first movement module, used for instructing the movement of the femoral stem prosthesis according to a target movement vector;

[0134] When the real-time position of the femoral stem prosthesis changes, the target movement vector and the index data difference are updated and displayed.

[0135] In some of the embodiments, the femoral stem prosthesis installation indication method further includes a second moving module;

[0136] A second movement module, used for instructing the movement of the femoral stem prosthesis according to the target movement vector;

[0137] When the absolute value of the indicator data difference is less than a preset threshold, it indicates that the femoral stem prosthesis has been installed to the planned position.

[0138] In some of the embodiments, the indicating module 240 is further used to determine a first target movement vector of the femoral stem prosthesis in the sagittal plane according to the index data difference;

[0139] According to the index data difference, a second target movement vector of the femoral stem prosthesis in the coronal plane direction is determined;

[0140] A target movement vector indicating installation of the femoral stem prosthesis is determined based on the first target movement vector and the second target movement vector.

[0141] In some of the embodiments, the indication module 240 is further used to control the femoral stem prosthesis axis of the femoral stem prosthesis to coincide with the medullary cavity axis of the femur;

[0142] Determine a first moving vector of the projection of the medullary cavity axis in the sagittal plane according to the upper end point and the lower end point of the medullary cavity axis;

[0143] Determine a second movement vector of the projection of the femoral stem prosthesis axis in the sagittal plane according to the upper end point and the lower end point of the femoral stem prosthesis axis;

[0144] A first target movement vector of the femoral stem prosthesis in the sagittal plane direction is determined according to the first movement vector and the second movement vector.

[0145] In some of the embodiments, the indicating module 240 is further used to determine a third movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the difference in length of the contralateral lower limb in the index data difference;

[0146] Determine the fourth movement vector of the projection of the femoral stem prosthesis in the coronal plane direction according to the contralateral joint eccentricity difference in the index data difference;

[0147] A second target movement vector of the femoral stem prosthesis in the coronal plane direction is determined according to the third movement vector and the fourth movement vector.

[0148] In some of the embodiments, the indication module 240 is also used to compare the length of the lower limb on the operated side with the length of the lower limb on the opposite side, and obtain a third movement vector based on the comparison result; wherein the direction of the third movement vector is a direction that reduces the absolute value of the difference between the length of the lower limb and the length of the lower limb on the opposite side.

[0149] In some of the embodiments, the indication module 240 is also used to compare the combined eccentricity of the surgical side with the combined eccentricity of the contralateral side, and obtain a fourth movement vector based on the comparison result; wherein the direction of the fourth movement vector is a direction that reduces the absolute value of the difference between the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side.

[0150] In some of the embodiments, the first processing module 220 is further used to track the real-time position of the femoral stem prosthesis and determine the relative position of the femoral stem prosthesis and the femur;

[0151] According to the relative position, the index data of the surgical side is determined.

[0152] In some of the embodiments, the first processing module 220 is further used to respectively set a femoral stem prosthesis array and a femoral array on the femoral stem prosthesis and the femur;

[0153] Determine a first transformation matrix according to the acquired position of the femoral array in the optical system coordinate system and the position of the femoral stem prosthesis array in the optical system coordinate system; the first transformation matrix is ​​a transformation matrix from the femoral stem prosthesis coordinate system to the femoral coordinate system of the femoral model, or a transformation matrix from the femoral stem prosthesis coordinate system to the pelvic coordinate system of the pelvic model;

[0154] Determine a second conversion matrix according to the target medical image data; the second conversion matrix is ​​a conversion matrix from the screen coordinate system to the femur coordinate system of the femur model, or a conversion matrix from the screen coordinate system to the pelvic coordinate system of the pelvic model;

[0155] The real-time position of the femoral stem prosthesis is tracked, and the relative positions of the femoral stem prosthesis, the femoral model and the pelvic model in the screen coordinate system are determined according to the first conversion relationship and the second conversion relationship.

[0156] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0157] In this embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0158] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0159] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0160] S1, acquiring target medical image data, and determining the index data of the opposite side according to the target medical image data;

[0161] S2, tracking the real-time position of the femoral stem prosthesis and determining the index data of the surgical side;

[0162] S3, determining the index data difference according to the index data of the contralateral side and the index data of the operated side;

[0163] S4, determining a target movement vector for indicating installation of the femoral stem prosthesis according to the index data difference.

[0164] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0165] In addition, in combination with the femoral stem prosthesis installation indication method provided in the above embodiments, a storage medium can also be provided in this embodiment to implement the method. The storage medium stores a computer program; when the computer program is executed by a processor, any of the femoral stem prosthesis installation indication methods in the above embodiments is implemented.

