Orthopedic image display method, device and system, computer equipment and storage medium

Abstract

The invention relates to an orthopedic image display method, device and system, computer equipment and a storage medium. The method comprises the following steps: acquiring an orthopedic image; the orthopedic image comprises a target skeleton part; acquiring a space coordinate of a target surface of the target skeleton part; determining image coordinates of the target surface in the orthopedic image according to the space coordinates; according to the image coordinates, displaying a contour line or an isobath of the target surface of the target skeleton part in the orthopedic image; the contour line is used for representing height information of the target surface, and the isobath is used for representing depth information of the target surface. By adopting the method, the bone filing accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of medical imaging technology, and in particular to an orthopedic imaging display method, device, system, computer equipment and storage medium. Background Art

[0002] Orthopedic surgery often requires the bone structure to be processed by grinding and filing. Acetabular grinding and filing is an important step in the hip replacement surgery. The accuracy of the grinding and filing directly affects whether the hip prosthesis (acetabular cup) can be successfully installed and the patient's postoperative rehabilitation effect. Providing visual guidance to the doctor during the grinding and filing process is conducive to increasing the accuracy of the grinding and filing.

[0003] Currently, a three-dimensional image of the acetabulum is usually displayed in real time during the grinding and filing process, and the area to be filed of the acetabulum is displayed in the three-dimensional image. However, the doctor cannot determine the depth of the area to be filed and can only file based on experience.

[0004] Therefore, the current orthopedic imaging display technology has the problem of easily leading to inaccurate grinding and filing. Summary of the invention

[0005] Based on this, it is necessary to provide an orthopedic imaging display method, device, system, computer equipment, computer-readable storage medium and computer program product that can ensure the accuracy of acetabular grinding and rasp in response to the above-mentioned technical problems.

[0006] In a first aspect, the present application provides an orthopedic image display method. The method comprises:

[0007] Acquire an orthopedic image; the orthopedic image includes a target bone part;

[0008] Acquire the spatial coordinates of the target surface of the target bone part;

[0009] Determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates;

[0010] According to the image coordinates, the contour lines or isobaths of the target surface of the target bone part are displayed in the orthopedic image; the contour lines are used to characterize the height information of the target surface, and the isobaths are used to characterize the depth information of the target surface.

[0011] In one embodiment, the orthopedic image further includes a prosthesis to be implanted corresponding to the target bone site; and obtaining the orthopedic image includes:

[0012] Segmenting the original image of the target bone part to obtain a segmented image of the target bone part;

[0013] Determining a target position of the prosthesis to be implanted relative to the target bone part according to the segmented image;

[0014] According to the target position, the prosthesis to be implanted is displayed in the segmented image of the target bone part to obtain the orthopedic image.

[0015] In one embodiment, displaying the target surface contour lines or isodepth lines of the target bone part in the orthopedic image according to the image coordinates includes:

[0016] According to the image coordinates, in the orthopedic image, performing Laplace deformation processing on the target surface of the target bone part to obtain a surface mesh of the target surface;

[0017] The height contours or depth contours of the target surface are determined according to the surface mesh.

[0018] In one embodiment, determining the contour lines or isobaths of the target surface according to the surface mesh comprises:

[0019] In the orthopedic image, determining the axis and center point of the prosthesis to be implanted;

[0020] Determine a plurality of planes according to the axis and the center point; each of the planes is perpendicular to the axis and intersects with the surface grid to form an intersection line;

[0021] The height contour or depth contour of the target surface is determined according to the intersection line.

[0022] In one embodiment, the plurality of planes are arranged at equal intervals along the axis, or the plurality of planes are arranged at non-equal intervals along the axis.

[0023] In one embodiment, the determining of a plurality of planes according to the axis and the center point comprises:

[0024] In the case where the plurality of planes are arranged at unequal intervals along the axis, determining a target point on the axis, and determining a distance between the target point and the center point;

[0025] When the distance does not exceed a preset threshold, the multiple planes are determined according to a first spacing, and when the distance exceeds the preset threshold, the multiple planes are determined according to a second spacing; the first spacing is greater than the second spacing.

[0026] In one embodiment, after displaying the contour lines or isodepth lines of the target surface of the target bone part in the orthopedic image according to the image coordinates, the method further comprises:

[0027] In response to a filing operation on the target surface, acquiring a post-filing spatial coordinate of the post-filing surface;

[0028] Determining the post-filing image coordinates corresponding to the post-filing space coordinates;

[0029] The height contour or depth contour in the orthopedic image is updated according to the image coordinates after grinding and filing.

[0030] In a second aspect, the present application also provides an orthopedic image display method. The method comprises:

[0031] Acquire an orthopedic image; the orthopedic image includes a target bone part;

[0032] Acquire the spatial coordinates of the target surface of the target bone part;

[0033] Determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates;

[0034] According to the image coordinates, multiple sub-surfaces of the target surface of the target bone part are displayed in the orthopedic image; the multiple sub-surfaces are used to represent the height information or depth information of the target surface.

[0035] In a third aspect, the present application also provides an orthopedic imaging display device. The device comprises:

[0036] A first acquisition module is used to acquire an orthopedic image; the orthopedic image includes a target bone part;

[0037] A second acquisition module is used to acquire the spatial coordinates of the target surface of the target bone part;

[0038] A coordinate transformation module, used for determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates;

[0039] An image display module is used to display the contour lines or isobaths of the target surface of the target bone part in the orthopedic image according to the image coordinates; the contour lines are used to represent the height information of the target surface, and the isobaths are used to represent the depth information of the target surface.

