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

Abstract

The application relates to a femoral stem prosthesis installation indication method, a surgical robot system and a computer device, wherein the method comprises the following steps: acquiring target medical image data, and determining contralateral index data according to the target medical image data; tracking a real-time position of a femoral stem prosthesis, and determining ipsilateral index data; determining an index data difference value according to the contralateral index data and the ipsilateral index data; and determining a target movement vector for indicating the installation of the femoral stem prosthesis according to the index data difference value. Through the application, the problem that the installation direction of the femoral stem prosthesis cannot be indicated in the related art, the installation time is long, and the installation precision is low is solved, the installation of the femoral stem prosthesis is quickly and accurately completed according to the target movement vector for indicating the optimal installation of the femoral stem prosthesis, and the installation precision is ensured.

Description

TECHNICAL FIELD

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

[0002] Total hip arthroplasty (THA, also known as artificial hip joint replacement) is a new technology for treating hip joint diseases, which can effectively correct joint deformity, improve joint function, relieve bone necrosis and greatly improve the quality of life of patients. During the operation, part of the femur on the surgical side will be replaced by a femoral stem prosthesis, and the installation position of the femoral stem prosthesis finally determines the size of the contralateral lower limb length difference and the contralateral joint eccentricity difference, which directly affects the accuracy of the operation; otherwise, it is likely to cause the patient's prosthesis to fall off or the patient to be uncomfortable and other problems.

[0003] At present, the surgical navigation system participates in the operation process of total hip arthroplasty, which not only effectively assists the doctor in operation, but also greatly improves the operation accuracy. In the prior art, the user needs to adjust the installation direction of the femoral stem prosthesis according to experience, and repeatedly adjust, which increases the installation time of the femoral stem prosthesis and has low installation accuracy.

[0004] In the related art, there is no effective solution to the problem that the installation direction of the femoral stem prosthesis cannot be indicated, resulting in long installation time and low installation accuracy. SUMMARY

[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 that the installation direction of the femoral stem prosthesis cannot be indicated in the related art, resulting in 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] Obtaining target medical image data, and determining index data of the contralateral side according to the target medical image data;

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

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

[0010] According to the index data difference value, a target movement vector indicating the installation of the femoral stem prosthesis is determined.

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

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

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

[0014] updating and displaying the target movement vector and the index data difference as the real-time position of the femoral stem prosthesis changes.

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

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

[0017] indicating that the femoral stem prosthesis has been installed to the planned position when an absolute value of the index data difference is less than a preset threshold.

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

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

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

[0021] determining, according to the first target movement vector and the second target movement vector, a target movement vector indicating installation of the femoral stem prosthesis.

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

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

[0024] determining, according to upper and lower end points of the medullary cavity axis, a first movement vector of a projection of the medullary cavity axis in the sagittal plane direction;

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

[0026] determining, according to the first movement vector and the second movement vector, a first target movement vector of the femoral stem prosthesis in the sagittal plane direction.

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

[0028] determining a third movement vector of the femoral stem prosthesis 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 in the coronal plane direction according to the contralateral joint eccentricity difference in the index data difference;

[0030] determining the 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.

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

[0032] comparing the lower limb length of the surgical side with the lower limb length of the contralateral side, and obtaining a third movement vector according to the comparison result; wherein the direction of the third movement vector is a direction in which the absolute value of the difference between the lower limb length of the surgical side and the lower limb length of the contralateral side is reduced;

[0033] comparing the joint eccentricity of the surgical side with the joint eccentricity of the contralateral side, and obtaining a fourth movement vector according to the comparison result; wherein the direction of the fourth movement vector is a direction in which the absolute value of the difference between the joint eccentricity of the surgical side and the joint eccentricity of the contralateral side is reduced.

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

[0035] tracking the real-time position of the femoral stem prosthesis to determine the relative position of the femoral stem prosthesis and the femur;

[0036] determining the index data of the surgical side according to the relative position.

