A method for predicting the position of the center of rotation of the hip joint during hip replacement surgery

Abstract

The present application provides a method for predicting the position of the center of rotation of the hip joint during hip replacement surgery, the method comprising: integrating the initial personalized three-dimensional bone model determined according to the patient's CT image with each prosthesis model to determine at least one postoperative simulated bone model; for each postoperative simulated bone model, performing bone replacement processing with a general bone and muscle model to obtain at least one initial postoperative simulated bone and muscle model; using EOS images for correction processing to obtain at least one candidate postoperative simulated bone and muscle model; according to the target motion trajectory data, the target plantar pressure data, and each candidate postoperative simulated bone and muscle model, obtaining the hip contact force under each candidate postoperative simulated bone and muscle model, and predicting the optimal position of the center of rotation of the hip joint during hip replacement surgery. This solution can effectively solve the problems of inaccurate rotation center position and excessive contact force existing in traditional methods.

Description

Technical Field

[0001] The present application relates to the field of medical simulation technology, and in particular to a method for predicting the position of the rotation center of a hip joint during hip replacement surgery. Background Art

[0002] Developmental Dysplasia of the Hip (DDH) refers to a type of disease in which the hip joint is abnormal during development, resulting in changes in the structure and function of the pelvis, hip joint, and lower limb bones. The hip joint of DDH patients is usually unstable, the acetabulum is dysplastic, and the femoral head cannot be stably embedded in the acetabulum, resulting in problems such as hip dislocation or subluxation. DDH patients are often accompanied by hip pain, limited mobility, and abnormal gait.

[0003] Total Hip Arthroplasty (THA) is currently the only effective way to treat DDH. With the continuous advancement of artificial joint technology, hip replacement can effectively relieve patients' pain, restore joint function, and significantly improve patients' quality of life. However, compared with ordinary arthritis patients, total hip replacement is difficult and has slow recovery. Among them, one of the most critical technical difficulties in hip replacement surgery is how to accurately select the reconstruction position of the hip rotation center. The position of the hip rotation center (COR) directly affects the contact force and mechanical load of the artificial joint. If the position of the rotation center is improper, it will cause the mechanical environment of the joint to change, increase the risk of wear of the joint prosthesis, and thus greatly reduce the service life of the artificial joint. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method for predicting the rotation center position of the hip joint during joint replacement surgery. Through personalized simulation and calculation, the rotation center position after hip replacement surgery can be accurately determined, thereby effectively solving the problems of inaccurate rotation center position and excessive contact force existing in traditional methods, thereby improving the effect of hip replacement surgery and the service life of artificial joints.

[0005] The present application embodiment provides a method for predicting the position of the rotation center of the hip joint during hip replacement surgery, the prediction method comprising:

[0006] Acquire target motion trajectory data and target plantar pressure data during the patient's motion, and acquire CT images of a designated limb area of ​​the patient and EOS images in multiple postures; wherein the designated limb area includes a hip joint;

[0007] Performing three-dimensional reconstruction processing according to the CT image to determine an initial personalized three-dimensional bone model of the patient;

[0008] The initial personalized three-dimensional bone model and each prosthesis model with different positions designed for hip replacement are respectively integrated to determine at least one postoperative simulated bone model of the patient; wherein different postoperative simulated bone models have different rotation center positions;

[0009] For each postoperative simulated bone model, use the postoperative simulated bone model to perform bone replacement processing on the corresponding bone area in the universal bone and muscle model to obtain at least one initial postoperative simulated bone and muscle model of the patient;

[0010] Using the EOS images in multiple postures to respectively modify each initial postoperative simulated bone and muscle model, to obtain at least one candidate postoperative simulated bone and muscle model of the patient;

[0011] According to the target motion trajectory data and the target plantar pressure data, contact force is calculated in combination with each candidate postoperative simulated bone and muscle model to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model;

[0012] To predict the optimal position of the center of rotation of the hip during hip arthroplasty based on all hip contact forces.