[0040] In a fourth aspect, the present application also provides an orthopedic imaging display system. The system includes a processor and a display;

[0041] The display is used to display orthopedic images; the orthopedic images contain target bone parts;

[0042] The processor is used to obtain the spatial coordinates of the target surface of the target bone part, determine the image coordinates of the target surface in the orthopedic image according to the spatial coordinates, and determine the contour lines or isodepth lines of the target surface of the target bone part according to the image coordinates; the contour lines are used to represent the height information of the target surface, and the isodepth lines are used to represent the depth information of the target surface;

[0043] The display is also used to display the contour lines or isodepth lines in the orthopedic image.

[0044] In a fifth aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0045] Acquire an orthopedic image; the orthopedic image includes a target bone part;

[0046] Acquire the spatial coordinates of the target surface of the target bone part;

[0047] Determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates;

[0048] According to the image coordinates, the contour lines or isobaths of the target surface of the target bone part are displayed in the orthopedic image; the contour lines are used to characterize the height information of the target surface, and the isobaths are used to characterize the depth information of the target surface.

[0049] In a sixth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0050] Acquire an orthopedic image; the orthopedic image includes a target bone part;

[0051] Acquire the spatial coordinates of the target surface of the target bone part;

[0052] Determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates;

[0053] According to the image coordinates, the contour lines or isobaths of the target surface of the target bone part are displayed in the orthopedic image; the contour lines are used to characterize the height information of the target surface, and the isobaths are used to characterize the depth information of the target surface.

[0054] In a seventh aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0055] Acquire an orthopedic image; the orthopedic image includes a target bone part;

[0056] Acquire the spatial coordinates of the target surface of the target bone part;

[0057] Determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates;

[0058] According to the image coordinates, the contour lines or isobaths of the target surface of the target bone part are displayed in the orthopedic image; the contour lines are used to characterize the height information of the target surface, and the isobaths are used to characterize the depth information of the target surface.

[0059] The above-mentioned orthopedic image display method, device, system, computer equipment, storage medium and computer program product obtain the spatial coordinates of the target surface of the target bone part by acquiring the orthopedic image, determine the image coordinates of the target surface in the orthopedic image based on the spatial coordinates, and display the contour lines or isodepth lines of the target surface of the target bone part in the orthopedic image based on the image coordinates; the contour lines or isodepth lines of the target surface of the target bone part can be displayed in the orthopedic image, and the doctor can determine the height or depth of the target surface that needs to be filed based on the displayed contour lines or isodepth lines, thereby improving the accuracy of bone filing. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of a flow chart of an orthopedic image display method in one embodiment;

[0061] Figure 2 is a schematic diagram of an acetabular cup in an orthopedic image in one embodiment;

[0062] Figure 3 is a schematic diagram of acetabular fossa surface isodepth lines in one embodiment;

[0063] Figure 4 A schematic diagram of the change of isodepth lines before and after reaming of the acetabular socket in one embodiment;

[0064] Figure 5 A schematic diagram of a flow chart of an orthopedic image display method in another embodiment;

[0065] Figure 6 A schematic diagram of the acetabular socket area to be filed in one embodiment;

[0066] Figure 7 A schematic diagram of marking the area of ​​the acetabulum to be filed in one embodiment;

[0067] Figure 8A schematic diagram of the correspondence between the acetabular fossa to-be-rewrap area and the marking color in one embodiment;

[0068] Fig. 9 is a flowchart of a preoperative planning process in one embodiment;

[0069] Fig.10 is a flowchart of an intraoperative navigation process in one embodiment;

[0070] Fig.11 is a structural block diagram of an orthopedic image display device in an embodiment;

[0071] Fig.12 is a structural block diagram of an orthopedic image display system in an embodiment;

[0072] Fig.13 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0074] In one embodiment, Figure 1 As shown, a method for displaying orthopedic images is provided. This embodiment uses the method applied to a terminal as an example for illustration. It is understandable that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0075] Step S110, obtaining an orthopedic image; the orthopedic image contains the target bone part.

[0076] The target bone part may be a bone part to be ground or filed.

[0077] The orthopedic image may be a medical image obtained by scanning bones.

[0078] In a specific implementation, a medical imaging device can be used to scan the target bone part to obtain an orthopedic image, and a medical imaging device can also be used to scan the whole body of the target object to obtain an orthopedic image of the whole body of the target object, and then the orthopedic image of the whole body of the target object is segmented to obtain an orthopedic image of the target bone part, wherein the target object can be a bone grinding object. The obtained orthopedic image is input into the terminal, and the terminal obtains the orthopedic image containing the target bone part.

[0079] For example, before hip replacement surgery, a CT (Computed Tomography) device can be used to scan the hip joint of the human body to obtain a CT image of the hip joint, and the CT image of the hip joint is input into the terminal; the CT device can also be used to scan the human body to obtain a CT image of the human body, and then the CT image of the hip joint is segmented from the CT image of the human body, and the CT image of the hip joint is input into the terminal.

[0080] Step S120, obtaining the spatial coordinates of the target surface of the target bone part.

[0081] The target surface may be a surface to be filed at a target bone site.

[0082] The spatial coordinates may be actual coordinates in three-dimensional space.