[0037] In a second aspect, the present embodiment provides a surgical robot system, the system comprising a femoral stem prosthesis installation indication device, the femoral stem prosthesis installation indication device comprising an acquisition module, a first processing module, a second processing module, and an indication module;

[0038] the acquisition module is configured to acquire target medical image data, and determine the index data of the contralateral side according to the target medical image data;

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

[0040] The second processing module is configured to determine an 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 configured to determine a target movement vector indicating installation of the femoral stem prosthesis according to the index data difference.

[0042] In a third aspect, a computer device is provided in the present embodiment, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the femoral stem prosthesis installation indication method of the first aspect when executing the computer program.

[0043] In a fourth aspect, a storage medium is provided in the present embodiment, which stores a computer program executable by a processor to implement the femoral stem prosthesis installation indication method of the first aspect.

[0044] Compared with the related art, the femoral stem prosthesis installation indication method, the surgical robot system, and the computer device provided in the present embodiment solve the problem that the installation direction of the femoral stem prosthesis cannot be indicated in the related art, resulting in a long installation time and low installation precision, by acquiring target medical image data, determining index data of a contralateral side according to the target medical image data, tracking a real-time position of the femoral stem prosthesis, determining index data of a surgical side, determining an index data difference according to the index data of the contralateral side and the index data of the surgical side, and determining a target movement vector indicating installation of the femoral stem prosthesis according to the index data difference. The user can directly determine the target movement vector indicating optimal installation of the femoral stem prosthesis to quickly and accurately complete installation of the femoral stem prosthesis, thereby ensuring installation precision.

[0045] The details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects, and advantages of the present application more apparent. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0048] Figure 2 FIG. 2 is a flowchart of a femoral stem prosthesis installation indication method provided in an embodiment of the present application;

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

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

[0051] Figure 5 is a flowchart of a relative position of a femoral stem prosthesis and a pelvis 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 movement vector provided by an embodiment of the present application;

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

[0054] Figure 8 is a structural block diagram of a femoral stem prosthesis installation indication device provided by an 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 scheme and advantages of the present application, the present application is described and explained below in combination with the drawings and embodiments.

[0057] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the same meaning as those commonly understood by a person of ordinary skill in the art to which the present application belongs. The terms "one", "a", "an", "the", "these", and similar terms in the present application do not indicate quantity, and they can be singular or plural. The terms "include", "contain", "have", and any variants thereof in the present application are intended to cover non-exclusive inclusion; for example, a process, method, and system, product or device containing a series of steps or modules (units) are not limited to the listed steps or modules (units), but can include steps or modules (units) not listed, or can include other steps or modules (units) inherent to the process, method, product or device. The terms "connect", "connect", "couple" and the like in the present application are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. The term "multiple" in the present application refers to two or more. The term "and / or" describes the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. Generally, the character " / " represents an "or" relationship between the associated objects. The terms "first", "second", "third" and the like in the present application are only used to distinguish similar objects, and do not represent a specific order of the objects.

[0058] The method embodiments provided in the present embodiment can be executed in a terminal, a hip joint surgery system, a computer or similar computing device. For example, the method embodiments are executed on a terminal, Figure 1 is a hardware structure diagram of a terminal of the femoral stem prosthesis installation indication method of the present embodiment. As shown in Figure 1 , the terminal can include one or more (only one is shown in Figure 1 ) processor 102 and memory 104 for storing data, wherein the processor 102 can include but not limited to processing devices such as microprocessor MCU or programmable logic device FPGA. The above terminal can also include transmission device 106 for communication function and input / output device 108. Those skilled in the art can understand that Figure 1 The structure shown is only schematic, which does not limit the structure of the above terminal. For example, the terminal can include more or less components than Figure 1 shown, or have a different configuration from Figure 1 shown.

[0059] The memory 104 can be used to store computer programs, such as software programs of application software and modules, such as the computer program corresponding to the femoral stem prosthesis installation indication method in the embodiment. The processor 102 can execute various functional applications and data processing, i.e., implement the method described above, by running the computer program stored in the memory 104. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include a memory remotely arranged with respect to the processor 102, which can be connected to the terminal through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0060] The transmission device 106 is used to receive or send data via a network. The network described above includes a wireless network provided by a communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (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 (RF) module, which is used to communicate with the Internet in a wireless manner.

