Method for determining surgical planning parameters of foot hallux valgus and related products

Abstract

The invention discloses a method for determining surgical planning parameters of foot hallux valgus and related products. The method comprises the following steps: acquiring a foot CT image of a detected person; performing three-dimensional reconstruction on the foot of the detected person based on the foot CT image to obtain a three-dimensional reconstruction surface body of the foot of the detected person; performing hallux valgus affected side identification based on the three-dimensional reconstruction surface body to obtain the hallux valgus affected side of the detected person; and calculating osteotomy parameters, reduction parameters and internal fixation parameters of the hallux valgus affected side, which are related to execution of hallux valgus deformity correction operation, so as to determine operation planning parameters of foot hallux valgus. By means of the scheme, the operation planning parameters of the foot hallux valgus can be determined so as to be used for subsequent hallux valgus deformity correction.

Description

Technical Field

[0001] The present application generally relates to the technical field of minimally invasive hallux valgus. More specifically, the present application relates to a method, device and computer-readable storage medium for determining surgical planning parameters for hallux valgus surgery. Background Art

[0002] Hallux valgus refers to the deformity of the first metatarsophalangeal joint, that is, the big toe deviates outward relative to the first metatarsal bone, causing the angle between the two (hallux valgus angle) to exceed 15°, which is generally manifested as a bunion or pain on the medial side of the first metatarsal head. Hallux valgus is a common forefoot deformity in clinical practice. Surgical treatment is the mainstream treatment method at home and abroad. However, there are hundreds of surgical treatments for hallux valgus, and there is still controversy about the best surgical technique. In recent years, with the improvement of people's requirements for quality of life, minimally invasive surgery for hallux valgus has been accepted by more and more patients due to its advantages such as less trauma, less postoperative pain, early weight-bearing walking and aesthetics, and has also attracted the attention of clinicians again. At present, the minimally invasive surgery technology for hallux valgus has developed to the third generation, and its core is to obtain good surgical results through minimally invasive osteotomy, reduction, and internal fixation. Therefore, how to determine the surgical planning parameters such as minimally invasive osteotomy, reduction, and internal fixation has become an urgent problem to be solved.

[0003] In view of this, there is an urgent need to provide a solution for determining surgical planning parameters for hallux valgus, so as to determine the surgical planning parameters for hallux valgus for subsequent correction of hallux valgus deformity. Summary of the invention

[0004] In order to at least solve one or more of the above-mentioned technical problems, the present application proposes a solution for determining surgical planning parameters for hallux valgus in multiple aspects.

[0005] In a first aspect, the present application provides a method for determining surgical planning parameters for hallux valgus, comprising: acquiring a CT image of a subject's foot; performing three-dimensional reconstruction of the subject's foot based on the foot CT image to obtain a three-dimensional reconstructed surface volume of the subject's foot; identifying the hallux valgus affected side based on the three-dimensional reconstructed surface volume to obtain the hallux valgus affected side of the subject; and calculating osteotomy parameters, reduction parameters and internal fixation parameters related to performing a hallux valgus deformity correction operation at the hallux valgus affected side to determine the surgical planning parameters for hallux valgus.

[0006] In one embodiment, performing three-dimensional reconstruction of the subject's foot based on the foot CT image to obtain a three-dimensional reconstructed surface volume of the subject's foot includes: converting the three-dimensional point cloud data in the foot CT image into a three-dimensional Boolean matrix; extracting a surface point set of the three-dimensional point cloud data from the three-dimensional Boolean matrix; and performing three-dimensional reconstruction of the subject's foot based on the surface point set to obtain a three-dimensional reconstructed surface volume of the subject's foot.

[0007] In another embodiment, identifying the hallux valgus affected side based on the three-dimensional reconstructed surface body to obtain the hallux valgus affected side of the subject includes: identifying a minimum three-dimensional rectangular bounding box of the hallux valgus affected side based on the three-dimensional reconstructed surface body; and cutting the three-dimensional reconstructed surface body along the minimum three-dimensional rectangular bounding box to obtain the hallux valgus affected side of the subject.

[0008] In another embodiment, the osteotomy parameters include at least an osteotomy position and an osteotomy vector direction, and the osteotomy parameters related to the hallux valgus deformity correction operation at the hallux valgus affected side are calculated by the following operations: extracting bone key points in the hallux valgus affected side; and calculating the osteotomy position and the osteotomy vector direction related to the hallux valgus deformity correction operation at the hallux valgus affected side based on the bone key points in the hallux valgus affected side.

[0009] In another embodiment, the bone key points include a first metatarsal distal articular surface boundary point, a first metatarsal shaft distal section boundary point, a first metatarsal shaft proximal section boundary point, a second metatarsal shaft distal section boundary point, and a second metatarsal shaft proximal section boundary point.

[0010] In another embodiment, the osteotomy position and the osteotomy vector direction related to the hallux valgus deformity correction operation at the hallux valgus affected side are calculated based on the bone key points in the hallux valgus affected side, including: calculating the center of the distal boundary arc of the first metatarsal shaft, the second metatarsal axis, the upper surface point and the lower surface point of the distal end of the first metatarsal shaft based on the bone key points in the hallux valgus affected side; and calculating the osteotomy position and the osteotomy vector direction related to the hallux valgus deformity correction operation at the hallux valgus affected side based on the center of the distal boundary arc of the first metatarsal shaft, the second metatarsal axis, the upper surface point and the lower surface point of the distal end of the first metatarsal shaft.

[0011] In another embodiment, the osteotomy position and the osteotomy vector direction in the hallux valgus surgery planning are determined based on the center of the first metatarsal distal boundary arc, the second metatarsal axis, the upper surface point and the lower surface point of the first metatarsal distal shaft, including: drawing a perpendicular line from the center of the first metatarsal distal boundary arc to the second metatarsal axis to determine the osteotomy vector direction; and determining the line between the upper surface point and the lower surface point of the first metatarsal distal shaft as the osteotomy position.