[0083] In a specific implementation, the surface to be filed at the target bone part can be determined as the target surface, the spatial coordinates of the target surface can be measured using a measuring device, and the measured spatial coordinates can be input into the terminal, which acquires the spatial coordinates of the target surface of the target bone part.

[0084] For example, in hip replacement surgery, after the hip joint of the human body is fixed, a point cloud measurement device can be used to measure the spatial point cloud coordinates of the acetabulum to be ground at the hip joint, and the measured spatial point cloud coordinates can be input into the terminal.

[0085] Step S130, determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates.

[0086] The image coordinates may be coordinates in orthopedic images.

[0087] In a specific implementation, the mapping relationship between the spatial coordinates and the image coordinates can be determined in advance. After the spatial coordinates of the target surface are determined, the image coordinates corresponding to the spatial coordinates are determined according to the mapping relationship between the spatial coordinates and the image coordinates to obtain the image coordinates of the target surface in the orthopedic image.

[0088] For example, in hip replacement surgery, after the human body's hip joint is fixed, the mapping relationship between the spatial point cloud coordinates of the hip joint and the CT image coordinates of the hip joint can be determined first, and then the spatial point cloud coordinates of the acetabulum can be measured using a point cloud measurement device. After that, the CT image coordinates of the acetabulum can be determined based on the predetermined mapping relationship. The CT image coordinates can be three-dimensional coordinates.

[0089] Step S140, displaying the contour lines or isobaths of the target surface of the target bone part in the orthopedic image according to the image coordinates; the contour lines are used to represent the height information of the target surface, and the isobaths are used to represent the depth information of the target surface.

[0090] The height information may be a height value of the target surface, and the depth information may be a depth value of the target surface.

[0091] In a specific implementation, after determining the image coordinates of the target surface in the orthopedic image, the contour lines or isobaths of the target surface of the target bone part can be determined according to the image coordinates, and the determined contour lines or isobaths can be displayed in the orthopedic image.

[0092] For example, based on the CT image coordinates of the acetabulum, isodepth lines can be determined and displayed in the CT image.

[0093] The above-mentioned orthopedic image display method obtains the spatial coordinates of the target surface of the target bone part by acquiring the orthopedic image, determines the image coordinates of the target surface in the orthopedic image based on the spatial coordinates, and displays the contour lines or isodepth lines of the target surface of the target bone part in the orthopedic image based on the image coordinates; the contour lines or isodepth lines of the target surface of the target bone part can be displayed in the orthopedic image, and the doctor determines the height or depth of the target surface that needs to be filed based on the displayed contour lines or isodepth lines, thereby improving the accuracy of bone filing.

[0094] In one embodiment, the orthopedic image also includes a prosthesis to be implanted corresponding to the target bone part; the above step S110 may specifically include: segmenting the original image of the target bone part to obtain a segmented image of the target bone part; determining the target position of the prosthesis to be implanted relative to the target bone part based on the segmented image; and displaying the prosthesis to be implanted in the segmented image of the target bone part based on the target position to obtain an orthopedic image.

[0095] The prosthesis to be implanted may be a prosthesis that needs to be implanted into a target bone site.

[0096] The original image may be a medical image output by a medical imaging device.

[0097] The segmented image may be a medical image that segments out the target bone part.

[0098] The target position may be the image position of the prosthesis to be implanted relative to the target bone site.

[0099] In a specific implementation, a medical imaging device can be used to scan and obtain an original image of the target bone part, segment the target bone part from the original image, construct a segmented image of the target bone part, determine the target position of the prosthesis to be implanted relative to the target bone part in the segmented image, and display the prosthesis to be implanted in the segmented image according to the target position, thereby obtaining an orthopedic image containing the target bone part and the prosthesis to be implanted.

[0100] For example, before hip replacement surgery, a CT device is used to scan the hip joint area to obtain a CT image of the hip joint area, the hip joint area is segmented from the CT image, and the hip joint area is displayed in a three-dimensional image to obtain a segmented image of the hip joint area. Prosthesis planning is performed based on the segmented image, and the target position of the acetabular cup to be implanted relative to the hip joint area is determined. The acetabular cup is displayed in the segmented image according to the target position, and an image containing the hip joint area and the acetabular cup to be implanted is obtained, which is used as an orthopedic image.

[0101] In this embodiment, the original image of the target bone part is segmented to obtain a segmented image of the target bone part; based on the segmented image, the target position of the prosthesis to be implanted relative to the target bone part is determined; based on the target position, the prosthesis to be implanted is displayed in the segmented image of the target bone part to obtain an orthopedic image, which can be used to plan the target position of the prosthesis to be implanted, so that the grinding and filing of the target surface of the target bone part can be guided according to the planned target position during the operation, thereby improving the accuracy of the grinding and filing.

[0102] In one embodiment, the above step S140 may specifically include: performing Laplace deformation processing on the target surface of the target bone part in the orthopedic image according to the image coordinates to obtain a surface mesh of the target surface; and determining contour lines or isodepth lines of the target surface according to the surface mesh.

[0103] In a specific implementation, the terminal can perform Laplace deformation on the image coordinates of the target surface of the target bone part in the orthopedic image to obtain a surface mesh of the target surface, and determine the contour lines or isodepth lines of the target surface based on the surface mesh.

[0104] For example, the CT image coordinates of the acetabulum are subjected to Laplace deformation to obtain the surface mesh of the acetabulum, and the isodepth lines of the acetabulum can be determined based on the surface mesh.