[0013] Optionally, the using the EOS images in multiple postures to respectively correct each initial postoperative simulated bone and muscle model to obtain at least one candidate postoperative simulated bone and muscle model of the patient includes:

[0014] For each EOS image in each posture, the corresponding posture anatomical parameters are obtained;

[0015] Summarizing all posture anatomical parameters to obtain comprehensive anatomical parameters of the patient;

[0016] The initial postoperative simulated bone and muscle model is modified according to the comprehensive anatomical parameters of the patient to obtain at least one candidate postoperative simulated bone and muscle model of the patient.

[0017] Optionally, the contact force calculation is performed based on the target motion trajectory data and the target plantar pressure data, and in combination with each candidate postoperative simulated bone and muscle model, to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model, including:

[0018] For each candidate postoperative simulated bone and muscle model, a reverse analysis operation is performed on the candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model;

[0019] According to the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, combined with the geometric properties and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model, the contact force of the hip joint is calculated to determine the contact force of the hip joint under the candidate postoperative simulated bone and muscle model.

[0020] Optionally, the joint reverse analysis data includes joint reverse kinematics data and joint reverse dynamics data. For each candidate postoperative simulated bone and muscle model, a reverse analysis operation is performed on the candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, including:

[0021] According to the target motion trajectory data, inverse kinematics calculation is performed in combination with the candidate postoperative simulated bone and muscle model to obtain joint inverse kinematics data of the patient under the candidate postoperative simulated bone and muscle model;

[0022] According to the target plantar pressure data and joint inverse kinematics data, inverse dynamics calculation is performed in combination with the candidate postoperative simulated bone and muscle model to obtain the joint inverse dynamics data of the patient under the candidate postoperative simulated bone and muscle model.

[0023] Optionally, before calculating the contact force of the hip joint based on the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model in combination with the geometric properties and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model, the prediction method further includes:

[0024] The error reduction algorithm is used to perform residual error elimination processing and dynamic inconsistency correction processing on the joint reverse analysis data.

[0025] Optionally, predict the optimal position of the center of rotation of the hip during hip replacement based on all hip contact forces, including:

[0026] Based on all hip contact forces, determine the minimum hip contact force;

[0027] The candidate postoperative simulated bone and muscle model corresponding to the minimum hip joint contact force is determined as the target postoperative simulated bone and muscle model, and the position of the hip joint rotation center in the target postoperative simulated bone and muscle model is determined as the optimal position of the hip joint rotation center in hip replacement.

[0028] Optionally, the step of acquiring target motion trajectory data and target plantar pressure data during the patient's motion process includes:

[0029] Acquiring initial motion trajectory data of the patient during the motion process captured by a motion capture system, and acquiring initial plantar pressure data of the patient during the motion process collected by a pressure sensor;

[0030] Integrate and store the initial motion trajectory data and the initial plantar pressure data in a predetermined format to obtain target motion data;

[0031] Visually analyzing and processing the target motion data to obtain motion trajectory verification data and plantar pressure verification data;

[0032] Using the motion trajectory verification data to perform consistency verification with the initial motion trajectory data, and using the plantar pressure verification data to perform consistency verification with the initial plantar pressure data;

[0033] If the verification results of the two are consistent, the initial motion trajectory data is determined as the target initial motion trajectory data, and the initial plantar pressure data is determined as the target plantar pressure data.

[0034] The present application also provides a device for predicting the position of the center of rotation of the hip joint during hip replacement surgery, the device comprising:

[0035] An acquisition module, used to acquire target motion trajectory data and target plantar pressure data during the patient's motion, and to acquire CT images of a designated limb area of ​​the patient and EOS images in multiple postures; wherein the designated limb area includes a hip joint;

[0036] A reconstruction module, used for performing three-dimensional reconstruction processing according to the CT image to determine an initial personalized three-dimensional bone model of the patient;