[0061] In the embodiment, a femoral stem prosthesis installation indication method is provided, Figure 2 A flowchart of the femoral stem prosthesis installation indication method of the embodiment is shown in FIG. 2, which includes the following steps: Figure 2

[0062] In step S210, target medical image data is acquired, and index data of the contralateral side is determined according to the target medical image data.

[0063] In step S220, a real-time position of the femoral stem prosthesis is tracked, and index data of the surgical side is determined.

[0064] In step S230, a difference value of the index data is determined according to the index data of the contralateral side and the index data of the surgical side.

[0065] In step S240, a target movement vector indicating the installation of the femoral stem prosthesis is determined according to the difference value of the index data.

[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 manner in which the embodiments of the present application obtain the target medical image data includes but is not limited to being obtained from pre-stored in a database, obtaining target medical image data that meets the above requirements; or downloading target medical image data that meets the requirements from a network platform; or generating corresponding target medical image data according to requirements, and the like. The embodiments of the present application do not limit the manner in which the target medical image data is obtained.

[0067] There are various ways to determine the contralateral index data according to 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 trained neural network model to output the contralateral index data, etc.

[0068] Wherein, the contralateral and the surgical side are determined according to the position of the femoral stem prosthesis replaced by the femur. If part of the left femur is replaced by the femoral stem prosthesis, the left side is considered as the surgical side, and the right side is considered as the contralateral. It can be considered that the contralateral index data represents the reference basis for the installation of the femoral stem prosthesis; and the index data of 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 of the surgical side will change according to the real-time position of the femoral stem prosthesis; while the index data of the contralateral is unchanged. The manner of obtaining the index data of the surgical side can also use the similar manner of obtaining the index data of the contralateral, which is not repeated here.

[0069] Wherein, according to the contralateral index data and the surgical side index data, the index data difference is determined, specifically: comparing the contralateral index data and the surgical side index data to determine the difference between the two, which is the index data difference. If the lower limb length or the joint eccentricity of the surgical side can be controlled to be fixed, only the joint eccentricity or the lower limb length is changed; then the index data can include the lower limb length or the joint eccentricity, at this time the index data difference is the contralateral lower limb length difference or the contralateral joint eccentricity difference. If the lower limb length and the joint eccentricity of the surgical side are changed, the index data includes the lower limb length and the joint eccentricity, at this time the index data difference is the contralateral lower limb length difference and the contralateral joint eccentricity difference. Preferably, the index data can include the lower limb length and the joint eccentricity; then the index data difference is also the contralateral lower limb length difference and the contralateral joint eccentricity difference.

[0070] The contralateral lower limb length difference is defined on the image as the difference between the distance from the lesser trochanter to the iliac anterior superior spine line on the surgical side and the distance from the lesser trochanter to the iliac anterior superior spine line on the contralateral side when the iliac anterior superior spine line is parallel to the x-axis of the medical image, the femoral canal axis is at an angle of 9° with the z-axis of the medical image, and the maximum femoral offset is parallel to the coronal plane. The contralateral combined offset difference is defined on the image as the difference between the distance from the femoral canal axis on the surgical side to the pelvic mid-axis and the distance from the femoral canal axis on the contralateral side to the pelvic mid-axis when the iliac anterior superior spine line 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 femoral offset is parallel to the coronal plane.

[0071] Since the index data difference value can represent the difference between the current installation position of the femoral stem prosthesis and the planned position (the index data difference value 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 according to the index data difference value. The target movement vector can provide an indication of the optimal installation direction of the femoral stem prosthesis. After obtaining the target movement vector, further information processing or analysis can be performed according to the target movement vector, and the processing results or analysis results can be applied in different scenarios.