[0105] In this embodiment, Laplace deformation processing is performed on the target surface of the target bone part in the orthopedic image according to the image coordinates to obtain a surface mesh of the target surface; the contour lines or isobaths of the target surface are determined according to the surface mesh, and the contour lines or isobaths of the target surface can be determined, so that the doctor can determine the height or depth of the target surface that needs to be filed according to the contour lines or isobaths, thereby improving the accuracy of the target surface filing.

[0106] In one embodiment, the above-mentioned step of determining the contour lines or isobaths of the target surface based on the surface grid may specifically include: determining the axis and center point of the prosthesis to be implanted in the orthopedic image; determining multiple planes based on the axis and the center point; each plane is perpendicular to the axis and intersects with the surface grid to form an intersection line; and determining the contour lines or isobaths of the target surface based on the intersection line.

[0107] In a specific implementation, the axis and center point of the prosthesis to be implanted in the orthopedic image can be determined, and multiple planes perpendicular to the axis can be determined with the center point as the reference point. Each plane intersects with the surface grid of the target surface of the target bone part to form an intersection line, and the intersection line is determined as the contour line or isobath of the target surface.

[0108] It should be noted that the multiple planes can be arranged at equal intervals or unequal intervals along the axis, and this application does not impose any restrictions on this.

[0109] Figure 2 A schematic diagram of the acetabular cup in orthopedic imaging is provided. Figure 2 , obtain the center point and axis of the acetabular cup planned in the orthopedic image, wherein the center point can be a point at the center of the acetabular cup mouth plane, the axis can be a line segment from the center point to the lowest point of the acetabular cup bottom, determine the plane passing through the center point and perpendicular to the axis as the first plane, determine the intersection line between the first plane and the acetabular surface grid as the first isobath, determine the second plane perpendicular to the axis at a preset distance from the center point on the axis, and determine the intersection line between the second plane and the acetabular surface grid as the second isobath, and so on, multiple isobaths of the acetabular surface can be obtained, represented by L1, L2, L3, L4, and L5 respectively. Different isobaths can also be displayed in different colors, for example, L1 can be displayed in purple, L2 in black, L3 in green, L4 in blue, and L5 in yellow. During the filing process, if adjacent isobaths at a certain location are visually close, it means that the filing depth at this location is already too deep. At this time, a prompt message may be generated, suggesting that the filing in the current area be stopped and the filing be continued in another area.

[0110] In this embodiment, the axis and center point of the prosthesis to be implanted are determined in the orthopedic image; multiple planes are determined based on the axis and the center point; each plane is perpendicular to the axis and intersects with the surface grid to form an intersection line; the contour lines or isobaths of the target surface are determined based on the intersection lines. The contour lines or isobaths of the target surface can be determined, so that the doctor can determine the height or depth of the target surface that needs to be filed based on the contour lines or isobaths, thereby improving the accuracy of the target surface filing.

[0111] In one embodiment, the above-mentioned step of determining multiple planes based on the axis and the center point may specifically include: when the multiple planes are not arranged at equal intervals along the axis, determining the target point on the axis, and determining the distance between the target point and the center point; when the distance does not exceed a preset threshold, determining the multiple planes according to the first interval, and, when the distance exceeds the preset threshold, determining the multiple planes according to the second interval; the first interval is greater than the second interval.

[0112] In a specific implementation, if multiple planes are arranged at unequal intervals along the axis, any point on the axis can be determined as a target point, and the distance between the target point and the center point can be determined. If the distance between the target point and the center point does not exceed a preset threshold, the distance between the plane passing through the target point and its adjacent plane is set to a first distance. If the distance between the target point and the center point exceeds the preset distance, the distance between the plane passing through the target point and its adjacent plane is set to a second distance, and the first distance is greater than the second distance.

[0113] For example, the first spacing is pre-set to 3 mm, the second spacing is pre-set to 1 mm, and the distance threshold between the target point and the center point is pre-set to 10 mm. For any target point on the axis of the acetabular cup, if the distance to the center point is less than or equal to 10 mm, the spacing between the plane passing through the target point and its adjacent plane is set to 3 mm, that is, when the filing depth is relatively shallow, the filing operation is relatively safe. At this time, a larger isobath spacing can be set to improve the filing efficiency; otherwise, if the distance to the center point is greater than 10 mm, the spacing between the plane passing through the target point and its adjacent plane is set to 1 mm, that is, when the filing depth is relatively deep, a smaller isobath spacing can be set to ensure the safety of the filing operation.

[0114] In this embodiment, by determining a target point on the axis and determining the distance between the target point and the center point; when the distance does not exceed a preset threshold, multiple planes are determined according to a first spacing, and when the distance exceeds the preset threshold, multiple planes are determined according to a second spacing. Different contour line spacings can be set according to the filing depth, or different contour line spacings can be set according to the filing height, thereby improving the filing efficiency and ensuring the safety of the filing operation.

[0115] In one embodiment, after the above step S140, the method may further include: obtaining the post-filing spatial coordinates of the post-filing surface in response to the filing operation on the target surface; determining the post-filing image coordinates corresponding to the post-filing spatial coordinates; and updating the contour lines or isodepth lines in the orthopedic image according to the post-filing image coordinates.

[0116] The surface after filing may be a target surface after filing, the spatial coordinates after filing may be spatial coordinates of the target surface after filing, and the image coordinates after filing may be image coordinates of the target surface after filing.

