Joint motion range evaluation method and device

Abstract

The invention relates to a joint motion range evaluation method and device. The method comprises the steps that according to a three-dimensional simulation motion model of a target joint, safe movement boundaries of a movement structure in the target joint at multiple spinning angles are obtained; the movable structure comprises a movable skeleton or a movable prosthesis; the three-dimensional simulation motion model is constructed according to skeleton data of the target joint, or the three-dimensional simulation motion model is constructed according to the skeleton data of the target joint and movable prosthesis data; and determining the movement range of the target joint according to the safety movement boundaries under the multiple spinning angles. By adopting the method, the movable range of the joint skeleton can be accurately obtained.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a method and device for evaluating the range of motion of a joint. Background Art

[0002] Joint replacement is a medical procedure in which a prosthesis is fixed in normal bone to replace the joint part.

[0003] In the related art, the joint movement after joint replacement can be determined based on the movable range of the joint bones connected to the joint. The movable range of the joint bones can be determined by directly measuring the range of motion of the joint bones during the activity by a measuring instrument; or the joint bones at the maximum range of motion are photographed and the range of motion of the joint bones is determined based on the photographed images.

[0004] However, the methods of the related art cannot accurately obtain the movable range of the joint bones. Summary of the invention

[0005] Based on this, it is necessary to provide a method and device for evaluating the range of joint motion in order to address the above technical issues, so as to accurately obtain the movable range of joint bones.

[0006] In a first aspect, the present application provides a method for evaluating a range of motion of a joint, the method comprising:

[0007] According to the three-dimensional simulated motion model of the target joint, the safe motion boundary of the active structure in the target joint at multiple rotation angles is obtained; the active structure includes an active skeleton and an active prosthesis; the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint, or the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint and the active prosthesis data;

[0008] The range of motion of the target joint is determined based on the safe motion boundaries at multiple rotation angles.

[0009] In one embodiment, obtaining the safe activity boundary of the active structure in the target joint at multiple rotation angles includes:

[0010] Traverse each spin angle to obtain the critical collision angle of the active structure along all active directions at each spin angle;

[0011] According to the critical collision angle of the active structure along all active directions at each spin angle, the safe activity boundary at the corresponding spin angle is determined.

[0012] In one embodiment, all activity orientations include an initial activity orientation and an updated activity orientation; the updated activity orientation is obtained by simulating the active structure to perform a rotational stepping motion counterclockwise or clockwise along the initial activity orientation at intervals of a first preset angle value when the active structure is in the initial activity orientation.

[0013] In one embodiment, traversing each spin angle to obtain the critical collision angle of the active structure along all active directions at each spin angle includes:

[0014] For any spin angle, obtain the initial critical collision angle of the active structure in the initial active orientation;

[0015] Obtain updated critical collision angles of the active structure in multiple updated active orientations;

[0016] Based on the initial critical collision angle and each updated critical collision angle, the critical collision angle of the active structure along all active directions under the spin angle is determined.

[0017] In one embodiment, obtaining an initial critical collision angle of the active structure in an initial active orientation includes:

[0018] Obtaining the fixed bone axis of the fixed bone in the target joint;

[0019] The active structure is subjected to step-by-step simulation movement along the initial active direction, and collision detection is performed on the active structure;

[0020] When a critical collision of the movable structure is detected, an initial critical collision angle is determined according to the angle between the axis of the movable structure and the axis of the fixed bone when the critical collision occurs.

[0021] In one embodiment, determining the initial critical collision angle according to the angle between the axis of the movable structure and the axis of the fixed bone when the critical collision occurs includes:

[0022] Acquire the number of steps in the stepping simulation motion of the movable structure when a critical collision occurs in the movable structure;

[0023] Determine the angle between the axis of the movable structure and the axis of the fixed bone according to the second preset angle value and the number of steps;

[0024] The angle between the axis of the active structure and the axis of the fixed bone is taken as the initial critical collision angle.

[0025] In one embodiment, the number of update activity directions is N;

[0026] Gets the updated critical collision angle of the active structure in multiple updated active orientations, including:

[0027] According to the reference angle of the first updated activity orientation, an updated critical collision angle of the first updated activity orientation is obtained; the reference angle of the first updated activity orientation is the same as the initial critical collision angle of the initial activity orientation;

[0028] According to the reference angle of the Nth update activity direction, the update critical collision angle of the Nth update activity direction is detected and obtained; the reference angle of the Nth update activity direction is the same as the update critical collision angle of the N-1th update activity direction.

[0029] In one embodiment, detecting and obtaining the update critical collision angle of the Nth update activity direction according to the reference angle of the Nth update activity direction includes:

[0030] Check if the active structure collides when updating the base angle of the active orientation;

[0031] If the movable structure does not collide, the simulated movable structure performs stepping motion at intervals of the second preset angle value in the direction of the updated movable orientation; if the movable structure collides, the simulated movable structure performs stepping motion at intervals of the second preset angle value in the direction away from the updated movable orientation;

[0032] A collision detection is performed on the active structure, and a detected critical collision angle is determined as an updated critical collision angle.

[0033] In one embodiment, according to the critical collision position of the joint bones along all the activity directions at each rotation angle, the safe activity boundary at the corresponding rotation angle is determined, including:

[0034] The critical collision positions of the active structures along all active directions under each rotation angle are connected in sequence, and the closed line segments obtained by the connection are determined as the safe activity boundaries under the rotation angle.

[0035] In one embodiment, determining the activity range of the activity structure according to the safe activity boundaries at multiple spin angles includes:

[0036] The inner area of ​​the safe activity boundary at each rotation angle is marked as the activity area, and the activity area of ​​the safe activity boundary is determined as the activity range of the target joint.

[0037] In a second aspect, the present application also provides a joint range of motion assessment device, the device comprising:

[0038] An acquisition module is used to acquire the safe activity boundary of the active structure in the target joint at multiple rotation angles according to the three-dimensional simulated motion model of the target joint; the active structure includes an active skeleton or an active prosthesis; the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint, or the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint and the active prosthesis data;

[0039] The determination module is used to determine the range of motion of the target joint according to the safe activity boundaries under multiple rotation angles.

[0040] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the content of any one of the embodiments of the joint range of motion assessment method in the first aspect is implemented.

[0041] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the content of any one of the embodiments of the method for evaluating the range of motion of a joint in the first aspect.

[0042] In a fifth aspect, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the content of any one of the embodiments of the method for evaluating the range of motion of a joint in the first aspect.