[0012] In another embodiment, calculating the center of the distal boundary arc of the first metatarsal shaft, the second metatarsal axis, the upper surface point and the lower surface point of the distal end of the first metatarsal shaft according to the target bone key points includes: calculating the center of the distal boundary arc of the first metatarsal shaft according to the boundary point of the distal articular surface of the first metatarsal; calculating the center of the distal boundary arc of the second metatarsal shaft and the center of the proximal boundary arc of the second metatarsal shaft according to the distal cross-section boundary point of the second metatarsal shaft and the proximal cross-section boundary point of the second metatarsal shaft, respectively; connecting the center of the distal boundary arc of the second metatarsal shaft and the center of the proximal boundary arc of the second metatarsal shaft to obtain the second metatarsal axis; and calculating the upper surface point and the lower surface point of the distal end of the first metatarsal shaft along the center of the distal boundary arc of the first metatarsal shaft toward the osteotomy vector direction.

[0013] In another embodiment, the reduction parameters include at least a reduction translation distance and a reduction rotation angle, the internal fixation parameters include at least an internal fixation path and an internal fixation placement position, and the reduction parameters and internal fixation parameters related to the hallux valgus deformity correction operation at the hallux valgus affected side are calculated by the following operations: obtaining multiple target deformity angles at the hallux valgus affected side; calculating the reduction translation distance and the reduction rotation angle related to the hallux valgus deformity correction operation based on the differences between the multiple target deformity angles and the corresponding standard ranges; updating the distal boundary point of the first metatarsal shaft according to the reduction translation distance and the reduction rotation angle; and determining the internal fixation path and the internal fixation placement position related to the hallux valgus deformity correction operation based on the updated distal boundary point of the first metatarsal shaft and the proximal boundary point of the first metatarsal shaft.

[0014] In another embodiment, the method further includes: calculating the insertion position and insertion vector direction of the first metatarsal distal reduction needle and the first metatarsal proximal reduction needle at the hallux valgus affected side related to performing the hallux valgus deformity correction operation based on the first metatarsal shaft distal boundary point and the first metatarsal shaft proximal boundary point, respectively.

[0015] In yet another embodiment, the method further comprises calculating the position and vector direction of the fixation guide hole and the alignment groove at the target tissue in the hallux valgus affected side in relation to performing the hallux valgus deformity correction operation.

[0016] In another embodiment, the fixation guide holes and alignment slots at the target tissue associated with performing a hallux valgus deformity correction operation include a first cuneiform fixation guide hole, a first metatarsal lateral alignment slot, a first metatarsal apical joint alignment slot, a first metatarsal distal reduction guide pin alignment slot, a first metatarsal distal osteotomy alignment slot, a first metatarsal anteroposterior lateral edge alignment slot, a first metatarsal anteroposterior midline alignment slot, and a first metatarsal anteroposterior medial alignment slot.

[0017] In a second aspect, the present application provides a device for determining surgical planning parameters for hallux valgus, comprising: a processor; and a memory, in which program instructions for determining surgical planning parameters for hallux valgus are stored, and when the program instructions are executed by the processor, the device implements multiple embodiments of the aforementioned first aspect.

[0018] In a third aspect, the present application provides a computer-readable storage medium having stored thereon computer-readable instructions for determining surgical planning parameters for hallux valgus. When the computer-readable instructions are executed by one or more processors, multiple embodiments of the aforementioned first aspect are implemented.

[0019] Through the scheme for determining surgical planning parameters for hallux valgus of the foot as provided above, the embodiment of the present application calculates surgical planning parameters such as osteotomy, reduction and internal fixation parameters related to performing hallux valgus deformity correction operations on the affected side of the hallux valgus, so as to subsequently perform hallux valgus deformity correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0021] Figure 1 is an exemplary schematic diagram showing hallux valgus;

[0022] Figure 2 is an exemplary flowchart showing a method for determining surgical planning parameters for hallux valgus according to an embodiment of the present application;

[0023] Figure 3 is an exemplary schematic diagram showing a three-dimensional reconstructed surface volume and an identified minimum three-dimensional rectangular bounding box of the hallux valgus affected side according to an embodiment of the present application;

[0024] Figure 4 is an exemplary schematic diagram showing the osteotomy position and osteotomy vector direction of the hallux valgus affected side according to an embodiment of the present application;

[0025] Figure 5 is an exemplary schematic diagram showing the translation and rotation of the hallux valgus affected side according to an embodiment of the present application;

[0026] Figure 6 is an exemplary schematic diagram showing an internal fixation path and an insertion position of the affected side of hallux valgus according to an embodiment of the present application;

[0027] Figure 7 is an exemplary schematic diagram showing the placement positions and placement vector directions of a first metatarsal distal reduction needle and a first metatarsal proximal reduction needle according to an embodiment of the present application;

[0028] Figure 8 It is an exemplary structural block diagram showing an apparatus for determining surgical planning parameters for hallux valgus according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0030] It should be understood that the terms "include" and "comprising" used in the specification and claims of the present application indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0031] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this application specification and claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms. It should also be further understood that the term "and / or" used in this application specification and claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0032] As used in this specification and claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0033] The specific implementation of the present application is described in detail below with reference to the accompanying drawings.

[0034] Figure 1 is an exemplary schematic diagram showing hallux valgus. Figure 1 The CT image of the subject's foot with hallux valgus is shown in FIG. In actual application scenarios, it can be determined whether the subject has hallux valgus deformity based on three target angles. Figure 1 As shown in Figures (a) and (b), the three target angles are respectively the angle α1 between the axis l1 of the subject's big toe 101 and the axis l2 of the first metatarsal 102 (also known as the hallux valgus angle), the angle α2 between the axis l2 of the first metatarsal 102 and the axis l3 of the second metatarsal 103 (also known as the first and second metatarsal angle), and the angle α3 between the distal articular surface e of the first metatarsal 102 and the axis l2 of the first metatarsal 102 (also known as the first metatarsal distal articular surface angle). It should be understood that in the embodiments of the present application, the distal ends of the first and second metatarsal bones refer to the ends connected to the thumb, and the ends not connected to the thumb are the proximal ends of the first and second metatarsal bones. For example Figure 1 In Figure (b), the ellipse is the distal end of the second metatarsal bone, and the rectangular frame is the proximal end of the second metatarsal bone.