[0037] An integration module is used to perform model integration processing on the initial personalized three-dimensional bone model and each prosthesis model with different positions designed for hip replacement surgery, so as to determine at least one postoperative simulated bone model of the patient; wherein different postoperative simulated bone models have different rotation center positions;

[0038] A replacement module is used for performing bone replacement processing on the corresponding bone area in the universal bone and muscle model for each postoperative simulated bone model, using the postoperative simulated bone model to obtain at least one initial postoperative simulated bone and muscle model of the patient;

[0039] A correction module, used to correct each initial postoperative simulated bone and muscle model respectively using the EOS images in multiple postures to obtain at least one candidate postoperative simulated bone and muscle model of the patient;

[0040] A calculation module, used to calculate the contact force according to the target motion trajectory data and the target plantar pressure data, and in combination with each candidate postoperative simulated bone and muscle model, to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model;

[0041] A prediction module is used to predict the optimal position of the hip rotation center during hip arthroplasty based on all hip contact forces.

[0042] Optionally, when the correction module is used to respectively correct each initial postoperative simulated bone and muscle model using the EOS images in multiple postures to obtain at least one candidate postoperative simulated bone and muscle model of the patient, the correction module is used to:

[0043] For each EOS image in each posture, the corresponding posture anatomical parameters are obtained;

[0044] Summarizing all posture anatomical parameters to obtain comprehensive anatomical parameters of the patient;

[0045] The initial postoperative simulated bone and muscle model is modified according to the comprehensive anatomical parameters of the patient to obtain at least one candidate postoperative simulated bone and muscle model of the patient.

[0046] Optionally, when the calculation module is used to calculate the contact force according to the target motion trajectory data and the target plantar pressure data and in combination with each candidate postoperative simulated bone and muscle model to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model, the calculation module is used to:

[0047] For each candidate postoperative simulated bone and muscle model, a reverse analysis operation is performed on the candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model;

[0048] According to the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, combined with the geometric properties and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model, the contact force of the hip joint is calculated to determine the contact force of the hip joint under the candidate postoperative simulated bone and muscle model.

[0049] Optionally, the joint reverse analysis data includes joint reverse kinematics data and joint reverse dynamics data. When the calculation module is used to perform a reverse analysis operation on each candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, the calculation module is used to:

[0050] According to the target motion trajectory data, inverse kinematics calculation is performed in combination with the candidate postoperative simulated bone and muscle model to obtain joint inverse kinematics data of the patient under the candidate postoperative simulated bone and muscle model;

[0051] According to the target plantar pressure data and joint inverse kinematics data, inverse dynamics calculation is performed in combination with the candidate postoperative simulated bone and muscle model to obtain the joint inverse dynamics data of the patient under the candidate postoperative simulated bone and muscle model.

[0052] Optionally, the calculation module is further used for:

[0053] Before calculating the contact force of the hip joint based on the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model and combining the geometric properties and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model, the joint reverse analysis data is subjected to residual error elimination and dynamic inconsistency correction processing using an error reduction algorithm.

[0054] Optionally, when the prediction module is used to predict the optimal position of the center of rotation of the hip joint in hip replacement surgery based on all hip joint contact forces, the prediction module is used to:

[0055] Based on all hip contact forces, determine the minimum hip contact force;

[0056] The candidate postoperative simulated bone and muscle model corresponding to the minimum hip joint contact force is determined as the target postoperative simulated bone and muscle model, and the position of the hip joint rotation center in the target postoperative simulated bone and muscle model is determined as the optimal position of the hip joint rotation center in hip replacement.

[0057] Optionally, when the acquisition module is used to acquire the target motion trajectory data and target plantar pressure data during the patient's exercise, the acquisition module is used to:

[0058] Acquiring initial motion trajectory data of the patient during the motion process captured by a motion capture system, and acquiring initial plantar pressure data of the patient during the motion process collected by a pressure sensor;

[0059] Integrate and store the initial motion trajectory data and the initial plantar pressure data in a predetermined format to obtain target motion data;

[0060] Visually analyzing and processing the target motion data to obtain motion trajectory verification data and plantar pressure verification data;

[0061] Using the motion trajectory verification data to perform consistency verification with the initial motion trajectory data, and using the plantar pressure verification data to perform consistency verification with the initial plantar pressure data;

[0062] If the verification results of the two are consistent, the initial motion trajectory data is determined as the target initial motion trajectory data, and the initial plantar pressure data is determined as the target plantar pressure data.