[0043] The above-mentioned joint range of motion assessment method and device obtains the safe activity boundaries of the active structure in the target joint at multiple spin angles based on the three-dimensional simulated motion model of the target joint, and determines the range of motion of the target joint based on the safe activity boundaries at multiple spin angles. The active structure in this method includes an active skeleton or an active prosthesis, and the three-dimensional simulated motion model of the target joint is constructed based on the skeleton data of the target joint, or the three-dimensional simulated motion model is constructed based on the skeleton data of the target joint and the active prosthesis data. Since the three-dimensional simulated motion model is constructed based on real data, the motion process of the active structure can be accurately simulated, and the simulated safe activity boundaries at multiple spin angles are also more accurate, thereby making the obtained range of motion of the target joint more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A diagram of an application environment of a method for evaluating a range of motion of a joint in one embodiment;

[0045] Figure 2 A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0046] Figure 3 A schematic diagram of directions for simulating a human body in one embodiment;

[0047] Figure 4 is a schematic diagram of a human body in forward bending in one embodiment;

[0048] Figure 5 is a schematic diagram of a human body extending backward in one embodiment;

[0049] Figure 6 is a schematic diagram of a human body in adduction in one embodiment;

[0050] Figure 7 is a schematic diagram of a human body in internal rotation in one embodiment;

[0051] Figure 8 is a schematic diagram of a human body in external rotation in one embodiment;

[0052] Fig. 9 A schematic diagram of a hip joint implant active prosthesis in one embodiment;

[0053] Fig.10 is a schematic diagram of a movable structure in a hip joint in an embodiment under 45° flexion;

[0054] Fig.11 is a schematic diagram of a mobile structure in a hip joint in an embodiment under 30° extension;

[0055] Fig.12 A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0056] Fig.13 is a schematic diagram of an activity orientation in one embodiment;

[0057] Fig.14 A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0058] Fig.15 A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0059] Fig.16 A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0060] Fig.17 is a schematic diagram of an initial critical collision angle in one embodiment;

[0061] Fig.18 A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0062] Fig.19 A schematic diagram of updating a critical collision angle in one embodiment;

[0063] Fig. 20A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0064] Fig.21 is a schematic diagram of a safe activity boundary in one embodiment;

[0065] Fig. 22 A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0066] Fig.23 A schematic diagram of a flow chart of a method for evaluating a range of motion of a joint in one embodiment;

[0067] Fig.24 1 is a structural block diagram of a joint range of motion assessment device in one embodiment. DETAILED DESCRIPTION

[0068] 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.

[0069] Before introducing the technical solution of the present application in detail, a brief introduction to the background technology of the present application is first given.

[0070] Joints can maintain the movement of various parts of the body. Joints include active bones and fixed bones. The fixed bones and active bones here are relative. For example, in the hip joint, the active bone refers to the femur, and the fixed bone refers to the acetabulum of the pelvis; in the knee joint, the active bone refers to the tibia, and the fixed bone refers to the femur; that is, in the hip joint and knee joint, the femur belongs to the active bone and the fixed bone respectively. By obtaining the range of motion of the active bones, the range of motion of the joints can be accurately evaluated. For example, the range of motion of the joints can be evaluated before and after joint replacement surgery; or, it can also be in targeted examinations and evaluations, such as in the examination and evaluation of sports students, athletes or pilots, by evaluating the range of motion of the joints of different subjects, and then determining the evaluation of the joint mobility of different subjects.

[0071] Take the assessment of the range of motion of a joint before and after joint replacement surgery as an example. When a prosthesis is implanted in a joint through joint replacement surgery, in the related art, one method is for a doctor to fix the fixed bone so that the movable structure including the movable bone and the movable prosthesis can move in a certain direction, and the range of motion of the movable structure can be determined by visual inspection; in one method, the movable angle of the movable structure is measured by a protractor or a rangefinder to obtain the range of motion of the movable structure. The range of motion of the movable structure obtained by the above two methods is inaccurate. In addition, a flat film shooting method can be used to shoot the movable structure to the maximum degree of motion, and the range of motion of the movable structure can be judged based on the collected flat films, but this method requires the movable structure to maintain an angle in a certain direction, which is cumbersome and inconvenient to operate and easily interfered by external factors.

[0072] In order to solve the above problems, the present application provides a method for evaluating the range of joint motion, which simulates the safe activity boundaries under multiple spin angles through a three-dimensional simulated motion model of the joint, and based on the simulation results, the range of joint motion can be accurately obtained.

[0073] The joint range of motion assessment method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. For example, the computer device may be a server, a personal computer, a laptop, a smart phone, a tablet computer, a smart mobile phone, etc. The computer device may include a processor, a memory and a network interface connected by a system bus or wirelessly. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data during the joint range of motion assessment process. The network interface of the computer device is used to communicate with an external terminal through a network connection, and the computer program is executed by the processor to implement a joint range of motion assessment method. Among them, the computer device can be implemented by an independent computer device or a computer device cluster composed of multiple computer devices. It should be noted that the memory of the computer device is not limited to the above-mentioned memory, and may also include a high-speed random access memory, a volatile solid-state memory, etc. In addition, the composition architecture of the computer device is not limited to the above-mentioned situation, and some components may be added or omitted.

[0074] In one embodiment, Figure 2 As shown, a method for evaluating the range of joint motion is provided. Figure 1 The computer device in the example is used to illustrate, including the following steps:

[0075] S201, based on the three-dimensional simulated motion model of the target joint, obtain the safe activity boundary of the active structure in the target joint at multiple rotation angles; the active structure includes an active skeleton or an active prosthesis; the three-dimensional simulated motion model is constructed based on the skeleton data of the target joint, or the three-dimensional simulated motion model is constructed based on the skeleton data of the target joint and the active prosthesis data.

[0076] Among them, the target joint can be a hip joint, a knee joint or a shoulder joint, etc. The active structure refers to the structure that moves during the joint range of motion assessment process. For the targeted inspection and assessment process, the active structure includes active bones; for the preoperative simulation and postoperative assessment process, the active structure includes active bones and active prostheses. Taking the target joint as the hip joint as an example, before the active prosthesis is implanted in the hip joint, the fixed bone in the hip joint is the acetabulum, and the active bone is the femur. The three-dimensional simulated motion model of the hip joint is constructed by the real data of the acetabulum and femur in the joint. The three-dimensional simulated motion model constructed by the real data can more accurately reflect the real hip joint. In the preoperative planning or postoperative implantation of the active prosthesis in the hip joint, the active prosthesis can be a ball head and a femoral stem. The three-dimensional simulated motion model of the hip joint is constructed by the real data of the acetabulum cup, bushing, ball head and femoral stem in the joint. The three-dimensional simulated motion model constructed by the real data can more accurately reflect the real hip joint implanted with the active prosthesis. The above-mentioned safe activity boundary refers to the maximum range of motion of the active structure at each rotation angle.