[0035] For the above three target angles, when the hallux valgus angle α1 is greater than 15°, the angle between the first and second metatarsals α2 is greater than 9°, or the angle α3 of the distal articular surface of the first metatarsal is not 90°, it is determined that the subject's foot has hallux valgus deformity. Furthermore, according to the hallux valgus angle and the angle between the first and second metatarsals, the degree of hallux valgus deformity can also be determined. For example, according to the grading of the hallux valgus angle, mild: 15°<hallus valgus angle<30°, moderate: 30°<hallus valgus angle<40°, severe: hallux valgus angle>40°; according to the grading of the angle between the first and second metatarsals, mild: the angle between the first and second metatarsals <10°, moderate: 10°<the angle between the first and second metatarsals <15°, severe: the angle between the first and second metatarsals>15°. In actual application scenarios, the correction of the deformity of hallux valgus of the foot is also the correction of the above three target angles. Before performing hallux valgus deformity correction, surgical planning parameters such as osteotomy, reduction, and internal fixation need to be determined in advance.

[0036] Based on this, an embodiment of the present application provides a method for determining surgical planning parameters for hallux valgus of the foot, by calculating surgical planning parameters such as osteotomy position and reduction parameters related to the hallux valgus deformity correction operation on the affected side of the hallux valgus, so as to subsequently perform hallux valgus deformity correction.

[0037] Figure 2 FIG. 2 is an exemplary flowchart of a method 200 for determining surgical planning parameters for hallux valgus according to an embodiment of the present application. Figure 2 As shown in , at step S201, a CT image of the foot of the subject is acquired. In an implementation scenario, the foot CT image can be acquired by, for example, a CT scanning device. Based on the acquired foot CT image, at step S202, a three-dimensional reconstruction of the subject's foot is performed based on the foot CT image to obtain a three-dimensional reconstructed surface volume of the subject's foot. In one embodiment, the three-dimensional point cloud data in the foot CT image can be converted into a three-dimensional Boolean matrix, and then the surface point set of the three-dimensional point cloud data can be extracted from the three-dimensional Boolean matrix to perform three-dimensional reconstruction of the subject's foot based on the surface point set to obtain a three-dimensional reconstructed surface volume of the subject's foot. Wherein, the aforementioned foot CT image includes three-dimensional point cloud data.

[0038] In one implementation scenario, the preset grayscale value of the target area in the three-dimensional point cloud data in the foot CT image can be determined, and a transformation function can be set according to the preset grayscale value, and then the three-dimensional point cloud data in the foot CT image can be converted into a three-dimensional Boolean matrix based on the transformation function. It should be understood that the preset grayscale values ​​for the bone tissue and skin tissue in the target area will be different. As an example, for the bone tissue in the first metatarsal region, the corresponding preset grayscale value can be set to 100-150; for the skin tissue in the first metatarsal region, the corresponding preset grayscale value can be set to -100 to 0. In some embodiments, a transformation function can be constructed by setting points above the preset grayscale value to 1 and points below the preset grayscale value to 0, so as to convert the three-dimensional point cloud data in the foot CT image into a three-dimensional Boolean matrix based on the transformation function.

[0039] After obtaining the aforementioned three-dimensional Boolean matrix, in an implementation scenario, a surface point set filter can be set based on a contour algorithm, and the three-dimensional Boolean matrix can be filtered using the surface point set filter to extract the surface point set of the three-dimensional point cloud data. In some embodiments, in addition to the aforementioned contour algorithm, the aforementioned surface point set filter can also be set by, for example, an alpha type method. Further, based on the aforementioned surface point set, a triangulation function can be used to perform three-dimensional reconstruction of the subject's foot to obtain a three-dimensional reconstructed surface volume of the subject's foot.

[0040] In one embodiment, the embodiments of the present application also involve performing scaling operations and / or smoothing operations on the aforementioned three-dimensional reconstructed surface volume. For example, the aforementioned three-dimensional reconstructed surface volume is scaled by using the spacing information in the foot CT image, and the scaled three-dimensional reconstructed surface volume is subjected to, for example, a surface smoothing operation to obtain two three-dimensional reconstructed surface volumes. In some embodiments, the aforementioned surface smoothing operation may be, for example, a smoothing operation using a linear or high-order polynomial or a neighborhood domain moving root mean square or a local optimal surface regression. In an implementation scenario, one of the aforementioned two three-dimensional reconstructed surface volumes is a three-dimensional reconstructed surface volume of bone tissue (for example Figure 3 (a) It can be used for subsequent calculation of preoperative planning in the embodiment of the present application, and the other is a three-dimensional reconstructed surface volume including skin and bone tissue It can be used for modeling subsequent percutaneous surgical guides.

[0041] In an implementation scenario, the three-dimensional reconstructed surface volume of the subject's foot can be expressed by the following formula:

[0042]

[0043] in, represents the 3D point cloud data in the foot CT image, H + (·) represents the transformation function that converts the three-dimensional point cloud data in the foot CT image into a three-dimensional Boolean matrix. Filter (·) represents the surface point set filter, such as the contour method or alpha type method to extract the surface point set in the three-dimensional point data. represents the spatial scaling matrix, Denotes the triangulation function. Based on the above formula (1), the three-dimensional reconstructed surface volume can be obtained: This includes surface point set information and triangulation triangle surface information.

[0044] According to the three-dimensional reconstructed surface body obtained as described above, at step S203, the hallux valgus affected side is identified based on the three-dimensional reconstructed surface body to obtain the hallux valgus affected side of the subject. In one implementation scenario, the minimum three-dimensional rectangular bounding box of the hallux valgus affected side can be identified based on the three-dimensional reconstructed surface body, and the three-dimensional reconstructed surface body can be cut along the minimum three-dimensional rectangular bounding box to obtain the hallux valgus affected side of the subject. It can be understood that in minimally invasive hallux valgus surgery, the hallux valgus affected side of the subject is the left foot or the right foot. In some embodiments, after determining that the affected side of the subject is the left foot or the right foot, the three-dimensional reconstructed surface body of the skin and bone tissue obtained in the above steps is used. By using, for example, a manual selection method or an adaptive minimum boundary extraction method, the minimum three-dimensional rectangular bounding box of the affected side is identified Next, by following the minimum 3D rectangular bounding box The three-dimensional reconstructed surface volume is cut to obtain the hallux valgus affected side of the subject. That is, the hallux valgus affected side of the subject is the three-dimensional reconstructed surface volume (e.g. Figure 3 Similarly, the 3D reconstructed surface volume of bone tissue It can also be based on the three-dimensional reconstruction of the surface of skin and bone tissue The minimum three-dimensional rectangular bounding box is cut and the three-dimensional reconstructed surface volume after cutting is retained.