[0117] In a specific implementation, after the terminal displays the contour lines or isobaths of the target surface of the target bone part in the orthopedic image, if a filing operation is performed on the target surface, the spatial coordinates of the surface after filing can be measured to obtain the spatial coordinates after filing. According to the mapping relationship between the predetermined spatial coordinates and the image coordinates, the image coordinates corresponding to the spatial coordinates after filing are determined to obtain the image coordinates after filing. The terminal can update the contour lines or isobaths in the orthopedic image according to the image coordinates after filing.

[0118] For example, in hip replacement surgery, while the doctor is grinding and filing the acetabulum, the point cloud measurement equipment can be used to measure the spatial point cloud coordinates of the acetabulum in real time to obtain the spatial coordinates after grinding and filing. According to a predetermined mapping relationship, the real-time CT image coordinates corresponding to the spatial point cloud coordinates, i.e., the image coordinates after grinding and filing, can be determined. Then, the isobaths can be updated in the orthopedic image based on the real-time CT image coordinates to obtain the real-time isobaths of the acetabulum.

[0119] Figure 3 A schematic diagram of the acetabular surface isodepth is provided, which can be displayed in real time on the CT image of the acetabular socket during the grinding and filing of the acetabular socket. Figure 3 Isobaths shown.

[0120] Figure 4 A schematic diagram of the changes in the depth lines of the acetabular socket before and after grinding and reaming is provided. Figure 4 As shown on the left, L1, L2, L3, L4, and L5 are used to represent them respectively. The corresponding depth contours after grinding and filing are as follows: Figure 4 Shown on the right.

[0121] In this embodiment, the post-filing spatial coordinates of the filed surface are obtained in response to the filing operation on the target surface; the post-filing image coordinates corresponding to the post-filing spatial coordinates are determined; and the contour lines or isobaths in the orthopedic image are updated according to the post-filing image coordinates. The contour lines or isobaths of the target surface can be updated in real time during the filing process, so that the doctor can adjust the filing depth or filing height according to the contour lines or isobaths updated in real time, thereby further improving the accuracy of bone filing.

[0122] In one embodiment, the above step S130 may specifically include: obtaining a mapping relationship between the spatial coordinates and the image coordinates; and performing coordinate transformation on the spatial coordinates according to the mapping relationship to obtain the image coordinates of the target surface in the orthopedic image.

[0123] In a specific implementation, the mapping relationship between the spatial coordinates and the image coordinates can be determined in advance. After the spatial coordinates of the target surface are determined, the spatial coordinates are transformed according to the mapping relationship between the spatial coordinates and the image coordinates to obtain the image coordinates of the target surface in the orthopedic image.

[0124] In this embodiment, by obtaining the mapping relationship between the spatial coordinates and the image coordinates; according to the mapping relationship, the spatial coordinates are transformed to obtain the image coordinates of the target surface in the orthopedic image, the spatial coordinates of the target surface can be transformed into the image coordinates in the orthopedic image, so as to facilitate the display of the target surface and the isobaths or contour lines of the target surface in the orthopedic image.

[0125] In one embodiment, the orthopedic image is a hip joint image, the target bone site is the acetabulum, the prosthesis to be implanted is an acetabular cup, and the target surface is the surface of the acetabulum to be ground and filed.

[0126] The hip joint image may be a medical image of the hip joint.

[0127] In a specific implementation, a hip joint image can be obtained, which includes the acetabulum. The spatial coordinates of the surface of the acetabulum to be filed (for example, the acetabular fossa) can also be obtained, and the spatial coordinates can be transformed into image coordinates in the hip joint image. The isobaths of the surface to be filed can be displayed in the hip joint image according to the image coordinates.

[0128] In this embodiment, by making the orthopedic image a hip joint image, the target bone part is the acetabulum, the prosthesis to be implanted is the acetabular cup, and the target surface is the surface of the acetabulum to be filed, the isobaths of the surface of the acetabulum to be filed can be displayed in the hip joint image. The doctor determines the depth to which the surface of the acetabulum to be filed needs to be filed based on the displayed isobaths, thereby improving the accuracy of acetabular filing.

[0129] In one embodiment, Figure 5 As shown, a method for displaying orthopedic images is provided, and an example of applying the method to a terminal is used for illustration. The method includes the following steps:

[0130] Step S210, obtaining an orthopedic image; the orthopedic image includes a target bone part;

[0131] Step S220, obtaining the spatial coordinates of the target surface of the target bone part;

[0132] Step S230, determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates;

[0133] Step S240: display multiple sub-surfaces of the target surface of the target bone part in the orthopedic image according to the image coordinates; the multiple sub-surfaces are used to represent the height information or depth information of the target surface.

[0134] The sub-surfaces may be a plurality of sub-surfaces marked with different colors in the target surface.

[0135] The height information may be a height difference between an actual height of the target surface and a target height, and the depth information may be a depth difference between an actual depth of the target surface and a target depth.

[0136] In a specific implementation, before the filing operation, the target implantation position of the prosthesis to be implanted in the orthopedic image can be determined, and the target filing position of the target surface of the target bone part can be determined based on the target implantation position; orthopedic images of the target bone part can also be acquired through medical imaging equipment, and the spatial coordinates of the target surface of the target bone part can be measured in real time using a measuring device during the filing process; the spatial coordinates can be transformed into the image coordinates of the target surface in the orthopedic image based on the mapping relationship between the spatial coordinates and the image coordinates, so as to obtain the actual filing position of the target surface displayed in the orthopedic image; the height difference (or depth difference) between the actual filing position and the target filing position can be determined to obtain the height value (or depth value) of the target surface that needs to be filed, and different colors can be marked on the target surface according to different height values ​​(or depth values) to obtain multiple sub-surfaces of the target surface.