[0077] Figure 3 This is a schematic diagram of the direction of the simulated human body, including horizontal plane 1, sagittal plane 2 and coronal plane 3. Horizontal plane 1 is a cross-section made along the horizontal line, dividing the simulated human body into upper and lower parts; sagittal plane 2 is a longitudinal section made along the sagittal axis, dividing the simulated human body into left and right parts; coronal plane 3 is a longitudinal section made along the coronal axis, dividing the human body into front and back parts. Further, still taking the target joint as the hip joint as an example, according to the above Figure 3 The multiple rotation angles refer to the rotation angles of the human body in a certain direction (internal and external rotation, flexion and extension, adduction and abduction) or a combination of several directions. Figure 4 It is a schematic diagram of a human body in forward flexion, and the flexion angle is 110°-130°. The flexion angle refers to the angle between the axis of the fixed bone and the axis of the movable structure in the forward direction. The movable structure is the right femur, and the fixed bone is the pelvis. Figure 5 It is a schematic diagram of a human body in extension, and the extension angle is 30°. The extension angle refers to the angle between the axis of the fixed bone and the axis of the movable structure in the backward direction. Figure 6It is a schematic diagram of the human body in adduction, and the adduction angle is 20°-30°. The adduction angle refers to the angle between the axis of the fixed bone and the axis of the movable structure in the left-right direction. Figure 7 It is a schematic diagram of the human body in internal rotation, and the internal rotation angle is 40°. Figure 8 Schematic diagram of the human body in external rotation, the external rotation angle is 45°. It should be noted that multiple rotation angles include not only single internal and external rotation, flexion and extension, and adduction and abduction, but also a combination of multiple directions. For example, the rotation angle can be 40° flexion and extension and 45° external rotation.

[0078] In this embodiment, for the targeted inspection and evaluation process, after the computer device constructs a three-dimensional motion model of the hip joint through the bone data of the target joint, for any rotation angle, it simulates the activity of the active bones in the hip joint at the rotation angle, and uses the maximum activity angle as the safe activity boundary at the rotation angle. According to the above method, the safe activity boundary at all rotation angles can be obtained. For the preoperative simulation and postoperative evaluation process, for any rotation angle, after the computer device constructs a three-dimensional motion model of the hip joint through the bone data of the target joint and the active prosthesis data, it simulates the activity of the active structure in the hip joint at the rotation angle, and uses the maximum activity angle as the safe activity boundary at the rotation angle. According to the above method, the safe activity boundary at all rotation angles can be obtained. Fig. 9 This is a schematic diagram of an active prosthesis implanted in a hip joint in an embodiment. As can be seen from the figure, the ball head and the femoral stem are installed on the left active bone, which is the femur. The active bone and the active prosthesis are in a natural vertical state and do not rotate. The femur and the active prosthesis are active structures in the target joint. Fig.10 It is a schematic diagram of the active structure in the hip joint under 45° flexion. The active structure of the hip joint in the figure moves to 45° flexion through flexion. Fig.11 It is a schematic diagram of the active structure in the hip joint in 30° extension. The active structure of the hip joint in the figure moves in the extension movement to 30°.

[0079] S202, determining the range of motion of the target joint according to the safe motion boundaries under multiple spin angles.

[0080] In this embodiment, for any spin angle, the range within the safe activity boundary at this spin angle is the safe activity range of the joint, and the range outside the safe activity boundary is the unsafe activity range of the joint. Therefore, the computer device can determine the area within the safe activity boundary as the activity range of the target joint.

[0081] The above-mentioned joint range of motion assessment method obtains the safe activity boundary of the active structure in the target joint at multiple spin angles based on the three-dimensional simulated motion model of the target joint, and determines the range of motion of the target joint based on the safe activity boundary at multiple spin angles. In this method, the active structure includes an active skeleton or an active prosthesis, and the three-dimensional simulated motion model of the target joint is constructed based on the skeleton data of the target joint, or the three-dimensional simulated motion model is constructed based on the skeleton data of the target joint and the active prosthesis data. Since the three-dimensional simulated motion model is constructed based on real data, the motion process of the active structure can be accurately simulated, and the simulated safe activity boundary at multiple spin angles is also more accurate, thereby making the obtained range of motion of the target joint more accurate.

[0082] Based on the above embodiments, this embodiment is to Figure 2 The relevant contents of step S201 "obtaining the safe activity boundary of the active structure in the target joint at multiple rotation angles" are introduced and explained. Fig.12 As shown, as a non-limiting example, the above step S201 may include the following content:

[0083] S301, traversing each spin angle, and obtaining the critical collision angle of the active structure along all active directions at each spin angle.

[0084] Among them, the critical collision angle refers to the maximum movement angle of each active direction at each rotation angle, at which the active structure and the fixed bone in the hip joint are in a critical position for collision. Before the implantation of an active prosthesis in the hip joint, for example, the collision may be a collision between the femur and the acetabulum. In the preoperative planning or after the implantation of an active prosthesis in the hip joint, the collision may be a collision between active prostheses, a collision between bones, or a collision between bones and an active prosthesis. For example, the collision between active prostheses may be a collision between the femoral stem and the acetabulum or a collision between the femoral stem and the liner, the collision between bones may be a collision between the femur and the pelvis, and the collision between bones and an active prosthesis may be a collision between the femur and the liner, the collision between femur and the acetabulum or the collision between the pelvis and the femoral stem.

[0085] In this embodiment, at each rotation angle, the computer device can use the three-dimensional simulated motion model of the target joint to simulate the activities in multiple active directions at the rotation angle. At each active direction, the three-dimensional simulated motion model can continuously adjust the active angle and detect each adjusted active angle. Once it is determined that a collision has occurred at a certain active angle, and an adjacent active angle of the active angle has not collided, but another adjacent active angle has collided, then the active angle can be determined to be a critical collision angle. In this way, the critical collision angle for each active direction can be obtained.

[0086] It should be noted that the above-mentioned activity orientation includes an initial activity orientation and an updated activity orientation; the updated activity orientation is obtained by simulating the activity structure to perform a rotational stepping motion counterclockwise or clockwise along the initial activity orientation at intervals of a first preset angle value when the activity structure is in the initial activity orientation. Fig.13 It is a schematic diagram of the activity direction, and takes flexion and extension, adduction and abduction as examples for explanation. The initial activity direction in the figure is the flexion direction, and the remaining directions are all updated activity directions. The initial activity direction is randomly determined, and any activity direction in the figure can also be used as the initial activity direction, and the other activity directions are used as updated activity directions. After the initial activity direction is determined, it can be rotated clockwise or counterclockwise in the figure, with the first preset angle value as an interval. For example, when the first preset angle value is 10°, and the rotation direction of the active structure is clockwise, the first activity direction is that the active structure is abducted 10° on the basis of flexion.

[0087] S302: determining a safe activity boundary at a corresponding spin angle according to critical collision angles of the active structure along all activity directions at each spin angle.