[0072] In related technologies, the user needs to adjust the installation direction of the femoral stem prosthesis based on experience, which requires repeated adjustment, increases the installation time of the femoral stem prosthesis, and has low installation accuracy. However, by using the above steps, the target medical image data is obtained, and the index data of the contralateral side is determined according to the target medical image data. The real-time position of the femoral stem prosthesis is tracked to determine the index data of the surgical side. The index data difference value is determined according to the index data of the contralateral side and the index data of the surgical side. The target movement vector indicating the installation of the femoral stem prosthesis is determined according to the index data difference value, which 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 according to the target movement vector indicating the optimal installation of the femoral stem prosthesis, which is fast and accurate, ensures installation accuracy, and solves the problem of being unable to indicate the installation direction of the femoral stem prosthesis in related technologies, which leads to long installation time and low installation accuracy.

[0073] In some embodiments, as shown in FIG. 1, Figure 3 The femoral stem prosthesis installation indication method further includes the following steps:

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

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

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

[0077] In the 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 index data difference value are updated and displayed; so that the indicated target movement vector and index data difference value always match the real-time position of the femoral stem prosthesis, which can quickly guide the user to complete the installation of the femoral stem and achieve intelligent prompting.

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

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

[0080] Step S280, when the absolute value of the index data difference value is less than a preset threshold, indicating 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. Steps S250 and S260 can also be embedded in steps S270 and S280, the target movement vector and the index data difference value are updated and displayed after each movement, and when the absolute value of the index data difference value is less than a preset threshold, it is indicated that the femoral stem prosthesis has been installed to the planned position. The preset threshold can be 0.5 mm, etc., and is not limited in this regard.

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

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

[0084] Step S221, tracking the real-time position of the femoral stem prosthesis to determine 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 real-time position of the femoral stem prosthesis is tracked by optical tracking of the optical system. Since the femur position is fixed, the relative position of the femoral stem prosthesis and the femur can be determined. For 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 calculating the index data of the surgical side by complex image processing, the occupation of computing resources can be reduced.

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

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

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

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

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

[0094] Specifically, the array is arranged on the femoral stem prosthesis and the femur respectively, and the femoral stem prosthesis model with the array of the femoral stem prosthesis and the femur model with the array of the femur can be generated in the optical system; the position changes of the array of the femoral stem prosthesis and the array of the femur are tracked by optical tracking of the optical system, so that the real-time positions of the array of the femoral stem prosthesis and the array of the femur are confirmed. The femoral stem prosthesis model, the femur model and the pelvic model can be obtained by model registration. For example, the position information of the key points on the femur or the pelvic is collected to register the femur model or the pelvic model in the screen coordinate system. Since the femoral stem is a standardized generated instrument, the femoral stem prosthesis model can be directly generated in the screen coordinate system by instrument information registration.

[0095] The first conversion matrix is a conversion matrix from the femoral stem prosthesis coordinate system to the femur coordinate system of the femur model The real-time position of the array on the femur model in the optical system (OTC) coordinate system determines the conversion matrix from the femur 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 conversion matrix from the optical system coordinate system to the femoral stem prosthesis coordinate system The two conversion matrices are multiplied to obtain the conversion matrix from the femoral stem prosthesis coordinate system to the pelvic coordinate system of the pelvic model The conversion matrix is multiplied by the second conversion matrix to obtain the relative position of the femoral stem prosthesis in the screen coordinate system Thus, the positions of all points under the femoral stem prosthesis in the femur coordinate system are obtained. The second conversion matrix from the screen coordinate system to the femur coordinate system is determined by registration of the CT image data of the femur in the target medical image data and the femur model Finally, the real-time position of the femoral stem prosthesis is tracked, and the relative position of the femoral stem prosthesis in the screen coordinate system is determined by multiplication of the first conversion matrix and the second conversion matrix Thus, the positions of all points under the femoral stem prosthesis in the femur coordinate system are obtained. The second conversion matrix from the screen coordinate system to the femur coordinate system is determined by registration of the CT image data of the femur in the target medical image data and the femur model Finally, the real-time position of the femoral stem prosthesis is tracked, and the relative position of the femoral stem prosthesis in the screen coordinate system is determined by multiplication of the first conversion matrix and the second conversion matrix Figure 4 Thus, the positions of all points under the femoral stem prosthesis in the femur coordinate system are obtained. The second conversion matrix from the screen coordinate system to the femur coordinate system is determined by registration of the CT image data of the femur in the target medical image data and the femur model