[0137] Figure 6 A schematic diagram of the area of ​​the acetabulum to be rasped is provided. Figure 6 , planning the target implantation position of the acetabular cup to be implanted in the hip joint image, and determining the target grinding position of the acetabular fossa to be ground and filed according to the target implantation position, for example, planning the acetabular cup as follows Figure 6 The target implantation position is shown in the figure, and the target grinding and filing position of the acetabular fossa is made to coincide with the target implantation position of the acetabular cup. The spatial point cloud coordinates of the acetabular fossa are measured in real time using a measuring device, and the spatial point cloud coordinates are transformed into the image coordinates in the hip joint image to obtain the following: Figure 6 The actual grinding and filing position of the acetabulum shown in FIG. 1 is used to determine the depth difference between the actual grinding and filing position and the target grinding and filing position, and the depth difference between the actual grinding and filing position and the target grinding and filing position is obtained. Figure 6 The multiple line segments shown are parallel to the axis of the acetabular cup, and represent the rasp thickness of the acetabular socket at the corresponding position that needs to be raspped.

[0138] Figure 7 A schematic diagram is provided for marking the area of ​​the acetabular socket to be reamed. Figure 7 The color for marking the acetabular fossa can be determined according to the depth difference between the actual reaming position and the target reaming position of the acetabular fossa, and different reaming thicknesses can be marked with different colors.

[0139] Figure 8 A schematic diagram of the relationship between the acetabular fossa area to be filed and the marking color is provided. Figure 8, the part of the acetabular fossa with a file thickness greater than or equal to 5 mm can be marked as purple, the part of the acetabular fossa with a file thickness of [4,5) mm can be marked as black, the part of the acetabular fossa with a file thickness of [3,4) mm can be marked as blue, the part of the acetabular fossa with a file thickness of [2,3) mm can be marked as yellow, the part of the acetabular fossa with a file thickness of [1,2) mm can be marked as green, the part of the acetabular fossa with a file thickness of [0,1) mm can be marked as orange, the part of the acetabular fossa with a file thickness of [-1,0) mm can be marked as white, and the part of the acetabular fossa with a file thickness less than -1 mm can be marked as red, wherein, when the file thickness is a negative value, it indicates that the sub-surface has been over-ground, and a file stop instruction can be generated for the sub-surface.

[0140] It should be noted that the color used to mark the area to be filed is not fixed, including but not limited to gradient color mode, grayscale mode or RGB mode, and the user can also customize the color of the mark.

[0141] In this embodiment, by acquiring an orthopedic image, the spatial coordinates of the target surface of the target bone part are acquired, and based on the spatial coordinates, the image coordinates of the target surface in the orthopedic image are determined. Based on the image coordinates, multiple sub-surfaces of the target surface of the target bone part are displayed in the orthopedic image, and different thicknesses of the target surface that need to be filed can be marked with different colors, so that the doctor can distinguish the thickness that needs to be filed according to different colors, thereby improving the convenience of the filing operation.

[0142] In order to facilitate those skilled in the art to have a deeper understanding of the embodiments of the present application, a specific example will be described below.

[0143] The present application proposes a method for displaying the contour lines, iso-depth lines and file thickness of the acetabulum fossa area to be filed during hip replacement surgery. The method can display the contour lines or iso-depth lines of the area to be filed in real time, calculate the file thickness and display it intuitively, so as to help doctors understand the filing situation in real time and reduce dependence on surgical experience.

[0144] Fig. 9 A schematic flow chart of the preoperative planning process is provided. Fig. 9 The preoperative planning phase may include the following steps:

[0145] Step S310, scanning the patient's hip joint, using a CT device to scan the patient's hip joint to obtain CT image data of the patient;

[0146] Step S320, tissue segmentation, using a segmentation algorithm to segment the CT image data to obtain image data of the patient's segmented tissue, for example, image data of the hip joint;

[0147] Step S330, hip joint prosthesis planning, displaying the segmented tissue on the three-dimensional image, and performing prosthesis planning on the three-dimensional image, for example, planning the implantation position of the acetabular cup on the three-dimensional image of the hip joint, and obtaining the image data of the planned acetabular cup;

[0148] Step S340 , exporting the planning results, exporting the image data of the segmented tissue and the image data of the prosthesis planned on the three-dimensional image for subsequent intraoperative navigation.

[0149] Fig.10 A schematic flow chart of the intraoperative navigation process is provided. Fig.10 , the intraoperative navigation phase may include the following steps:

[0150] Step S410, importing the preoperative planning results, importing the image data of the segmented tissue and the image data of the planned prosthesis in the preoperative planning results into the intraoperative navigation software;

[0151] Step S420, patient registration, registering and aligning the spatial position of the acetabular fossa during surgery with the planned spatial position of the acetabular cup before surgery by means of point cloud registration or small C registration;

[0152] Step S430, acetabular grinding and filing. According to the position of the acetabular cup planned in step S330 and the registration and alignment result of step S420, the doctor operates the acetabular grinding and filing to grind the acetabular socket. During the grinding process, the isobaths and colors of the acetabular socket after grinding and filing will be updated in real time on the interface of the intraoperative navigation software. The doctor can determine whether to continue grinding and filing based on the isobaths and distinguish the thickness that needs to be filed based on the color, thereby guiding further grinding and filing.