[0088] In this embodiment, at each spin angle, after the computer device obtains multiple critical collision angles of the active structure at the spin angle, the multiple critical collision angles can be connected, and the closed curve obtained by the connection is used as the safe activity boundary at the spin angle. Alternatively, the computer device can interpolate the multiple critical collision angles, and sequentially connect the interpolated critical collision angles to obtain the safe activity boundary at the spin angle. Each spin angle corresponds to a safe activity boundary.

[0089] The above-mentioned joint range of motion assessment method traverses each rotation angle, obtains the critical collision angle of the active structure along all active directions at each rotation angle, and determines the safe activity boundary at the corresponding rotation angle according to the critical collision angle of the active structure along all active directions at each rotation angle; wherein the activity direction includes the initial activity direction and the updated activity direction; the updated activity direction is obtained by simulating the active structure to rotate and step along the initial activity direction counterclockwise or clockwise at intervals of a first preset angle value when the active structure is in the initial activity direction. This method can more comprehensively obtain the critical collision angle at the spin angle by simulating the initial activity direction and multiple updated activity directions of the active structure, and can more accurately obtain the safe activity boundary at different spin angles based on multiple critical collision angles.

[0090] Based on the above embodiments, this embodiment is to Fig.12The relevant contents of step S301 "traversing each spin angle to obtain the critical collision angle of the active structure along all active directions at each spin angle" are introduced and explained. Fig.14 As shown, as a non-limiting example, the above step S301 may include the following content:

[0091] S401, for any spin angle, obtaining an initial critical collision angle of the active structure in the initial active orientation.

[0092] In this embodiment, for any spin angle, the computer device can control the three-dimensional simulated motion model to simulate the motion of the active structure in the initial active direction. When the initial active direction is the flexion direction, the flexion angle can be gradually increased from the preset angle. At each flexion angle, it is determined whether the active structure collides. If a collision occurs, the flexion angle at which the first collision occurs is determined as the initial critical collision angle of the active structure in the initial active direction. For example, when the preset angle is flexion 30°, the step is performed at an interval of 5°. When the flexion angle increases to 40°, the active structure collides, and the initial critical collision angle is determined to be flexion 40°.

[0093] S402: Obtain updated critical collision angles of the active structure in multiple updated active directions.

[0094] In this embodiment, the computer device can control the three-dimensional simulated motion model to simulate the active structure to perform rotational stepping motion counterclockwise or clockwise along the initial active direction at intervals of a first preset angle value, and obtain an updated active direction after each rotational stepping motion. At each updated active direction, the updated critical collision angle of each updated active direction is obtained according to the method of obtaining the initial critical collision angle.

[0095] S403: Determine the critical collision angles of the active structure along all active directions under the spin angle based on the initial critical collision angle and each updated critical collision angle.

[0096] In this embodiment, after obtaining the initial critical collision angle of the active structure in the initial active orientation and obtaining multiple updated connection collision angles in multiple updated active orientations, the initial critical collision angle and multiple updated connection collision angles can be determined as the critical collision angles of all active orientations.

[0097] The above-mentioned joint range of motion assessment method obtains the initial critical collision angle of the active structure in the initial active orientation, obtains the updated critical collision angles of the active structure in multiple updated active orientations, and determines the critical collision angles of the active structure along all active orientations under the spin angle based on the initial critical collision angle and each updated critical collision angle. For any spin angle, this method can accurately obtain the critical collision angles of all active orientations under the spin angle by obtaining the initial critical collision angle of the initial active orientation and obtaining the updated critical collision angles of multiple updated active orientations through the initial critical collision angle and the updated critical collision angle.

[0098] Based on the above embodiments, this embodiment is to Fig.14 The relevant contents of step S401 "obtaining the initial critical collision angle of the active structure in the initial active orientation" are introduced and explained. Fig.15 As shown, as a non-limiting example, the above step S401 may include the following content:

[0099] S501, obtaining a fixed bone axis of a fixed bone in a target joint.

[0100] The fixed bone axis refers to the line connecting the two endpoints of the fixed bone. When the human body is in a natural standing state, the fixed bone axis of the fixed bone is vertically downward. The fixed bone axis can be referred to as Figure 4-Figure 6 The dotted line in .

[0101] In this embodiment, the computer device can determine the position of the fixed bone in the three-dimensional simulated motion model of the target joint, and based on the position of the fixed bone, determine the central endpoints at both ends of the fixed bone, and use the line connecting the two central endpoints as the fixed bone axis of the fixed bone in the target joint.

[0102] S502, performing a stepping simulation movement of the active structure along the initial active direction, and performing a collision detection on the active structure.

[0103] In this embodiment, taking the initial activity direction as flexion as an example, the computer device controls the active structure in the three-dimensional simulated motion model to perform stepping simulated motion along the initial activity direction. Each time a step is made, a collision detection is required for the active structure to determine whether the active structure collides at the step angle. The angle of the active structure in the initial activity direction can be 0, or it can be a preset angle obtained based on historical experience, and the active structure will definitely not collide at the preset angle. For example, the preset angle can be 30° flexion.

[0104] S503, when a critical collision of the movable structure is detected, an initial critical collision angle is determined according to the angle between the axis of the movable structure and the axis of the fixed skeleton when the critical collision occurs.

[0105] The critical collision refers to the situation where the active structure collides for the first time, and the critical collision angle refers to the active angle corresponding to the first collision of the active structure.

[0106] In this embodiment, during each stepping process, it is necessary to detect whether the active structure collides. If no collision occurs, the stepping simulation movement continues. Once a collision occurs, there is no need to perform stepping simulation movement. At this time, the computer device can measure the angle between the axis of the active structure and the axis of the fixed bone when the critical collision occurs, and use the measured angle as the initial critical collision angle.

[0107] The above-mentioned joint range of motion assessment method obtains the fixed bone axis of the fixed bone in the target joint, performs step-by-step simulated movement of the active structure along the initial active direction, performs collision detection on the active structure, and when a critical collision of the active structure is detected, the initial critical collision angle is determined according to the angle between the active structure axis and the fixed bone axis when the critical collision occurs. This method simulates the active structure stepping along the initial active direction and performs collision detection during the stepping process. By using the same interval sampling method, it can more accurately determine whether the active structure collides. Based on the judgment result, the initial critical collision angle obtained is more accurate.

[0108] Based on the above embodiments, this embodiment is to Fig.15 The relevant contents of step S503 "determining the initial critical collision angle according to the angle between the axis of the active structure and the axis of the fixed skeleton when the critical collision occurs" are introduced and explained. Fig.16 As shown, as a non-limiting example, the above step S503 may include the following content:

[0109] S601, obtaining the number of steps in the stepping simulation motion of the movable structure when a critical collision occurs in the movable structure.

[0110] In this embodiment, when the computer device simulates the stepping simulation movement of the active structure, the value of the number of steps when the active structure has a critical collision can be obtained through the timer, or the computer device can obtain the number of collision detections performed by the active structure through the timer, and use the number of collision detections as the number of steps in the stepping simulation movement of the active structure. It can be seen that after each step is completed, a collision detection will be performed on the active structure.