[0063] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the prediction method as described above are performed.

[0064] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the prediction method described above are executed.

[0065] The embodiment of the present application provides a method for predicting the position of the rotation center of the hip joint during hip replacement surgery, the prediction method comprising: obtaining target motion trajectory data and target plantar pressure data of the patient during movement, and obtaining CT images of the patient's designated limb area and EOS images in multiple postures; wherein the designated limb area includes the hip joint; performing three-dimensional reconstruction processing based on the CT images to determine the initial personalized three-dimensional bone model of the patient; performing model integration processing on the initial personalized three-dimensional bone model and each prosthesis model with different positions designed for hip replacement surgery, respectively, to determine at least one postoperative simulated bone model of the patient; wherein different postoperative simulated bone models have different rotation center positions; for each postoperative simulated bone model, use the postoperative simulated bone model to perform bone replacement processing on the corresponding bone area in the universal bone and muscle model to obtain at least one initial postoperative simulated bone and muscle model of the patient; use the EOS images in the multi-pose to respectively correct each initial postoperative simulated bone and muscle model to obtain at least one candidate postoperative simulated bone and muscle model of the patient; according to the target motion trajectory data and the target plantar pressure data, and in combination with each candidate postoperative simulated bone and muscle model, perform contact force calculation to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model; based on all hip joint contact forces, predict the optimal position of the hip joint rotation center in hip replacement.

[0066] In this way, this scheme can create a personalized three-dimensional skeletal model of the patient by three-dimensionally reconstructing and correcting the patient's CT images and multi-posture EOS images, so as to more accurately reflect the individual skeletal characteristics of the patient. Then, by integrating the patient's initial three-dimensional skeletal model with the prosthesis model at different rotation center positions, and replacing it with the general bone muscle model, a postoperative simulated bone muscle model at different rotation center positions can be obtained. Finally, by using the target motion trajectory data and the plantar pressure data and combining each postoperative simulated bone muscle model for contact force calculation, the force condition of the hip joint during postoperative activities can be simulated. And the optimal rotation center position is determined according to the contact force, so that the problems of inaccurate rotation center position and excessive contact force existing in the traditional method can be effectively solved, thereby improving the effect of hip replacement and the service life of the artificial joint.

[0067] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0069] Figure 1 A flowchart of a method for predicting the position of the center of rotation of a hip joint during joint replacement surgery provided in an embodiment of the present application;

[0070] Figure 2 It is an EOS image in a standing lateral position;

[0071] Figure 3 It is an EOS image in a standing upright position;

[0072] Figure 4 A schematic diagram of the location of a marking point on a human body provided in this application;

[0073] Figure 5 A schematic diagram of a postoperative simulation bone model provided in this application;

[0074] Figure 6 One of the examples of hip joint contact force prediction results provided in this application;

[0075] Figure 7 This is the second example of a hip joint contact force prediction result provided in this application;

[0076] Figure 8 This is a third example of hip joint contact force prediction results provided in this application;

[0077] Fig. 9 A schematic diagram of the structure of a device for predicting the position of the rotation center of a hip joint in hip replacement surgery provided in an embodiment of the present application;

[0078] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0079] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0080] Developmental Dysplasia of the Hip (DDH) refers to a type of disease in which the hip joint is abnormal during development, resulting in changes in the structure and function of the pelvis, hip joint, and lower limb bones. The hip joint of DDH patients is usually unstable, the acetabulum is dysplastic, and the femoral head cannot be stably embedded in the acetabulum, resulting in problems such as hip dislocation or subluxation. DDH patients are often accompanied by hip pain, limited mobility, and abnormal gait.