[0096] The first conversion matrix is a conversion 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 conversion 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 conversion matrix from the optical system coordinate system to the femoral stem prosthesis coordinate system. The two conversion matrices are multiplied to obtain the conversion matrix from the femoral stem prosthesis coordinate system to the pelvic coordinate system of the pelvic model, and thus the positions of all points under the femoral stem prosthesis in the pelvic coordinate system are obtained. The second conversion matrix from the screen coordinate system to the pelvic coordinate system is determined by registration of the CT image data of the pelvic in the target medical image data and the pelvic model; finally, the real-time position of the femoral stem prosthesis is tracked, and the relative position of the femoral stem prosthesis in the screen coordinate system is determined by multiplication of the first conversion matrix and the second conversion matrix Figure 5as shown.

[0097] In the embodiment, the real-time position of the femoral stem prosthesis can be tracked by conversion between the conversion 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 conversion relationship and the second conversion relationship, and then are displayed in the screen coordinate system, thereby facilitating the user.

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

[0099] In the step S241, the first target movement vector of the femoral stem prosthesis in the sagittal plane direction is determined according to the index data difference.

[0100] In the step S242, the second target movement vector of the femoral stem prosthesis in the coronal plane direction is determined according to the index data difference.

[0101] In the step S243, the 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.

[0102] Specifically, the optimal movement direction of the femoral stem prosthesis is divided into the movement in the sagittal plane direction and the movement in the coronal plane direction, the first target movement vector of the femoral stem prosthesis in the sagittal plane direction is determined according to the index data difference, the second target movement vector of the femoral stem prosthesis in the coronal plane direction is determined according to the index data difference, and finally the 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. In the embodiment, the target movement vector is calculated by dividing the movement into the movement in the sagittal plane direction and the movement in the coronal plane direction, so that the calculation efficiency of the target movement vector is improved.

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

[0104] In the step S2411, the femoral stem prosthesis axis of the femoral stem prosthesis is controlled to coincide with the medullary cavity axis of the femur.

[0105] In the step S2412, the first movement vector of the medullary cavity axis in the sagittal plane direction is determined according to the upper end point and the lower end point of the medullary cavity axis.

[0106] In the step S2413, the second movement vector of the femoral stem prosthesis axis in the sagittal plane direction is determined according to the upper end point and the lower end point of the femoral stem prosthesis axis.

[0107] Step S2414: Determine the first target movement vector of the femoral stem prosthesis in the sagittal plane based on the first movement vector and the second movement vector.

[0108] Specifically, a first projection coordinate system is constructed with the geometric center of the femoral stem prosthesis as the origin, the positive y-axis as from the foot to the head, and the positive x-axis as from front to back. The axis of the femoral stem prosthesis is aligned with the axis of the femoral medullary canal; at this point, the femoral stem prosthesis is precisely positioned in the optimal calculation plane for lower limb length and conjoint eccentricity. Under this first projection coordinate system, the first displacement vector v, projected onto the sagittal plane of the femoral medullary canal axis, is calculated. s (Determined by the upper and lower endpoints of the medullary canal axis) and the second displacement vector v projected in the sagittal plane onto the femoral stem prosthesis axis. f (By the upper and lower endpoints of the femoral stem prosthesis axis); finally, the first target movement vector of the femoral stem prosthesis in the sagittal plane is v1 = v s -v f ,like Figure 6 As shown.

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

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

[0111] Step S2421: Based on the difference in contralateral lower limb length in the index data difference, determine the third movement vector of the femoral stem prosthesis projected in the coronal plane.

[0112] Step S2422: Determine the fourth movement vector of the femoral stem prosthesis projected in the coronal plane based on the contralateral joint eccentricity difference in the index data difference.

[0113] Step S2423: Determine the second target movement vector of the femoral stem prosthesis in the coronal plane direction based on the third and fourth movement vectors.