[0111] S602, determining the angle between the axis of the movable structure and the axis of the fixed bone according to a second preset angle value and the number of steps; the second preset angle value is the movement angle of each step process.

[0112] In this embodiment, when the movable structure performs stepping simulation movement, it moves at intervals of the second preset angle value. If the initial angle of the movable structure in the initial moving direction is 0, the product of the second preset angle value and the number of steps is calculated, and the product is used as the angle between the axis of the movable structure and the axis of the fixed bone. If the initial angle of the movable structure in the initial moving direction is the preset angle, after obtaining the product of the second preset angle value and the number of steps, the sum of the product and the preset angle is used as the angle between the axis of the movable structure and the axis of the fixed bone. Fig.17 is a schematic diagram of the initial critical collision angle. In the figure, the initial angle of the active structure in the flexion direction is 0°. The active structure steps four times in the flexion direction. The second preset angle value at each step is 10°. After the fourth step is completed, the active structure has a critical collision. It is determined that the angle between the axis of the active structure and the axis of the fixed bone is 40°. The second preset angle value can be expressed as OA 11 , A 11 A 12 , A 12 A 13 , A 13 A 14 It can be represented by any angle interval in OA 11 =A 11 A 12 =A 12 A 13 =A 13 A 14 .

[0113] S603: Taking the angle between the axis of the movable structure and the axis of the fixed skeleton as the initial critical collision angle.

[0114] In this embodiment, when the angle between the axis of the movable structure and the axis of the fixed skeleton is obtained, it means that the movable structure has collided at this angle, and the angle between the axis of the movable structure and the axis of the fixed skeleton is used as the initial critical collision angle.

[0115] The above-mentioned joint range of motion assessment method obtains the number of steps in the stepping simulation movement of the movable structure when the critical collision occurs in the movable structure; determines the angle between the axis of the movable structure and the axis of the fixed bone according to the second preset angle value and the number of steps, and the second preset angle value is the movement angle of each stepping process; and uses the angle between the axis of the movable structure and the axis of the fixed bone as the initial critical collision angle. This method can accurately calculate the angle between the axis of the movable structure and the axis of the fixed bone through the number of steps and the angle interval of adjacent stepping processes, thereby making the obtained initial critical collision angle more accurate.

[0116] On the basis of the above embodiment, when the number of the update activity directions is N, this embodiment is to Fig.14 The relevant contents of step S402 "obtaining the updated critical collision angle of the active structure in multiple updated active directions" are introduced and explained. Fig.18 As shown, as a non-limiting example, the above step S402 may include the following content:

[0117] S701, obtaining an updated critical collision angle of the first updated activity orientation according to a reference angle of the first updated activity orientation; the reference angle of the first updated activity orientation is the same as an initial critical collision angle of the initial activity orientation.

[0118] In this embodiment, when the initial critical collision angle of the initial activity orientation is obtained, the computer device can control the activity structure in the three-dimensional simulated motion model to rotate and step once in the counterclockwise or clockwise direction of the initial activity orientation at intervals of the first preset angle value to obtain the first updated activity orientation, and use the initial critical collision angle as the reference angle of the first updated activity orientation, detect the reference angle, increase or decrease the angle in the first updated activity orientation based on the detection result, and perform detection in each stepping process to obtain the updated critical collision angle of the first updated activity orientation. If the activity structure does not collide at the reference angle, the reference angle is increased by stepping at intervals of the first preset angle until the activity structure collides at the increased reference angle, and the angle at which the collision occurs is used as the updated critical collision angle of the first updated activity orientation; if the activity structure collides at the reference angle, the reference angle is decreased by stepping at intervals of the first preset angle until the activity structure does not collide at the reduced reference angle, and the previous angle at which the collision occurs is used as the updated critical collision angle of the first updated activity orientation.

[0119] Fig.19 To update the critical collision angle diagram, Fig.19 OA 1 is the initial activity direction, A 1The initial critical collision angle representing the initial activity orientation; OA 2 OA 3 OA 4 OA 5... OA n Indicates the update activity direction, A 2 , A 3 , A 4 , A 5... A n Indicates the critical update collision angle of multiple update activities. With point O as the center, OA 1 is the radius, rotate clockwise to OA' 1 , OA' 1 OA 1 The length of A is the same 2 Indicates the reference angle of the first updated activity direction. If the activity structure collides at this reference angle, the reference angle is reduced along the first updated activity direction at intervals of the first preset angle until the activity structure does not collide at the reduced reference angle. The previous angle adjacent to the angle where the collision occurred is used as the updated critical collision angle of the first updated activity direction. The updated critical collision angle is A 2 The angle at which it is located.

[0120] S702, obtaining an update critical collision angle of the Nth update activity direction according to a reference angle of the Nth update activity direction; the reference angle of the Nth update activity direction is the same as the update critical collision angle of the N-1th update activity direction.

[0121] In this embodiment, when obtaining the update critical collision angle of other subsequent update activity directions, the update critical collision angle of the previous update activity direction is used as the reference angle to determine whether the activity structure collides at the reference angle. According to the determination result, the reference angle is increased or decreased to obtain the update critical collision angle of the current update activity direction. For example, taking the update critical collision angle of the second update activity direction as an example, see Fig.19 , update the critical collision angle A of the first update activity direction 2 The reference angle of the second update activity direction, with point O as the center, OA 2 is the radius, rotate clockwise to OA' 2 At this reference angle, the active structure does not collide. Increase the reference angle until the angle is A. 3 When a collision occurs, A 3 As the update critical collision angle of the second update activity direction. The update critical collision angle of each update activity direction is obtained in the same way. As can be seen from the figure, the update critical collision angle of the third update activity direction is A4, , the updated critical collision angle of the fourth updated activity direction is A 5 .

[0122] The above-mentioned joint range of motion assessment method obtains the updated critical collision angle of the first updated activity orientation according to the reference angle of the first updated activity orientation; the reference angle of the first updated activity orientation is the same as the initial critical collision angle of the initial activity orientation; the updated critical collision angle of the Nth updated activity orientation is obtained according to the reference angle of the Nth updated activity orientation; the reference angle of the Nth updated activity orientation is the same as the updated critical collision angle of the N-1th updated activity orientation. In this method, when obtaining each updated activity orientation, the reference angle of the current updated activity orientation is determined based on the updated critical collision angle of the last updated activity orientation. In this way, the number of collision detections on an updated activity orientation can be reduced, and the efficiency of obtaining the updated critical collision angle can be improved.