[0081] Total Hip Arthroplasty (THA) is currently the only effective way to treat DDH. With the continuous advancement of artificial joint technology, hip replacement can effectively relieve patients' pain, restore joint function, and significantly improve patients' quality of life. However, compared with ordinary arthritis patients, total hip replacement is difficult and has slow recovery. Among them, one of the most critical technical difficulties in hip replacement surgery is how to accurately select the reconstruction position of the hip rotation center. The position of the hip rotation center (COR) directly affects the contact force and mechanical load of the artificial joint. If the position of the rotation center is improper, it will cause the mechanical environment of the joint to change, increase the risk of wear of the joint prosthesis, and thus greatly reduce the service life of the artificial joint.

[0082] Based on this, an embodiment of the present application provides a method for predicting the rotation center position of the hip joint during joint replacement surgery. Through personalized simulation and calculation, the rotation center position after hip replacement surgery can be accurately determined, thereby effectively solving problems such as inaccurate rotation center position and excessive contact force existing in traditional methods, thereby improving the effect of hip replacement surgery and the service life of artificial joints.

[0083] See also Figure 1 , Figure 1 This is a flow chart of a method for predicting the center of rotation of the hip joint during joint replacement surgery provided in an embodiment of the present application. Figure 1 As shown in , the prediction method provided in the embodiment of the present application includes:

[0084] S101, obtaining target motion trajectory data and target plantar pressure data of a patient during motion, and obtaining CT images of a designated limb area of ​​the patient and EOS images in multiple postures.

[0085] S102: Perform three-dimensional reconstruction processing according to the CT image to determine an initial personalized three-dimensional skeletal model of the patient.

[0086] S103, performing model integration processing on the initial personalized three-dimensional bone model and each prosthesis model with different positions designed for hip replacement surgery, and determining at least one postoperative simulated bone model of the patient.

[0087] S104. For each postoperative simulated bone model, use the postoperative simulated bone model to perform bone replacement processing on the corresponding bone area in the universal bone and muscle model to obtain at least one initial postoperative simulated bone and muscle model of the patient.

[0088] S105 , using the EOS images in multiple postures to respectively correct each initial postoperative simulated bone and muscle model, to obtain at least one candidate postoperative simulated bone and muscle model of the patient.

[0089] S106, calculating the contact force according to the target motion trajectory data and the target plantar pressure data and in combination with each candidate postoperative simulated bone and muscle model, to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model.

[0090] S107. Predict the optimal position of the center of rotation of the hip joint during hip replacement based on all hip contact forces.

[0091] With respect to step S101, in this step, for a patient who needs hip replacement surgery, the target motion trajectory data during the patient's exercise, the plantar pressure data during the exercise, the CT image of the specified limb area, and the EOS images (multiple EOS images) in multiple postures are obtained.

[0092] The target motion trajectory data may be recorded in the form of spatial coordinates.

[0093] The designated limb area includes at least the hip joint; for example, the designated limb area may be the lower limb area, the area below the waist, the area below the chest, or the whole body area. The specific limb range can be adaptively selected according to actual conditions and is not limited here. Among them, this solution is aimed at hip replacement surgery, so the designated limb area of ​​this solution can be the area including the lower limbs and pelvis.

[0094] For example, the multi-posture EOS images may include: standing EOS images, sitting EOS images, squatting EOS images, and EOS images in extreme movements. Among them, the EOS images in extreme positions may include: flexion internal rotation EOS images, flexion external rotation EOS images, extension external rotation EOS images, extreme extension EOS images, etc.

[0095] For examples, see Figure 2 as well as Figure 3 , Figure 2 This is an EOS image in a standing lateral position. Figure 3 It is an EOS image in a standing position. Figure 2-Figure 3 The patient's anatomical parameters can be determined more accurately, thereby providing assistance in subsequently accurately determining the patient's personalized postoperative simulated bone and muscle model.