[0153] Wherein, the drawing rule of isobath can be, with the center of the planned acetabular cup as the dot, with the axial direction of the planned acetabular cup as the direction, the direction points to the acetabular fossa, at a certain distance on the axis, determine the plane intersecting with the acetabular surface grid, draw a specified color at the intersection of the plane and the acetabular surface grid, and display the contour height value represented by the color at the same time. Wherein, the area that needs to be filed can be displayed as green, and the area that does not need to be filed can be displayed as white, and there is no restriction on this color, and there is a high degree of differentiation between the two, and different colors can also be made between adjacent isobaths, and there is a high degree of differentiation between different colors. In addition, the shallow position of the acetabular fossa is relatively safe to file, and a larger isobath spacing can be set, such as 2mm or 3mm, and the deeper position of the acetabular fossa can reduce the isobath spacing, for example, when reaching a certain depth, the isobath spacing is set to 2mm, and when reaching the limit position, the isobath spacing is set to 1mm or less, so that the safety of the filing operation can be further improved. The isobath spacing can also be adjusted in real time, and the principle is that the deeper the spacing, the smaller the spacing.

[0154] In actual applications, if the adjacent contour lines of the acetabulum are visually close at a certain point during the grinding and filing process, it means that the grinding depth at this point is deep. At this time, a prompt can be generated to suggest that the doctor stop grinding and filing at this point and adjust to other areas for grinding.

[0155] The drawing rules for the thickness of the area to be filed are as follows: Figure 6-8 As shown, Figure 6 With the center of the planned acetabular cup as the dot and the axial direction of the planned acetabular cup as the direction pointing to the acetabular fossa, the depth difference between the actual grinding and filing position and the target grinding and filing position is calculated for the surface mesh of the acetabular fossa, and the surface mesh of the acetabular fossa is colored according to the calculated different depth differences, as shown in the following figure. Figure 7 The marking result is shown. During the filing process, when the area to be filed is removed, the depth difference from the actual filing position to the target filing position can be recalculated, and the color of the area to be filed can be updated. The coloring rules for different depth differences are not fixed, as long as the color difference is large, Figure 8 An example of a coloring rule is given.

[0156] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0157] Based on the same inventive concept, the embodiments of the present application also provide an orthopedic image display device and system for implementing the orthopedic image display method involved above. The implementation scheme for solving the problem provided by the device and system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more orthopedic image display device and system embodiments provided below can refer to the limitations of the orthopedic image display method above, and will not be repeated here.

[0158] In one embodiment, Fig.11 As shown, an orthopedic image display device is provided, comprising: a first acquisition module 510, a second acquisition module 520, a coordinate transformation module 530 and an image display module 540, wherein:

[0159] A first acquisition module 510 is used to acquire an orthopedic image; the orthopedic image includes a target bone part;

[0160] A second acquisition module 520 is used to acquire the spatial coordinates of the target surface of the target bone part;

[0161] A coordinate transformation module 530, for determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates;

[0162] The image display module 540 is used to display the contour lines or isobaths of the target surface of the target bone part in the orthopedic image according to the image coordinates; the contour lines are used to represent the height information of the target surface, and the isobaths are used to represent the depth information of the target surface.

[0163] In one embodiment, the above-mentioned first acquisition module 510 is also used to segment the original image of the target bone part to obtain a segmented image of the target bone part; determine the target position of the prosthesis to be implanted relative to the target bone part based on the segmented image; and display the prosthesis to be implanted in the segmented image of the target bone part based on the target position to obtain the orthopedic image.

[0164] In one embodiment, the above-mentioned image display module 540 is also used to perform Laplace deformation processing on the target surface of the target bone part in the orthopedic image according to the image coordinates to obtain a surface mesh of the target surface; and determine the contour lines or isobaths of the target surface according to the surface mesh.

[0165] In one embodiment, the above-mentioned image display module 540 is also used to determine the axis and center point of the prosthesis to be implanted in the orthopedic image; determine multiple planes based on the axis and the center point; each of the planes is perpendicular to the axis and intersects with the surface grid to form an intersection line; based on the intersection line, determine the contour lines or isobaths of the target surface.

[0166] In one embodiment, the plurality of planes are arranged at equal intervals along the axis, or the plurality of planes are arranged at non-equal intervals along the axis.

[0167] In one embodiment, the above-mentioned image display module 540 is also used to determine the target point on the axis and determine the distance between the target point and the center point when the multiple planes are not arranged at equal intervals along the axis; when the distance does not exceed a preset threshold, determine the multiple planes according to a first interval, and when the distance exceeds the preset threshold, determine the multiple planes according to a second interval; the first interval is greater than the second interval.

[0168] In one embodiment, the above-mentioned orthopedic image display device further includes:

[0169] A coordinate acquisition module, for acquiring the post-filing spatial coordinates of the surface after filing in response to the filing operation on the target surface;

[0170] A coordinate determination module, used for determining the image coordinates after grinding and filing corresponding to the spatial coordinates after grinding and filing;

[0171] An image updating module is used to update the contour lines or isodepth lines in the orthopedic image according to the image coordinates after grinding and filing.

[0172] In one embodiment, the coordinate transformation module 530 is further used to obtain a mapping relationship between the spatial coordinates and the image coordinates; and perform coordinate transformation on the spatial coordinates according to the mapping relationship to obtain the image coordinates of the target surface in the orthopedic image.