[0123] Based on the above embodiments, this embodiment is to Fig.18 The relevant contents of step S702 "obtaining the update critical collision angle of the Nth update activity direction according to the reference angle of the Nth update activity direction" are introduced and explained. Fig. 20 As shown, as a non-limiting example, the above step S702 may include the following content:

[0124] S801, detecting whether a collision occurs when the movable structure updates a reference angle in the movable direction.

[0125] In this embodiment, for the other update activity directions except the first update activity direction, after obtaining the reference angle on each update activity direction, the computer device can determine whether the activity structure collides at the reference angle according to the simulation result of the three-dimensional simulated motion model. Fig.19 , the activity structure in the second update activity towards OA 3 No collision occurs when the base angle is above .

[0126] S802, if the active structure does not collide, then simulate the active structure to perform stepping motion at intervals of a second preset angle along the direction of the updated active orientation; if the active structure collides, then simulate the active structure to perform stepping motion at intervals of the second preset angle along the direction away from the updated active orientation.

[0127] In this embodiment, if the active structure does not collide, it means that the reference angle is too small, and it is necessary to increase the reference angle by the second preset angle value along the direction of the updated active orientation, and determine whether a collision occurs during the process of increasing the angle step by step. If the active structure collides, it means that the reference angle is too large, and it is necessary to decrease the reference angle by the second preset angle value along the direction of the updated active orientation, and determine whether a collision occurs during the process of decreasing the angle step by step. Fig.19 , the second preset angle value can be Fig.19 Use ∠A 1 OA' 1 , ∠A' 1 OA 3 , ∠A 3 OA 4 , ∠A 4 OA 5 Any one of the expressions, and ∠A 1 OA' 1 =∠A' 1 OA 3 =∠A 3 OA 4 =∠A 4 OA 5 If the active structure does not collide with the base angle of the second updated active orientation, the active structure will move along the OA 2 The direction of the extension line of the second preset angle value is stepped. The direction away from the update activity direction is A 2 The direction of O.

[0128] S803: Perform collision detection on the active structure, and determine the detected critical collision angle as an updated critical collision angle.

[0129] In this embodiment, after each stepping motion is completed, whether the active structure collides is detected. If the active structure does not collide, the angle of collision in the subsequent stepping process is used as the updated critical collision angle; if the active structure collides, the previous angle of collision without collision in the subsequent stepping process is obtained as the updated critical collision angle. For example, the second preset angle threshold is 5°, and when the reference angle is reduced to 35°, the active structure collides; when the reference angle is reduced to 30°, the active structure does not collide, and 30° is used as the updated critical collision angle.

[0130] The above-mentioned joint range of motion assessment method detects whether the active structure collides when updating the reference angle of the active direction. If the active structure does not collide, the active structure is simulated to perform stepping motion in the direction of the updated active direction at intervals of the second preset angle value; if the active structure collides, the active structure is simulated to perform stepping motion in the direction away from the updated active direction at intervals of the second preset angle value, and the active structure is subjected to collision detection, and the detected critical collision angle is determined as the updated critical collision angle. This method detects whether the active structure collides at each reference angle of the updated active direction, and flexibly adjusts the direction of the stepping motion according to the detection result, thereby reducing the number of steps and improving the efficiency of obtaining the updated critical collision angle.

[0131] Based on the above embodiments, this embodiment is to Fig.12 The relevant contents of step S302 "determine the safe activity boundary at the corresponding spin angle according to the critical collision positions of the joint bones along all activity directions at each spin angle" are introduced and explained. As a non-limiting example, the above step S302 may include the following contents: connecting the critical collision positions of the active structure along all activity directions at each spin angle in sequence, and determining the closed line segment obtained by the connection as the safe activity boundary at the spin angle.

[0132] In this embodiment, for any spin angle, after obtaining the critical collision position of the active structure along all active directions, see Fig.19 , the critical collision positions for all directions are A 1 , A 2 , A 3 , A 4 , A 5... A n , the computer device can connect the positions of each critical collision to obtain a closed line segment, and use the closed line segment as the safe activity boundary under the spin angle. Fig.21 is a schematic diagram of the safe activity boundary, which corresponds to Fig.19 Multiple activity orientations at different spin angles.

[0133] The above-mentioned joint motion range assessment method connects the critical collision positions of the active structure along all activity directions at each of the spin angles in sequence, so as to accurately obtain a closed curve composed of multiple critical collision positions, and determines the connected closed line segment as the safe activity boundary at the spin angle, thereby making the obtained safe activity boundary more accurate.

[0134] Based on the above embodiments, this embodiment is to Figure 2The relevant contents of step S202 "determining the range of motion of the target joint according to the safe activity boundaries under the multiple spin angles" are introduced and explained. As a non-limiting example, the above step S202 may include the following contents: marking the inner area of ​​the safe activity boundary under each of the spin angles as the active area, and determining the active area of ​​the safe activity boundary as the range of motion of the target joint.

[0135] In this embodiment, after the safe activity boundary at each spin angle is obtained, the range within the safe activity boundary is the safe activity range of the active structure. Within this range, the active structure can move without collision. The computer device can mark the inner area of ​​the safe activity boundary at each spin angle and use the marked area as the activity range of the target joint.

[0136] The above-mentioned joint range of motion assessment method marks the inner area of ​​the safe activity boundary at each of the spin angles as the activity area, and determines the activity area of ​​the safe activity boundary as the activity range of the target joint. This method marks the inner area of ​​the safe activity boundary, and clarifies the safe activity range of the active structure in the joint by marking, which can more clearly reflect the safe activity range of the joint.

[0137] In one embodiment, the method for evaluating the range of motion of a joint is described in detail below. Fig. 22 As shown, as a non-limiting example, the method may include:

[0138] S901, according to the three-dimensional simulated motion model of the target joint, for any rotation angle, obtaining a fixed bone axis of a fixed bone in the target joint;

[0139] S902, performing a stepping simulation movement of the active structure along the initial active direction, and performing a collision detection on the active structure;

[0140] S903, when the active structure performs stepping simulation movement along the initial active direction at intervals of the second preset angle value, a collision detection is performed on the active structure each time the second preset angle value is stepped; and the number of steps in the stepping simulation movement of the active structure when a critical collision occurs in the active structure is obtained;

[0141] S904, determining the angle between the axis of the movable structure and the axis of the fixed bone according to the second preset angle value and the number of steps;

[0142] S905, taking the angle between the axis of the movable structure and the axis of the fixed bone as the initial critical collision angle;

[0143] S906, obtaining an updated critical collision angle of the first updated activity direction according to the reference angle of the first updated activity direction;

[0144] S907, detecting whether a collision occurs when the movable structure updates the reference angle of the movable orientation;

[0145] S908, if the movable structure does not collide, then simulate the movable structure to perform stepping motion at intervals of the second preset angle value in the direction of the updated movable orientation; if the movable structure collides, then simulate the movable structure to perform stepping motion at intervals of the second preset angle value in the direction away from the updated movable orientation;

[0146] S909, performing collision detection on the movable structure, and determining the detected critical collision angle as an updated critical collision angle;

[0147] S910, sequentially connecting the critical collision positions of the active structures along all active directions at the respective rotation angles, and determining the closed line segments obtained by the connection as the safe active boundaries at the rotation angles;

[0148] S911, marking the inner area of ​​the safe activity boundary at each rotation angle as the activity area, and determining the activity area of ​​the safe activity boundary as the activity range of the target joint.