[0045] In an implementation scenario, the aforementioned adaptive minimum boundary extraction method can be implemented by the following formula:

[0046]

[0047] in, represents the minimum three-dimensional rectangular bounding box, I 3d represents the 3D reconstructed surface volume, Δx + ,Δy + ,Δz + ,Δx - ,Δy - ,Δz - Indicates the positive and negative directions along x, y, and z. Represents the distance from seed point a0 to That is, starting from the seed point a0, find the minimum distance along the positive (+) and negative (-) directions of x, y, and z to reach the minimum three-dimensional rectangular bounding box. The boundary surface on the bounding box and the 3D reconstructed surface volume I 3d The intersection of is the empty set.

[0048] Further, at step S204, the osteotomy parameters, reduction parameters and internal fixation parameters related to the hallux valgus deformity correction operation at the hallux valgus affected side are calculated to determine the surgical planning parameters for hallux valgus of the foot. For calculating the osteotomy parameters, it at least includes the osteotomy position and the osteotomy vector direction. In one embodiment, the osteotomy position and the osteotomy vector direction related to the hallux valgus deformity correction operation at the hallux valgus affected side can be calculated according to the bone key points in the hallux valgus affected side. The bone key points can be extracted by, for example, manual annotation or AI image recognition algorithm. In some embodiments, the aforementioned bone key points can include the first metatarsal distal articular surface boundary point based on the hallux valgus affected side, the first metatarsal distal section boundary point, the first metatarsal proximal section boundary point, the second metatarsal distal section boundary point, and the second metatarsal proximal section boundary point.

[0049] In one implementation scenario, the center of the first metatarsal distal end boundary arc, the second metatarsal axis, the upper surface point and the lower surface point of the first metatarsal distal end can be calculated based on the skeletal key points in the hallux valgus affected side, and then the osteotomy position and osteotomy vector direction related to the hallux valgus deformity correction operation at the hallux valgus affected side can be calculated based on the center of the first metatarsal distal end boundary arc, the second metatarsal axis, the upper surface point and the lower surface point of the first metatarsal distal end. Specifically, in one implementation scenario, a perpendicular line is drawn from the center of the first metatarsal distal end boundary arc to the second metatarsal axis to determine the osteotomy vector direction, and the osteotomy position is determined by connecting the upper surface point and the lower surface point of the first metatarsal distal end. It can be understood that a perpendicular line is drawn from the center of the arc of the distal boundary of the first metatarsal shaft obtained above to the axis of the second metatarsal, and the direction of the perpendicular vector is obtained by the spatial perpendicular foot positioning method. The direction of the perpendicular vector is the osteotomy vector direction.

[0050] As mentioned above, the osteotomy position needs to be kept within a certain distance from the distal joint capsule of the first metatarsal, and the osteotomy direction must be perpendicular to the axis of the second metatarsal in space. Based on this, the embodiment of the present application calculates the center of the first metatarsal shaft distal boundary arc according to the boundary point of the first metatarsal distal joint surface, calculates the center of the second metatarsal shaft distal boundary arc and the center of the second metatarsal shaft proximal boundary arc according to the boundary point of the second metatarsal shaft distal section and the boundary point of the second metatarsal shaft proximal section, and then connects the center of the second metatarsal shaft distal boundary arc and the center of the second metatarsal shaft proximal boundary arc to obtain the second metatarsal axis, and calculates the upper surface point and the lower surface point of the first metatarsal shaft distal end along the center of the first metatarsal shaft distal boundary arc toward the osteotomy vector direction. Based on this, the osteotomy position obtained by connecting the upper surface point and the lower surface point of the distal end of the first metatarsal shaft meets the above requirements.

[0051] In some embodiments, based on the boundary points of the distal section of the first metatarsal shaft, the center of the first metatarsal shaft distal boundary arc can be solved by, for example, a circular fitting method. Based on the boundary points of the distal section of the second metatarsal shaft and the boundary points of the proximal section of the second metatarsal shaft, the center of the distal boundary arc and the center of the proximal boundary arc of the second metatarsal shaft can also be solved by, for example, a circular fitting method, respectively.

[0052] In one embodiment, the upper surface point and the lower surface point of the distal end of the first metatarsal shaft are respectively represented as in represents the upper surface point of the distal end of the first metatarsal shaft, represents the lower surface point of the distal end of the first metatarsal shaft, c d represents the center of the arc of the distal boundary of the first metatarsal shaft, represents the three-dimensional reconstructed surface volume of the foot CT image, and z+ and z- respectively represent the positive and negative directions of the osteotomy vector direction. That is, starting from the center of the arc of the distal boundary of the first metatarsal shaft, the upper surface point of the distal end of the first metatarsal shaft is found along the positive and negative directions of the z axis through the direction vector boundary extraction algorithm. and the lower surface point Finally, the line connecting the upper and lower surface points of the distal end of the first metatarsal shaft As osteotomy site (eg Figure 4 shown).

[0053] In one embodiment, the above-mentioned reduction parameters may at least include a reduction translation distance and a reduction rotation angle, and the above-mentioned internal fixation parameters may at least include an internal fixation path and an internal fixation insertion position. In one embodiment, first, a plurality of target deformity angles (e.g., the above-mentioned Figure 1 The method calculates the reduction translation distance and the reduction rotation angle related to the hallux valgus deformity correction operation based on the difference between the multiple target deformity angles and the corresponding standard ranges. The distal boundary point of the first metatarsal shaft is updated according to the reduction translation distance and the reduction rotation angle, and then the internal fixation path and the internal fixation placement position related to the hallux valgus deformity correction operation are determined based on the updated distal boundary point of the first metatarsal shaft and the proximal boundary point of the first metatarsal shaft.