[0173] In one embodiment, the orthopedic image is a hip joint image, the target bone site is the acetabulum, the prosthesis to be implanted is an acetabular cup, and the target surface is the surface of the acetabulum to be ground and filed.

[0174] In one embodiment, Fig.12 As shown, an orthopedic image display system is provided, including: a processor 610 and a display 620, wherein:

[0175] The display 620 is used to display orthopedic images; the orthopedic images include target bone parts;

[0176] The processor 610 is used to obtain the spatial coordinates of the target surface of the target bone part, determine the image coordinates of the target surface in the orthopedic image according to the spatial coordinates, and determine the contour lines or isodepth lines of the target surface of the target bone part according to the image coordinates; the contour lines are used to represent the height information of the target surface, and the isodepth lines are used to represent the depth information of the target surface;

[0177] The display 620 is also used to display the contour lines or isodepth lines in the orthopedic image.

[0178] Each module in the above-mentioned orthopedic image display device and system can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0179] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.13 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for displaying orthopedic images is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0180] Those skilled in the art will understand that Fig.13 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0181] In one 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 implements the steps in the above-mentioned method embodiments when executing the computer program.

[0182] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0183] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0184] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0185] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0186] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0187] The above-described 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 the present application. 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 protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for displaying orthopedic images, characterized in that: The method comprises: Acquire an orthopedic image; the orthopedic image includes a target bone part; Acquire the spatial coordinates of the target surface of the target bone part; Determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates; According to the image coordinates, the contour lines or isobaths of the target surface of the target bone part are displayed in the orthopedic image; the contour lines are used to characterize the height information of the target surface, and the isobaths are used to characterize the depth information of the target surface.

2. The method according to claim 1, characterized in that The orthopedic image also includes a prosthesis to be implanted corresponding to the target bone part; the step of obtaining the orthopedic image includes: Segmenting the original image of the target bone part to obtain a segmented image of the target bone part; Determining a target position of the prosthesis to be implanted relative to the target bone part according to the segmented image; According to the target position, the prosthesis to be implanted is displayed in the segmented image of the target bone part to obtain the orthopedic image.

3. The method according to claim 2, characterized in that The step of displaying the target surface contour lines or isodepth lines of the target bone part in the orthopedic image according to the image coordinates comprises: According to the image coordinates, in the orthopedic image, performing Laplace deformation processing on the target surface of the target bone part to obtain a surface mesh of the target surface; The height contours or depth contours of the target surface are determined according to the surface mesh.

4. The method according to claim 3, characterized in that Determining the contour lines or isobaths of the target surface according to the surface grid comprises: In the orthopedic image, determining the axis and center point of the prosthesis to be implanted; Determine a plurality of planes according to the axis and the center point; each of the planes is perpendicular to the axis and intersects with the surface grid to form an intersection line; The height contour or depth contour of the target surface is determined according to the intersection line.

5. The method according to claim 4, characterized in that The plurality of planes are arranged at equal intervals along the axis, or the plurality of planes are arranged at non-equal intervals along the axis.

6. The method according to claim 5, characterized in that Determining a plurality of planes according to the axis and the center point comprises: In the case where the plurality of planes are arranged at unequal intervals along the axis, determining a target point on the axis, and determining a distance between the target point and the center point; When the distance does not exceed a preset threshold, the multiple planes are determined according to a first spacing, and when the distance exceeds the preset threshold, the multiple planes are determined according to a second spacing; the first spacing is greater than the second spacing.

7. The method according to claim 1, characterized in that After displaying the contour lines or isodepth lines of the target surface of the target bone part in the orthopedic image according to the image coordinates, the method further includes: In response to a filing operation on the target surface, acquiring a post-filing spatial coordinate of the post-filing surface; Determining the post-filing image coordinates corresponding to the post-filing space coordinates; The height contour or depth contour in the orthopedic image is updated according to the image coordinates after grinding and filing.

8. A method for displaying orthopedic images, characterized in that: The method comprises: Acquire an orthopedic image; the orthopedic image includes a target bone part; Acquire the spatial coordinates of the target surface of the target bone part; Determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates; According to the image coordinates, multiple sub-surfaces of the target surface of the target bone part are displayed in the orthopedic image; the multiple sub-surfaces are used to represent the height information or depth information of the target surface.

9. An orthopedic image display device, characterized in that: The device comprises: A first acquisition module is used to acquire an orthopedic image; the orthopedic image includes a target bone part; A second acquisition module is used to acquire the spatial coordinates of the target surface of the target bone part; A coordinate transformation module, used for determining the image coordinates of the target surface in the orthopedic image according to the spatial coordinates; An image display module is used to display the contour lines or isobaths of the target surface of the target bone part in the orthopedic image according to the image coordinates; the contour lines are used to represent the height information of the target surface, and the isobaths are used to represent the depth information of the target surface.

10. An orthopedic image display system, characterized in that: The system includes a processor and a display; The display is used to display orthopedic images; the orthopedic images contain target bone parts; The processor is used to obtain the spatial coordinates of the target surface of the target bone part, determine the image coordinates of the target surface in the orthopedic image according to the spatial coordinates, and determine the contour lines or isodepth lines of the target surface of the target bone part according to the image coordinates; the contour lines are used to represent the height information of the target surface, and the isodepth lines are used to represent the depth information of the target surface; The display is also used to display the contour lines or isodepth lines in the orthopedic image.

Images