[0149] Fig.23 The present invention is a flowchart of a joint range of motion assessment method. Taking the target joint as the hip joint as an example, the method includes: S1001: constructing a three-dimensional simulated motion model of the hip joint; S1002: traversing each internal and external rotation angle within a specified range, for example, the internal and external rotation angles can be internal rotation of 10°, 20°, 30° and external rotation of 10°, 20°, 30°; S1003: stepping along any direction as the initial activity direction, and calculating the maximum collision angle under the initial activity direction; S1004: based on the maximum collision angle in the initial activity direction, controlling the femur to rotate in a clockwise or counterclockwise direction to obtain a safe activity boundary; S1005: filling the safe activity boundary; S1005: judging whether each internal and external rotation angle has been traversed, if not, continuing to execute the content of step S1002; if completed, ending the assessment of the joint range of motion.

[0150] It should be understood that, although the steps in the flowcharts involved in the above 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 is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may 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 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.

[0151] Based on the same inventive concept, the embodiment of the present application also provides a joint range of motion assessment device for implementing the joint range of motion assessment method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more joint range of motion assessment device embodiments provided below can refer to the limitations of the joint range of motion assessment method above, and will not be repeated here.

[0152] In one embodiment, Fig.24 As shown, a joint range of motion assessment device is provided, comprising: an acquisition module 11 and a determination module 12, wherein:

[0153] The acquisition module 11 is used to acquire the safe activity boundary of the active structure in the target joint at multiple rotation angles according to the three-dimensional simulated motion model of the target joint; the active structure includes an active skeleton or an active prosthesis; the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint, or the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint and the active prosthesis data;

[0154] The determination module 12 is used to determine the range of motion of the target joint according to the safe motion boundaries under multiple spin angles.

[0155] In one embodiment, the acquisition module includes: an acquisition unit and a first determination unit, wherein:

[0156] An acquisition unit, used for traversing each spin angle, and acquiring a critical collision angle of the active structure along all active directions at each spin angle;

[0157] Among them, all activity orientations include initial activity orientations and updated activity orientations; the updated activity orientation is obtained by simulating the activity structure to perform rotational stepping motion counterclockwise or clockwise along the initial activity orientation at intervals of a first preset angle value when the activity structure is in the initial activity orientation.

[0158] The first determination unit is used to determine the safe activity boundary at the corresponding spin angle according to the critical collision angle of the active structure along all activity directions at the respective spin angles.

[0159] In one embodiment, the acquisition unit is also used to acquire the initial critical collision angle of the active structure in the initial activity direction for any spin angle; acquire the updated critical collision angles of the active structure in multiple updated activity directions; and determine the critical collision angles of the active structure along all activity directions under the spin angle based on the initial critical collision angle and each updated critical collision angle.

[0160] In one embodiment, the acquisition unit is also used to acquire the fixed bone axis of the fixed bone in the target joint; perform stepping simulation movement of the active structure along the initial active direction to perform collision detection on the active structure; when a critical collision is detected in the active structure, the initial critical collision angle is determined based on the angle between the active structure axis and the fixed bone axis when the critical collision occurs.

[0161] In one embodiment, the above-mentioned acquisition unit is also used to obtain the number of steps in the stepping simulation movement of the active structure when a critical collision occurs in the active structure; determine the angle between the axis of the active structure and the axis of the fixed bone according to the second preset angle value and the number of steps; and use the angle between the axis of the active structure and the axis of the fixed bone as the initial critical collision angle.

[0162] In one embodiment, the acquisition unit is also used to obtain the updated critical collision angle of the first updated activity direction based on the reference angle of the first updated activity direction; the reference angle of the first updated activity direction is the same as the initial critical collision angle of the initial activity direction; based on the reference angle of the Nth updated activity direction, detect and obtain the updated critical collision angle of the Nth updated activity direction; the reference angle of the Nth updated activity direction is the same as the updated critical collision angle of the N-1th updated activity direction.

[0163] In one embodiment, the above-mentioned acquisition unit is also used to detect whether the active structure collides when updating the reference angle of the active orientation; if the active structure does not collide, the active structure is simulated to perform stepping movement at intervals of a second preset angle value along the direction of the updated active orientation; if the active structure collides, the active structure is simulated to perform stepping movement at intervals of the second preset angle value along the direction away from the updated active orientation; collision detection is performed on the active structure, and the detected critical collision angle is determined as the updated critical collision angle.

[0164] In one embodiment, the first determining unit is further used to sequentially connect the critical collision positions of the movable structure along all movable directions at each rotation angle, and determine the closed line segment obtained by the connection as the safe movable boundary at the rotation angle.

[0165] In one embodiment, the above-mentioned determination module includes a second determination unit, wherein:

[0166] The second determining unit is further used to mark the inner area of ​​the safe activity boundary at each rotation angle as the activity area, and determine the activity area of ​​the safe activity boundary as the activity range of the target joint.

[0167] Each module in the above-mentioned joint range of motion assessment device 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.

[0168] Based on the same inventive concept, the embodiment of the present application also provides a joint range of motion assessment system for implementing the joint range of motion assessment method involved above. The joint range of motion assessment system is used in targeted inspection and evaluation, for example, in the inspection and evaluation of sports specialty students, athletes or pilots, by evaluating the joint range of motion of different objects. The implementation scheme for solving the problem provided by the joint range of motion assessment system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more joint range of motion assessment system embodiments provided below can refer to the limitations on the joint range of motion assessment method above, and will not be repeated here.

[0169] In one embodiment, a joint motion range assessment system is provided, which includes a skeletal data acquisition device and a computer device, wherein the skeletal data acquisition device is used to collect skeletal data of a target joint and send the collected skeletal data of the target joint to the computer device; the computer device is used to construct a three-dimensional simulated motion model of the target joint based on the skeletal data of the target joint; and, based on the three-dimensional simulated motion model, obtain the safe motion boundaries of the active structure in the target joint at multiple spin angles; and determine the motion range of the target joint based on the safe motion boundaries at multiple spin angles.

[0170] It should be noted that each target object includes multiple joints, and the joint range of motion assessment system can assess different joints separately. The above assessment process is only an assessment process for a certain joint.

[0171] Based on the same inventive concept, the embodiment of the present application also provides a surgical robot system for implementing the above-mentioned joint range of motion assessment method. The surgical robot system is used for preoperative planning and postoperative joint range of motion assessment. The implementation solution provided by the surgical robot system to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more surgical robot system embodiments provided below can refer to the above limitations on the surgical robot system, and will not be repeated here.