[0054] It can be understood that in order to simultaneously correct multiple deformity angles of hallux valgus deformity, it is necessary to perform spatial translation and rotation operations on the distal truncation portion of the first metatarsal to simultaneously correct the above-mentioned deformity angles to within the standard range and achieve correction of hallux valgus deformity. Specifically, first, the vector direction of the osteotomy is rotated 10° in the negative direction of the z1 axis on the osteotomy surface as the translation vector direction. Where R z- Represents the rotation matrix of the three-dimensional space along the negative direction of the z1 axis; the only plane formed by the axis of the first metatarsal and the vector direction of the osteotomy is used as the rotation plane S rotate Further, based on the differences between the multiple target deformity angles and the corresponding standard ranges, adaptive iteration is performed by, for example, a linear optimization adaptive algorithm to find the reset translation distance d shift and reset rotation angle d rotate A set of executable solutions is obtained so that the limiting conditions of the deformity correction linear optimization model are all within the normal health standard threshold.

[0055] Based on the translation distance d obtained above shift and reset rotation angle d rotate , using the reset translation distance d in the executable solution shift and reset rotation angle d rotateThe distal part of the truncated first metatarsal was translated and rotated in three dimensions to reduce the hallux valgus angle α1 (d shitt ,d rotate ) is within the health standard threshold, that is, less than 15°; the angle between the first and second metatarsal bones α2 (d shitt ,d rotate ) reached the health standard threshold, that is, between 8° and 10°; the distal joint surface angle of the first metatarsal α3 (d shitt ,d rotate ) is within the health standard threshold, which is between 89° and 91°.

[0056] In another implementation scenario, based on the reset translation distance d determined above shift and reset rotation angle d rotate Yes, update the boundary point of the distal end of the first metatarsal shaft, and then obtain the center point c of the updated boundary arc of the distal end of the first metatarsal shaft d Referring to the above content, based on the boundary point of the proximal section of the first metatarsal shaft, the center point c of the proximal boundary arc of the first metatarsal shaft is obtained by, for example, a circular fitting method. p Next, take the center of the arc at the proximal end of the first metatarsal shaft as c p and the updated first metatarsal distal boundary arc center c d The vector direction of the line between them is used as the internal fixed path direction The center of the arc at the proximal end of the first metatarsal shaft is c p The wires are used to insert the internal fixator.

[0057] In one embodiment, in order to realize the joint use of the subsequent customized surgical guide and the surgical guide, especially for the positioning of the first metatarsal distal reduction guide hole and the first metatarsal proximal reduction guide hole of the customized guide, it is necessary to determine the insertion position and insertion vector direction of the first metatarsal distal reduction needle and the first metatarsal proximal reduction needle during preoperative planning. Therefore, the embodiment of the present application also involves calculating the insertion position and insertion vector direction of the first metatarsal distal reduction needle and the first metatarsal proximal reduction needle related to the hallux valgus deformity correction operation at the affected side of the hallux valgus based on the distal boundary point of the first metatarsal shaft and the proximal boundary point of the first metatarsal shaft, respectively. Among them, the insertion vector direction of the first metatarsal distal reduction needle and the first metatarsal proximal reduction needle is consistent with the vector direction of the osteotomy The first metatarsal distal reduction needle is inserted at the center of the arc at the distal boundary of the first metatarsal shaft, c. d The needle is extended distally along the axis of the first metatarsal to a first position (eg, 0.5-2 cm). The first metatarsal proximal reduction needle is inserted at a position c from the center of the arc at the distal boundary of the first metatarsal diaphysis. d Extend proximally along the axis of the first metatarsal to a second position (e.g., 1.5-3 cm).

[0058] In addition, the embodiments of the present application also involve calculating the position and vector direction of the fixed guide hole and alignment groove at the target tissue in the affected side of hallux valgus related to the hallux valgus deformity correction operation. In some embodiments, the fixed guide hole and alignment groove at the aforementioned target tissue related to the hallux valgus deformity correction operation include the first cuneiform fixed guide hole, the first metatarsal lateral alignment groove, the first metatarsal joint alignment groove, the first metatarsal distal reduction guide alignment groove, the first metatarsal distal osteotomy alignment groove, the first metatarsal anteroposterior lateral edge alignment groove, the first metatarsal anteroposterior midline alignment groove, and the first metatarsal anteroposterior medial alignment groove, and the aforementioned fixed guide holes and alignment grooves have their own positions and vector directions. Thus, the subsequent combined use of customized surgical guides and surgical guides can be realized, especially for the snap-fit ​​registration and fixation of customized guides, so that the calculation of the positions and vector directions of the corresponding fixed holes and alignment grooves needs to be completed in the preoperative planning.

[0059] Specifically, the position of the first cuneiform fixation guide hole b4 is any point on the surface of the first cuneiform, and its vector direction is the positive direction of the z1 axis; the position of the first metatarsal lateral alignment groove d1 is the axis of the first metatarsal, and its vector direction is parallel to the x1 axis; the position of the first metatarsal-to-phalangeal joint alignment groove d2 is the projection of the boundary point of the cross-section of the distal articular surface of the first metatarsal on the x1y1 plane, and its vector direction is parallel to the y1 axis; the position of the first metatarsal distal reduction guide pin alignment groove d3 is the first metatarsal distal reduction pin insertion position, and its vector direction is parallel to the osteotomy vector direction The position of the alignment groove d4 of the distal osteotomy of the first metatarsal is the center of the arc of the distal boundary of the first metatarsal diaphysis c d , whose vector direction is parallel to the osteotomy vector direction The position of the first metatarsal anteroposterior lateral edge alignment line groove d5 is the lateral edge line of the first metatarsal, and its vector direction is parallel to the axis of the first metatarsal; the position of the first metatarsal anteroposterior midline alignment line groove d6 is the axis of the first metatarsal, and its vector direction is parallel to the axis of the first metatarsal; the position of the first metatarsal anteroposterior medial alignment line groove d7 is the medial edge line of the first metatarsal, and its vector direction is parallel to the axis of the first metatarsal.