[0114] Specifically, with the aim of reducing the difference in contralateral lower limb length and the difference in contralateral symphysis eccentricity, it is decomposed into a third movement vector v, which is the projection of the femoral stem prosthesis onto the coronal plane. l The fourth translation vector v of the femoral stem prosthesis projected in the coronal plane c ; where the third movement vector v l The third movement vector v is determined based on the difference in contralateral lower limb length within the index data difference. l The direction is to reduce the length difference of the contralateral lower limb; where the fourth movement vector vc According to the contralateral joint eccentricity difference in the index data difference, the fourth movement vector v c To reduce the direction of the contralateral joint eccentricity difference; the second target movement vector v2 of the femoral stem prosthesis in the coronal plane direction is determined as v c +v l As shown in Figure 7 .

[0115] In this embodiment, the second target movement vector of the femoral stem prosthesis in the coronal plane direction is quickly locked by using the projection of the femoral stem prosthesis in the coronal plane direction in combination with the changes of the contralateral lower limb length difference and the contralateral joint eccentricity difference in the index data difference, so as to simplify the calculation amount and improve 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 a second projection coordinate system, which is constructed with the geometric center of the femoral stem prosthesis as the origin, the positive direction of y axis from foot to head, and the positive direction of x axis from left to right.

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

[0118] The lower limb length of the surgical side is compared with the lower limb length of the contralateral side, and the third movement vector is obtained according to the comparison result; wherein the direction of the third movement vector is the direction in which the absolute value of the difference between the lower limb length of the surgical side and the lower limb length of the contralateral side is reduced.

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

[0120] In some embodiments, the step S2422 of determining 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 comprises the following steps:

[0121] The fourth movement vector is obtained according to the comparison result, wherein the direction of the fourth movement vector is a direction in which the absolute value of the difference between the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side is reduced.

[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, and it is determined whether the combined eccentricity of the surgical side is longer than the combined eccentricity of the contralateral side. Then, the fourth movement vector is obtained according to the comparison result. The direction of the fourth movement vector is a direction in which the absolute value of the difference between the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side is reduced. For example, when the combined eccentricity of the surgical side is longer than the combined eccentricity of the contralateral side, the femoral stem prosthesis is moved in the medial direction of the human body axis (X-axis positive direction if the surgical side is the left side, and X-axis negative direction if the surgical side is the right side), so as to shorten the combined eccentricity of the surgical side. When the length of the lower limb of the surgical side is shorter than the length of the lower limb of the contralateral side, the femoral stem prosthesis is moved in the lateral direction of the human body axis (X-axis negative direction if the surgical side is the left side, and X-axis positive direction if the surgical side is the right side), so as to increase the combined eccentricity of the surgical side. The X-axis positive direction is determined as the direction in which the difference between the combined eccentricities is reduced, and the corresponding fourth movement vector is obtained. Thus, high-precision control of the difference between the combined eccentricities of the contralateral sides is achieved.

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

[0124] In the present 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 described again. The terms "module", "unit", "sub-unit" and the like used below can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

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

[0126] The acquisition module 210 is configured to acquire target medical image data, and determine index data of the contralateral side according to the target medical image data.

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

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

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

[0130] By using the device, the problem that the installation direction of the femoral stem prosthesis cannot be indicated in the related art, resulting in a long installation time and low installation precision, is solved, and the user can directly determine the target movement vector for indicating the optimal installation of the femoral stem prosthesis, so as to quickly and accurately complete the installation of the femoral stem prosthesis, and ensure the installation precision.

[0131] In some embodiments, the index data includes lower limb length and combined eccentricity.

[0132] In some embodiments, the femoral stem prosthesis installation indication device further comprises a first movement module.

[0133] The first movement module is configured to indicate movement of the femoral stem prosthesis according to the target movement vector.

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

[0135] In some embodiments, the femoral stem prosthesis installation indication method further comprises a second movement module.

[0136] The second movement module is configured to indicate movement of the femoral stem prosthesis according to the target movement vector.