[0172] In one embodiment, a surgical robot system is provided, characterized in that the surgical robot system includes a skeletal data acquisition device, an active prosthesis data acquisition device, and a computer device.

[0173] During the evaluation process of preoperative planning, the skeletal data of the target joint is collected by the skeletal data acquisition device in the surgical robot system, and the skeletal data of the target joint is sent to the computer device; and the active prosthesis data is collected by the active prosthesis data acquisition device, and the active prosthesis data is sent to the computer device; the computer device constructs a three-dimensional simulated motion model of the target joint based on the skeletal data and the active prosthesis data of the target joint; and, based on the three-dimensional simulated motion model, the safe activity boundaries of the active structure in the target joint at multiple rotation angles are obtained; based on the safe activity boundaries at multiple rotation angles, the activity range of the target joint in the preoperative planning is determined.

[0174] During the postoperative joint motion range assessment process, the postoperative bone data of the target joint is collected by the bone data acquisition device in the surgical robot system, and the postoperative bone data of the target joint is sent to the computer device; and the postoperative active prosthesis data is collected by the active prosthesis data acquisition device, and the postoperative active prosthesis data is sent to the computer device; the computer device constructs a three-dimensional simulated motion model of the target joint according to the postoperative bone data and active prosthesis data of the target joint; and, based on the three-dimensional simulated motion model, the safe motion boundaries of the active structure in the target joint at multiple rotation angles are obtained; based on the safe motion boundaries at multiple rotation angles, the postoperative motion range of the target joint is determined.

[0175] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the content of any one embodiment of the above-mentioned joint range of motion assessment method is implemented.

[0176] 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 content of any one embodiment of the above-mentioned joint range of motion assessment method is implemented.

[0177] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the content of any one of the embodiments of the above-mentioned joint range of motion assessment method.

[0178] 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.

[0179] 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.

[0180] 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.

[0181] The above 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 evaluating the range of motion of a joint, characterized in that: The method comprises: According to the three-dimensional simulated motion model of the target joint, the safe motion boundary of the active structure in the target joint at multiple rotation angles is obtained; the active structure includes an active skeleton or an active prosthesis; the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint, or the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint and the active prosthesis data; The range of motion of the target joint is determined according to the safe motion boundaries under the multiple spin angles.

2. The method according to claim 1, characterized in that The step of obtaining the safe activity boundary of the active structure in the target joint at multiple rotation angles includes: Traversing each of the spin angles, and obtaining the critical collision angle of the active structure along all active directions at each spin angle; According to the critical collision angle of the movable structure along all movable directions at each of the spin angles, the safe movable boundary at the corresponding spin angle is determined.

3. The method according to claim 2, characterized in that All the activity orientations include an initial activity orientation and an updated activity orientation; the updated activity orientation is obtained by simulating the rotational stepping motion of the activity structure counterclockwise or clockwise along the initial activity orientation at intervals of a first preset angle value when the activity structure is in the initial activity orientation.

4. The method according to claim 3, characterized in that The traversing each of the spin angles to obtain the critical collision angle of the active structure along all active directions at each spin angle includes: For any spin angle, obtaining an initial critical collision angle of the active structure in the initial active orientation; Obtaining updated critical collision angles of the movable structure in multiple updated movable orientations; Based on the initial critical collision angle and each of the updated critical collision angles, a critical collision angle of the active structure along all active directions at the spin angle is determined.

5. The method according to claim 4, characterized in that The obtaining of the initial critical collision angle of the movable structure in the initial movable orientation includes: Acquire a fixed bone axis of a fixed bone in the target joint; When the movable structure performs a stepping simulation movement along the initial movable direction, a collision detection is performed on the movable structure; When a critical collision of the movable structure is detected, the initial critical collision angle is determined according to the angle between the axis of the movable structure and the axis of the fixed skeleton when the critical collision occurs.

6. The method according to claim 5, characterized in that The determining of the initial critical collision angle according to the angle between the axis of the movable structure and the axis of the fixed skeleton when the critical collision occurs comprises: Acquire the number of steps in the stepping simulation motion of the movable structure when a critical collision occurs in the movable structure; Determine the angle between the axis of the movable structure and the axis of the fixed bone according to a second preset angle value and the number of steps; the second preset angle value is the movement angle of each step process; The angle between the axis of the movable structure and the axis of the fixed bone is taken as the initial critical collision angle.

7. The method according to claim 4, characterized in that The number of update activity directions is N; The obtaining of the updated critical collision angles of the active structure in multiple updated active orientations includes: Obtaining an updated critical collision angle of the first updated activity orientation according to a reference angle of the first updated activity orientation; the reference angle of the first updated activity orientation is the same as an initial critical collision angle of the initial activity orientation; According to the reference angle of the Nth update activity direction, the update critical collision angle of the Nth update activity direction is obtained; the reference angle of the Nth update activity direction is the same as the update critical collision angle of the N-1th update activity direction.

8. The method according to claim 7, characterized in that The obtaining, according to the reference angle of the Nth update activity direction, the update critical collision angle of the Nth update activity direction comprises: Detecting whether the movable structure collides when the reference angle in the updating movable orientation is reached; If the movable structure does not collide, then simulate the movable structure to perform stepping motion at intervals of a second preset angle along the direction of the updated movable direction; if the movable structure collides, then simulate the movable structure to perform stepping motion at intervals of the second preset angle along a direction away from the updated movable direction; A collision detection is performed on the movable structure, and the detected critical collision angle is determined as the updated critical collision angle.

9. The method according to any one of claims 2 to 6, characterized in that: Determining the safe activity boundary at the corresponding rotation angle according to the critical collision position of the joint skeleton along all activity directions at each rotation angle includes: The critical collision positions of the movable structure along all movable directions at each of the spin angles are sequentially connected, and the closed line segments obtained by the connection are determined as the safe movable boundaries at the spin angles.

10. The method according to any one of claims 1 to 6, characterized in that: The step of determining the activity range of the activity structure according to the safe activity boundaries under the multiple spin angles includes: The inner area of ​​the safe activity boundary at each of the spin angles is marked as an activity area, and the activity area of ​​the safe activity boundary is determined as the activity range of the target joint.

11. A device for evaluating the range of motion of a joint, characterized in that: The device comprises: An acquisition module is used to acquire the safe activity boundary of the active structure in the target joint at multiple rotation angles according to the three-dimensional simulated motion model of the target joint; the active structure includes an active skeleton or an active prosthesis; the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint, or the three-dimensional simulated motion model is constructed according to the skeleton data of the target joint and the active prosthesis data; A determination module is used to determine the range of motion of the target joint according to the safe activity boundaries under the multiple spin angles.

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