[0060] In combination with the above description, it can be seen that the embodiment of the present application calculates surgical planning parameters such as osteotomy parameters, reduction parameters and internal fixation parameters related to the hallux valgus deformity correction operation at the hallux valgus affected side, so as to perform the hallux valgus deformity correction later.

[0061] Figure 3 3 is an exemplary schematic diagram showing a 3D reconstructed surface volume and a minimum 3D rectangular bounding box of the hallux valgus affected side identified according to an embodiment of the present application. Figure 3Figure (a) in the figure shows a three-dimensional reconstructed surface volume. In an implementation scenario, the three-dimensional point cloud data in the foot CT image can be converted into a three-dimensional Boolean matrix, and the surface point set of the three-dimensional point cloud data can be extracted from the three-dimensional Boolean matrix to perform three-dimensional reconstruction of the subject's foot based on the surface point set to obtain the three-dimensional reconstructed surface volume. Specifically, the three-dimensional reconstructed surface volume can be obtained based on the above (1). Then, based on the three-dimensional reconstructed surface volume, for example, a manual selection method or an adaptive minimum boundary extraction method can be used to identify the minimum three-dimensional rectangular bounding box of the affected side. For example Figure 3 As shown in Figure (b) of FIG. Among them, the adaptive minimum boundary extraction method can be implemented based on the above formula (2). Further, by The three-dimensional reconstructed surface volume is cut to obtain the hallux valgus affected side (eg, left foot) of the subject.

[0062] Figure 4 is an exemplary schematic diagram showing the osteotomy position on the affected side of hallux valgus according to an embodiment of the present application. Figure 4 The section W shown in FIG. 1 is the osteotomy position. As mentioned above, the center c of the arc at the distal boundary of the first metatarsal shaft is obtained by using, for example, a circular fitting method. d Then, the axis l2 of the second metatarsal is obtained by connecting the centers of the arcs of the distal and proximal boundaries of the second metatarsal, and a perpendicular line L is drawn from the center of the arc of the distal boundary of the first metatarsal to the axis of the second metatarsal to obtain the osteotomy vector direction. Further, the upper surface point of the distal end of the first metatarsal shaft is obtained by, for example, a direction vector boundary extraction algorithm. and the lower surface point The line connecting the upper and lower surface points of the distal end of the first metatarsal shaft That is the osteotomy position (at the section W). The osteotomy position obtained based on the embodiment of the present application meets the requirement of being within a certain distance from the distal joint capsule of the first metatarsal, and the osteotomy direction must be perpendicular to the axis of the second metatarsal in space.

[0063] Figure 5 is an exemplary schematic diagram showing the translation and rotation of the hallux valgus affected side according to an embodiment of the present application. Figure 5 The rectangular frame in FIG. 1 shows the truncated portion of the distal end of the first metatarsal bone after osteotomy based on the above-mentioned osteotomy position. In the subsequent actual deformity reduction process, the truncated portion of the distal end of the first metatarsal bone after osteotomy is translated and / or rotated according to the above-mentioned reduction translation distance and reduction rotation angle, so that the hallux valgus angle α1 (d shitt ,d rotate ) is within the health standard threshold, that is, less than 15°; the angle between the first and second metatarsal bones α2 (dshitt ,d rotate ) reached the health standard threshold, that is, between 8° and 10°; the distal joint surface angle of the first metatarsal α3 (d shitt ,d rotate ) reaches within the health standard threshold, that is, between 89° and 91°, to achieve hallux valgus deformity reduction.

[0064] Figure 6 2 is an exemplary schematic diagram showing the internal fixation path and placement position of the hallux valgus affected side according to an embodiment of the present application. Figure 6 The solid line direction shown in the figure is the internal fixation path direction of the hallux valgus affected side, and the point P shown in the figure is the internal fixation placement position. In an implementation scenario, first, based on the aforementioned reduction translation distance d shift and reset rotation angle d rotate Update the boundary point of the distal end of the first metatarsal shaft and obtain the center point c of the updated boundary arc of the distal end of the first metatarsal shaft d Next, take the center of the arc at the proximal end of the first metatarsal shaft as c p and the updated first metatarsal distal boundary arc center c d The vector direction of the line between them is used as the internal fixed path direction The center of the arc at the proximal end of the first metatarsal shaft is c p In actual application scenarios, based on the aforementioned internal fixation path direction and internal fixation placement position, in-out-in fixation is completed percutaneously, that is, the internal fixation vector direction enters the proximal end of the first metatarsal, passes through the proximal end of the first metatarsal, passes through the cortex and enters the distal end of the first metatarsal (i.e., the truncated part) again.

[0065] Figure 7 is an exemplary schematic diagram showing the placement position and placement vector direction of the first metatarsal distal reduction needle and the first metatarsal proximal reduction needle according to an embodiment of the present application. Figure 7 The circles in the figure show the first metatarsal distal reduction guide hole b1 and the first metatarsal proximal reduction guide hole b3. In actual application scenarios, the insertion vector direction of the first metatarsal distal reduction needle into the reduction guide hole b1 and the insertion vector direction of the first metatarsal proximal reduction needle into the reduction guide hole b3 are both aligned with the vector direction of the osteotomy (for example, the above Figure 5 The insertion position of the first metatarsal distal reduction needle is the center of the arc of the first metatarsal distal reduction needle from the first metatarsal diaphysis distal boundary c. d A reduction guide hole b1 is inserted distally along the axis of the first metatarsal and extends to, for example, 0.5-2 cm; the first metatarsal proximal reduction needle is inserted at a position where the first metatarsal proximal reduction needle is inserted from the center of the arc at the distal boundary of the first metatarsal diaphysis c. dA reduction guide hole b3 is inserted proximally along the axis of the first metatarsal bone and extends to, for example, 1.5-3 cm.

[0066] Based on the surgical planning parameters calculated above, subsequent planning can include, for example, performing osteotomy at the osteotomy position on the hallux valgus affected side, performing translation and rotation according to the reduction translation distance and the reduction rotation angle, positioning the first metatarsal distal reduction guide hole b1 and the first metatarsal proximal reduction guide hole b3 of the customized guide plate according to the insertion position and insertion vector direction of the first metatarsal distal reduction pin and the first metatarsal proximal reduction pin, and snapping, registering and fixing the customized guide plate at the corresponding fixing holes and alignment groove positions, etc., to achieve hallux valgus deformity correction.