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

[0138] In some embodiments, the indication module 240 is further configured to determine a first target movement vector of the femoral stem prosthesis in a sagittal plane direction according to the index data difference value.

[0139] A second target movement vector of the femoral stem prosthesis in a coronal plane direction is determined according to the index data difference value.

[0140] The target movement vector for indicating installation of the femoral stem prosthesis is determined according to the first target movement vector and the second target movement vector.

[0141] In some embodiments, the indication module 240 is further configured 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 movement vector 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;

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

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

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

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

[0147] determine 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.

[0148] In some embodiments, the indicating module 240 is further configured to compare the lower limb length on the surgical side with the lower limb length on the contralateral side, and obtain the third movement vector according to a comparison result; wherein the direction of the third movement vector is a direction in which the absolute value of the difference between the lower limb length on the surgical side and the lower limb length on the contralateral side is reduced.

[0149] In some embodiments, the indicating module 240 is further configured to compare the joint eccentricity on the surgical side with the joint eccentricity on the contralateral side, and obtain the fourth movement vector according to a comparison result; wherein the direction of the fourth movement vector is a direction in which the absolute value of the difference between the joint eccentricity on the surgical side and the joint eccentricity on the contralateral side is reduced.

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

[0151] determine the index data on the surgical side according to the relative position.

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

[0153] determine a first conversion matrix according to the position of the femur array in the optical system coordinate system and the position of the femoral stem prosthesis array in the optical system coordinate system; the first conversion matrix is a conversion matrix of the femoral stem prosthesis coordinate system to the femur coordinate system of the femur model, or a conversion matrix of the femoral stem prosthesis coordinate system to the pelvic coordinate system of the pelvic model;

[0154] According to the target medical image data, a second conversion matrix is determined; 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 femur 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 each of the above modules can be a functional module or a program module, and can be implemented by software or hardware. For the modules implemented by hardware, each of the above modules can be located in the same processor; or each of the above modules can also be located in different processors in any combination.

[0157] In the embodiment, a computer device is also provided, including a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in any of the above method embodiments.

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

[0159] Optionally, in the embodiment, the processor can be configured to execute the following steps through the computer program:

[0160] S1, target medical image data is acquired, and index data of the contralateral side is determined according to the target medical image data;

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

[0162] S3, according to the index data of the contralateral side and the index data of the surgical side, an index data difference value is determined;

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

[0164] It should be noted that the specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners, which will not be described herein again.

[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 to implement the method in the embodiment. 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 detailed description and specific examples described herein are intended for purposes of illustration only and are not intended to limit the scope of the present application. Consequently, all other embodiments that would be apparent to one of ordinary skill in the art from the preceding description and drawings are intended to be within the scope and spirit of the present application.

[0167] Obviously, the drawings described herein are only a few examples of implementation or embodiment of the present application, and for those skilled in the art, the present application can also be applied to other similar situations without creative labor. In addition, it can be understood that although the work done in the development process may be complex and long, for those skilled in the art, certain design, manufacture or production changes according to the technical content disclosed in the present application are only routine technical means and should not be regarded as insufficient disclosure of the present application.

[0168] The word "embodiment" in the present application refers to the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification does not necessarily mean the same embodiment, nor does it mean independence or alternatives to other embodiments. It can be clearly or implicitly understood by those skilled in the art that the embodiments described in the present application can be combined with other embodiments without conflict.

[0169] The above-described embodiments only express several implementation manners of the present application, which are described in detail and specifically, but should not be understood as a limitation on the scope of patent protection. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, which are within the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A femoral stem prosthesis installation indicating device, characterized in that, The device comprises: an acquisition module, a first processing module, a second processing module, and an indication module; the acquisition module is configured to acquire target medical image data, and determine contralateral index data according to the target medical image data; the first processing module is configured to track a real-time position of the femoral stem prosthesis, and determine ipsilateral index data; the second processing module is configured to determine an index data difference value according to the contralateral index data and the ipsilateral index data; the indication module is configured to determine a target movement vector indicating installation of the femoral stem prosthesis according to the index data difference value, which comprises: determining a first target movement vector of the femoral stem prosthesis in a sagittal plane direction according to the index data difference value; determining a second target movement vector of the femoral stem prosthesis in a coronal plane direction according to the index data difference value; determining a target movement vector indicating installation of the femoral stem prosthesis according to the first target movement vector and the second target movement vector.