[0096] In one embodiment provided in the present application, the step of obtaining target motion trajectory data and target plantar pressure data of a patient during exercise includes:

[0097] S1011, acquiring initial motion trajectory data of the patient during motion captured by a motion capture system, and acquiring initial plantar pressure data of the patient during motion collected by a pressure sensor.

[0098] S1012: Integrate and store the initial motion trajectory data and the initial plantar pressure data in a predetermined format to obtain target motion data.

[0099] S1013: Visualize and analyze the target motion data to obtain motion trajectory verification data and plantar pressure verification data.

[0100] S1014: Use the motion trajectory verification data to perform consistency verification with the initial motion trajectory data, and use the plantar pressure verification data to perform consistency verification with the initial plantar pressure data.

[0101] S1015: If the verification results of the two are consistent, the initial motion trajectory data is determined as the target initial motion trajectory data, and the initial plantar pressure data is determined as the target plantar pressure data.

[0102] Before executing step S1011, a motion capture system (VICON system software) can be pre-built, a three-dimensional force plate (pressure sensor) can be laid, and multiple maker points (marker points) can be pasted on designated limb areas (such as the pelvis and lower limbs) of the DDH patient.

[0103] For examples, see Figure 4 , Figure 4 A schematic diagram of the location of a marking point on a human body provided in this application, such as Figure 4 As shown, during the model simulation of hip replacement, the marker points are pasted in the lower limbs and pelvic area.

[0104] For step S1011, for example, this step may include: using a motion capture system to capture the motion trajectory data (initial motion trajectory data) of the patient during movement through a camera and marker points, and using a plantar pressure sensor to record the plantar pressure distribution of each frame during the movement to obtain initial plantar pressure data.

[0105] The initial motion trajectory data may be stored as the spatial coordinates (X, Y, Z) of a point.

[0106] The initial plantar pressure data can be presented in the form of a matrix or partitioned pressure values.

[0107] For step S1012, for example, this step may be to save the initial motion trajectory data and the initial plantar pressure data together in a .c3d file format to obtain target motion data.

[0108] In this way, the target motion data includes: spatial trajectory point data, plantar pressure distribution matrix; or also includes: time stamp or frame number.

[0109] In addition, the initial motion trajectory data may be stored in a second format, and the initial plantar pressure data may be stored in a third format.

[0110] The specific types of the second format and the third format may be determined according to the tool used for contact force calculation.

[0111] For example, when using OpenSim, the initial motion trajectory data may be stored in a .trc format, and the initial plantar pressure data may be stored in a .mot format.

[0112] As for step S1013, illustratively, this step may include: loading the target data into a visualization tool to obtain visualized motion trajectory verification data and visualized plantar pressure verification data.

[0113] The data format of the motion trajectory verification data is the same as the data format of the initial motion trajectory data, and the data format of the plantar pressure verification data is the same as the data format of the initial plantar pressure data. The data format of the motion trajectory verification data and the data format of the plantar pressure verification data may be different.

[0114] For step S1014, for example, this step may be: calculating the similarity of the spatial point spacing, speed, acceleration and other features of the two motion trajectories, and determining the consistency of the two motion trajectory data based on the similarity of all features; comparing the numerical difference between the initial plantar pressure data and the plantar pressure verification data to obtain the error range, and determining the consistency of the two plantar pressure data based on the error range.

[0115] For example, when the similarity of all features exceeds a preset threshold, it is determined that the motion trajectory verification data is consistent with the initial motion trajectory data; when the error range is lower than a preset value, it is determined that the plantar pressure verification data is consistent with the initial plantar pressure data.

[0116] For step S1015, if the motion trajectory verification data is consistent with the initial motion trajectory data, and the plantar pressure verification data is consistent with the initial plantar pressure data, it means that the initial data is not distorted, then the initial motion trajectory data is determined as the target initial motion trajectory data, and the initial plantar pressure data is determined as the target plantar pressure data.