[0067] Figure 8 8 is an exemplary structural block diagram of a device 800 for determining surgical planning parameters for hallux valgus according to an embodiment of the present application. It is understood that the device implementing the solution of the present application may be a single device (such as a computing device) or a multifunctional device including various peripheral devices.

[0068] like Figure 8 As shown in , the device of the present application may include a central processing unit or central processing unit ("CPU") 811, which may be a general-purpose CPU, a dedicated CPU, or other information processing and program execution unit. Further, the device 800 may also include a large-capacity memory 812 and a read-only memory ("ROM") 813, wherein the large-capacity memory 812 may be configured to store various types of data, including various data related to foot CT images, osteotomy positions, target bone key points, hallux valgus affected side, hallux valgus coordinate system, algorithm data, intermediate results, and various programs required to run the device 800. ROM 813 may be configured to store data and instructions required for power-on self-test of the device 800, initialization of various functional modules in the system, basic input / output drivers of the system, and booting the operating system.

[0069] Optionally, the device 800 may also include other hardware platforms or components, such as the tensor processing unit ("TPU") 814, the graphics processing unit ("GPU") 815, the field programmable gate array ("FPGA") 816, and the machine learning unit ("MLU") 817 shown. It is understood that although a variety of hardware platforms or components are shown in the device 800, they are merely exemplary and not restrictive, and those skilled in the art may add or remove corresponding hardware according to actual needs. For example, the device 800 may only include a CPU, related storage devices, and interface devices to implement the method for determining surgical planning parameters for hallux valgus of the present application.

[0070] In some embodiments, in order to facilitate the transmission and interaction of data with an external network, the device 800 of the present application further includes a communication interface 818, so that it can be connected to a local area network / wireless local area network ("LAN / WLAN") 805 through the communication interface 818, and then connected to a local server 806 or connected to the Internet ("Internet") 807 through the LAN / WLAN. Alternatively or additionally, the device 800 of the present application can also be directly connected to the Internet or a cellular network through the communication interface 818 based on wireless communication technology, such as wireless communication technology based on the third generation ("3G"), the fourth generation ("4G") or the fifth generation ("5G") of the 3rd generation ("3G"), the fourth generation ("4G") or the fifth generation ("5G") of the 5th ...

[0071] The peripheral devices of the device 800 may include a display device 802, an input device 803 and a data transmission interface 804. In one embodiment, the display device 802 may include, for example, one or more speakers and / or one or more visual displays, which are configured to perform voice prompts and / or image video display on the surgical planning parameters for determining hallux valgus of the present application. The input device 803 may include, for example, other input buttons or controls such as a keyboard, a mouse, a microphone, a gesture capture camera, etc., which are configured to receive input and / or user instructions of audio data. The data transmission interface 804 may include, for example, a serial interface, a parallel interface or a universal serial bus interface ("USB"), a small computer system interface ("SCSI"), a serial ATA, a FireWire ("FireWire"), a PCI Express and a high-definition multimedia interface ("HDMI"), etc., which are configured to transmit and interact with data of other devices or systems. According to the scheme of the present application, the data transmission interface 804 can receive a foot CT image of a subject collected from a CT acquisition device, and transmit to the device 800 data or results including the foot CT image of the subject or various other types.

[0072] The CPU 811, mass storage 812, ROM 813, TPU 814, GPU 815, FPGA 816, MLU 817 and communication interface 818 of the device 800 of the present application can be interconnected through a bus 819, and data interaction with peripheral devices can be achieved through the bus. In one embodiment, through the bus 819, the CPU 811 can control other hardware components in the device 800 and its peripheral devices.

[0073] Combination of the above Figure 8 The present invention describes a device for determining surgical planning parameters for hallux valgus that can be used to perform the present invention. It should be understood that the device structure or architecture here is only exemplary, and the implementation method and implementation entity of the present invention are not limited thereto, but can be changed without departing from the spirit of the present invention.

[0074] According to the above description in combination with the accompanying drawings, those skilled in the art can also understand that the embodiments of the present application can also be implemented by software programs. Therefore, the present application also provides a computer-readable storage medium, which stores computer-readable instructions for determining surgical planning parameters for hallux valgus. When the computer-readable instructions are executed by one or more processors, they can be used to implement the present application in combination with the accompanying drawings. Figure 2 A method for determining surgical planning parameters for hallux valgus of the foot is described.

[0075] It should be noted that although the operations of the method of the present application are described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can be performed in a different order. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0076] It should be understood that when the terms "first", "second", "third" and "fourth" are used in the claims, the specification and the drawings of the present application, they are only used to distinguish different objects, rather than to describe a specific order. The terms "include" and "comprise" used in the specification and claims of the present application indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections.

[0077] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this application specification and claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms. It should also be further understood that the term "and / or" used in this application specification and claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0078] Although the implementation methods of the present application are as above, the contents described are only examples adopted to facilitate the understanding of the present application, and are not intended to limit the scope and application scenarios of the present application. Any technician in the technical field described in the present application can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present application, but the scope of patent protection of the present application shall still be subject to the scope defined in the attached claims.

Claims

1. A method for determining surgical planning parameters for hallux valgus, comprising: Obtain CT images of the subject's foot; Performing three-dimensional reconstruction of the subject's foot based on the foot CT image to obtain a three-dimensional reconstructed surface volume of the subject's foot; Identify the hallux valgus affected side based on the three-dimensional reconstructed surface volume to obtain the hallux valgus affected side of the subject; as well as The osteotomy parameters, reduction parameters and internal fixation parameters related to the hallux valgus deformity correction operation at the hallux valgus affected side are calculated to determine the surgical planning parameters for the hallux valgus of the foot.