2. The femoral stem prosthesis installation indicating device according to claim 1, characterized in that The index data comprises lower limb length and joint eccentricity.

3. The femoral stem prosthesis installation indicating device of claim 1 wherein, The device further comprises a first movement module; the first movement module is configured to indicate 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 value are updated and displayed.

4. The femoral stem prosthesis installation indicating device of claim 1 wherein, The device further comprises a second movement module; the second movement module is configured to indicate movement of the femoral stem prosthesis according to the target movement vector; when an absolute value of the index data difference value is less than a preset threshold value, it is indicated that the femoral stem prosthesis has been installed to a planned position.

5. The femoral stem prosthesis installation indicating device of claim 1 wherein, The determination of the first target movement vector of the femoral stem prosthesis in the sagittal plane direction according to the index data difference value comprises: controlling a femoral stem prosthesis axis of the femoral stem prosthesis to coincide with a medullary cavity axis of the femur; determining a first movement vector of the medullary cavity axis projected in the sagittal plane direction according to upper and lower end points of the medullary cavity axis; determining a second movement vector of the femoral stem prosthesis axis projected in the sagittal plane direction according to upper and lower end points of the femoral stem prosthesis axis; determining the first target movement vector of the femoral stem prosthesis in the sagittal plane direction according to the first movement vector and the second movement vector.

6. The femoral stem prosthesis installation indication device of claim 1 wherein, The determination of the second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the index data difference value comprises: determining a third movement vector of the femoral stem prosthesis projected in the coronal plane direction according to a contralateral lower limb length difference in the index data difference value; determining a fourth movement vector of the femoral stem prosthesis projected in the coronal plane direction according to a contralateral joint eccentricity difference in the index data difference value; determining the 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.

7. The femoral stem prosthesis installation indication device of claim 6, wherein, The determination of 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 index data difference value comprises: 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 value comprises: The length of the lower limb of the surgical side is compared with the length of the lower limb of the contralateral side, and a third movement vector is obtained according to a comparison result; wherein the direction of the third movement vector is a direction in which the absolute value of the difference between the length of the lower limb of the surgical side and the length of the lower limb of the contralateral side is reduced; 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 a comparison result; wherein the direction of the fourth movement vector is a direction in which the absolute value of the difference between the combined eccentricity of the surgical side and the combined eccentricity of the contralateral side is reduced.

8. The femoral stem prosthesis installation indicator device according to any one of claims 1 to 4, wherein, The real-time position of the femoral stem prosthesis is tracked, and index data of the surgical side is determined, including: The real-time position of the femoral stem prosthesis is tracked, and the relative position of the femoral stem prosthesis and the femur is determined; According to the relative position, the index data of the surgical side is determined.

9. A surgical robotic system, the system comprising a femoral stem prosthesis installation indicating device, characterized in that, The femoral stem prosthesis installation indication device includes an acquisition module, a first processing module, a second processing module, and an indication module; The acquisition module is configured to acquire target medical image data and determine index data of the contralateral side according to the target medical image data; The first processing module is configured to track the real-time position of the femoral stem prosthesis and determine index data of the surgical side; The second processing module is configured to determine an index data difference value according to the index data of the contralateral side and the index data of the surgical side; The indication module is configured to determine a target movement vector indicating the installation of the femoral stem prosthesis according to the index data difference value, including: determining a first target movement vector of the femoral stem prosthesis in the sagittal plane direction according to the index data difference value; determining a second target movement vector of the femoral stem prosthesis in the coronal plane direction according to the index data difference value; 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. 10.A computer device, comprising a memory and a processor, and characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to execute the steps of the femoral stem prosthesis installation indication device in any one of claims 1 to 8.

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