[0166] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0167] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0168] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0169] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A method for indicating installation of a femoral stem prosthesis, characterized in that: include: Acquire target medical image data, and determine the index data of the opposite side according to the target medical image data; Tracking the real-time position of the femoral stem prosthesis and determining the index data of the surgical side; Determining an indicator data difference according to the indicator data of the contralateral side and the indicator data of the surgical side; A target movement vector indicating the installation of the femoral stem prosthesis is determined based on the indicator data difference.

2. The method for indicating the installation of a femoral stem prosthesis according to claim 1, characterized in that: The index data include lower limb length and joint eccentricity.

3. The method for indicating the installation of a femoral stem prosthesis according to claim 1, characterized in that: The method further comprises: Instructing the movement of the femoral stem prosthesis according to the target movement vector; When the real-time position of the femoral stem prosthesis changes, the target movement vector and the index data difference are updated and displayed.

4. The method for indicating installation of a femoral stem prosthesis according to claim 1, characterized in that: The method further comprises: Instructing the movement of the femoral stem prosthesis according to the target movement vector; When the absolute value of the indicator data difference is less than a preset threshold, it indicates that the femoral stem prosthesis has been installed to the planned position.

5. The method for indicating installation of a femoral stem prosthesis according to any one of claims 1 to 4, characterized in that: Determining a target movement vector indicating installation of the femoral stem prosthesis according to the indicator data difference comprises: Determining a first target movement vector of the femoral stem prosthesis in the sagittal plane according to the index data difference; Determining a second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the index data difference; A target movement vector indicating the installation of the femoral stem prosthesis is determined according to the first target movement vector and the second target movement vector.

6. The femoral stem prosthesis installation instruction method according to claim 5, characterized in that: Determining a first target movement vector of the femoral stem prosthesis in the sagittal plane direction according to the indicator data difference includes: Controlling the femoral stem prosthesis axis of the femoral stem prosthesis to coincide with the medullary cavity axis of the femur; Determine a first movement vector of the medullary cavity axis projected in the sagittal plane direction according to the upper end point and the lower end point of the medullary cavity axis; Determine a second movement vector of the projection of the femoral stem prosthesis axis in the sagittal plane according to the upper end point and the lower end point of the femoral stem prosthesis axis; A first target movement vector of the femoral stem prosthesis in the sagittal plane direction is determined according to the first movement vector and the second movement vector.

7. The method for indicating installation of a femoral stem prosthesis according to claim 5, characterized in that: Determining a second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the indicator data difference includes: Determining a third movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral lower limb length difference in the index data difference; Determining a fourth movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral joint eccentricity difference in the index data difference; A second target movement vector of the femoral stem prosthesis in the coronal plane direction is determined according to the third movement vector and the fourth movement vector.

8. The femoral stem prosthesis installation instruction method according to claim 7, characterized in that: Determining a third movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the difference in length of the contralateral lower limb in the index data difference; Determining a fourth movement vector of the femoral stem prosthesis projected in the coronal plane direction according to the contralateral joint eccentricity difference in the index data difference includes: Compare the length of the lower limb on the surgical side with the length of the lower limb on the opposite side, and obtain a third movement vector according to the comparison result; wherein the direction of the third movement vector is a direction that reduces the absolute value of the difference between the length of the lower limb and the length of the lower limb on the opposite side; The combined eccentricity of the surgical side is compared with the combined eccentricity of the contralateral side, and a fourth movement vector is obtained according to the comparison result; wherein the direction of the fourth movement vector is a direction that reduces the absolute value of the difference between the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side.

9. The femoral stem prosthesis installation instruction method according to any one of claims 1 to 4, characterized in that: The real-time position of the femoral stem prosthesis is tracked to determine the index data of the surgical side, including: Tracking the real-time position of the femoral stem prosthesis and determining the relative position of the femoral stem prosthesis and the femur; According to the relative position, the index data of the surgical side is determined.

10. A surgical robot system, comprising a femoral stem prosthesis installation indication device, characterized in that: The femoral stem prosthesis installation indication device comprises: an acquisition module, a first processing module, a second processing module and an indication module; The acquisition module is used to acquire target medical image data and determine the index data of the opposite side according to the target medical image data; The first processing module is used to track the real-time position of the femoral stem prosthesis and determine the index data of the surgical side; The second processing module is used to determine the index data difference according to the index data of the contralateral side and the index data of the surgical side; The indication module is used to determine a target movement vector indicating the installation of the femoral stem prosthesis according to the indicator data difference.

11. A computer device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps of the femoral stem prosthesis installation instruction method according to any one of claims 1 to 9.

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