2. The method according to claim 1, wherein performing three-dimensional reconstruction on the subject's foot based on the foot CT image to obtain a three-dimensional reconstructed surface volume of the subject's foot comprises: Converting the three-dimensional point cloud data in the foot CT image into a three-dimensional Boolean matrix; Extracting a surface point set of the three-dimensional point cloud data from the three-dimensional Boolean matrix; as well as The foot of the subject is three-dimensionally reconstructed based on the surface point set to obtain a three-dimensional reconstructed surface volume of the foot of the subject.

3. The method according to claim 2, wherein identifying the hallux valgus affected side based on the three-dimensional reconstructed surface volume to obtain the hallux valgus affected side of the subject comprises: Identify a minimum three-dimensional rectangular bounding box of the hallux valgus affected side based on the three-dimensional reconstructed surface volume; as well as The three-dimensional reconstructed surface volume is cut along the minimum three-dimensional rectangular boundary box to obtain the hallux valgus affected side of the subject.

4. The method according to claim 3, wherein the osteotomy parameters at least include an osteotomy position and an osteotomy vector direction, and the osteotomy parameters related to performing a hallux valgus deformity correction operation at the hallux valgus affected side are calculated by the following operations: Extracting key bone points in the hallux valgus affected side; and The osteotomy position and the osteotomy vector direction related to performing a hallux valgus deformity correction operation at the hallux valgus affected side are calculated based on the bone key points in the hallux valgus affected side.

5. The method according to claim 4, wherein the skeletal key points include a boundary point of the distal articular surface of the first metatarsal, a boundary point of the distal cross-section of the first metatarsal shaft, a boundary point of the proximal cross-section of the first metatarsal shaft, a boundary point of the distal cross-section of the second metatarsal shaft, and a boundary point of the proximal cross-section of the second metatarsal shaft.

6. The method according to claim 5, wherein calculating the osteotomy position and the osteotomy vector direction at the hallux valgus affected side related to performing a hallux valgus deformity correction operation based on the bone key points in the hallux valgus affected side comprises: Calculating the center of the first metatarsal distal end boundary arc, the second metatarsal axis, the upper surface point and the lower surface point of the first metatarsal distal end based on the bone key points in the hallux valgus affected side; and The osteotomy position and the osteotomy vector direction related to the hallux valgus deformity correction operation at the affected side are calculated based on the center of the first metatarsal distal boundary arc, the second metatarsal axis, and the upper and lower surface points of the first metatarsal distal end.

7. The method according to claim 6, wherein determining the osteotomy position and the osteotomy vector direction in the hallux valgus surgery planning based on the center of the first metatarsal distal end boundary arc, the second metatarsal axis, and the upper surface point and the lower surface point of the first metatarsal distal end comprises: Draw a perpendicular line from the center of the arc of the distal boundary of the first metatarsal shaft to the axis of the second metatarsal to determine the direction of the osteotomy vector; as well as The line connecting the upper surface point and the lower surface point of the distal end of the first metatarsal shaft is determined as the osteotomy position.

8. The method according to claim 7, wherein calculating the center of the boundary arc of the distal end of the first metatarsal shaft, the second metatarsal axis, the upper surface point and the lower surface point of the distal end of the first metatarsal shaft according to the target bone key point comprises: Calculating the center of the first metatarsal distal end boundary arc according to the first metatarsal distal end articular surface boundary point; Calculating the center of the second metatarsal shaft distal boundary arc and the center of the second metatarsal shaft proximal boundary arc according to the second metatarsal shaft distal cross-section boundary point and the second metatarsal shaft proximal cross-section boundary point respectively; Connecting the center of the arc at the distal end of the second metatarsal shaft and the center of the arc at the proximal end of the second metatarsal shaft to obtain the second metatarsal axis; as well as The upper surface point and the lower surface point of the distal end of the first metatarsal shaft are calculated along the center of the arc of the boundary of the distal end of the first metatarsal shaft toward the osteotomy vector direction.

9. The method according to claim 7, wherein the reduction parameters at least include a reduction translation distance and a reduction rotation angle, and the internal fixation parameters at least include an internal fixation path and an internal fixation placement position, and the reduction parameters and internal fixation parameters related to the hallux valgus deformity correction operation at the hallux valgus affected side are calculated by the following operations: Acquire multiple target deformity angles at the hallux valgus affected side; Calculating the reduction translation distance and the reduction rotation angle related to performing the hallux valgus deformity correction operation based on the differences between the multiple target deformity angles and the corresponding standard ranges; updating the distal boundary point of the first metatarsal shaft according to the reset translation distance and the reset rotation angle; as well as The internal fixation path and the internal fixation placement position related to the hallux valgus deformity correction operation are determined based on the updated distal boundary point of the first metatarsal shaft and the proximal boundary point of the first metatarsal shaft.

10. The method according to claim 9, further comprising: The insertion positions and vector directions of the first metatarsal distal reduction needle and the first metatarsal proximal reduction needle at the hallux valgus affected side related to the hallux valgus deformity correction operation are calculated based on the first metatarsal shaft distal boundary point and the first metatarsal shaft proximal boundary point respectively.

11. The method according to claim 9, further comprising: The positions and vector directions of the fixing guide holes and the alignment grooves at the target tissue in the hallux valgus affected side related to performing the hallux valgus deformity correction operation are calculated.

12. The method of claim 11, wherein the fixation guide holes and alignment slots at the target tissue associated with performing a hallux valgus deformity correction operation include a first cuneiform fixation guide hole, a first metatarsal lateral alignment slot, a first metatarsal apical joint alignment slot, a first metatarsal distal reduction guide pin alignment slot, a first metatarsal distal osteotomy alignment slot, a first metatarsal anteroposterior lateral edge alignment slot, a first metatarsal anteroposterior midline alignment slot, and a first metatarsal anteroposterior medial alignment slot.

13. An apparatus for determining surgical planning parameters for hallux valgus, comprising: processor; as well as A memory storing program instructions for determining surgical planning parameters for hallux valgus; when the program instructions are executed by the processor, the device implements the method according to any one of claims 1-12.

14. A computer-readable storage medium having stored thereon computer-readable instructions for determining surgical planning parameters for hallux valgus, wherein when the computer-readable instructions are executed by one or more processors, the method according to any one of claims 1 to 12 is implemented.

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