[0117] In addition, if the verification result shows that there is at least one inconsistency, the corresponding personnel will be notified to re-collect the target initial motion trajectory data and the target plantar pressure data.

[0118] With respect to step S102, this step may include, for example: importing the CT image of the patient into three-dimensional reconstruction software to perform bone reconstruction, and obtaining an initial personalized three-dimensional bone model of the patient.

[0119] For example, the CT image of the patient is imported into Mimics 3D reconstruction software to reconstruct the 3D skeletal model of the patient (specifically, a 3D skeletal model including lower limbs and pelvis).

[0120] The initial personalized three-dimensional skeleton model may be stored in .STL format.

[0121] With respect to step S103, different post-operative simulated bone models have different rotation center positions.

[0122] In this step, for each prosthesis model, the initial personalized three-dimensional bone model of the patient is integrated with the prosthesis model to obtain a postoperative simulated bone model corresponding to the prosthesis model.

[0123] In this way, at least one postoperative simulated bone model can be obtained (generally multiple prosthesis models are established, so multiple postoperative simulated bone models are obtained).

[0124] For example, when constructing a postoperative simulated bone model, the initial personalized three-dimensional bone model can be imported into the SolidWorks software, and at least one prosthesis model of hip replacement can be imported at the same time. The model can be assembled in SolidWorks, and the coordinates of the model origin and the position of the model center of mass can be adjusted to conform to the normal biomechanical structure position of the human body, thereby obtaining at least one postoperative simulated bone model.

[0125] Regarding step S104, in this step, for each postoperative simulated bone model, the bone data in the universal bone and muscle model is used to replace the patient's personalized postoperative simulated bone model with the bone area in the universal bone and muscle model to construct an initial postoperative simulated bone and muscle model corresponding to the postoperative simulated bone model.

[0126] For example, the step of constructing the initial postoperative simulated bone and muscle model may include: importing the postoperative simulated bone model into the OpenSim bone and muscle model software. In the OpenSim software, the imported personalized postoperative simulated bone model is used to replace the corresponding bone structure of the general bone and muscle model (for example, replacing the lower limbs and pelvis), so as to establish a personalized human bone and muscle model (initial postoperative simulated bone and muscle model) of DDH patients after total hip replacement.

[0127] For examples, see Figure 5 , Figure 5 This is a schematic diagram of a post-operative simulation bone model provided in this application. Figure 5 As shown, the right side is the three-dimensional bone model of the patient to be combined with the prosthesis, and the left side is the postoperative simulation bone model after the fusion prosthesis model. Among them, the difference in the rotation center height of the postoperative simulation bone model can be achieved by adjusting the implantation depth of the prosthesis model.

[0128] Regarding step S105, in this step, each initial postoperative simulated musculoskeletal model is corrected respectively according to the EOS images of the patient in multiple postures.

[0129] In one embodiment provided in the present application, the method of using the EOS images in multiple postures to respectively correct each initial postoperative simulated bone and muscle model to obtain at least one candidate postoperative simulated bone and muscle model of the patient includes:

[0130] S1051. For each EOS image in each posture, obtain the posture anatomical parameters corresponding to the posture.

[0131] S1052. Summarize all posture anatomical parameters to obtain comprehensive anatomical parameters of the patient.

[0132] S1053. Correct the initial postoperative simulated bone and muscle model according to the comprehensive anatomical parameters of the patient to obtain at least one candidate postoperative simulated bone and muscle model of the patient.

[0133] With respect to step S1051, the posture anatomical parameters obtained from the EOS images in different postures are not necessarily the same.

[0134] For example, the steps may be:

[0135] For standing EOS images, the posture anatomical parameters obtained include: pelvic height, distance from the lower edge of the femoral head to the teardrop line on both sides of the lower pelvis, ratio of femoral head dislocation height to pelvic height, bilateral hip joint gap distance, hip joint CE angle, lower limb femur, tibia and fibula length, bilateral knee joint gap distance, etc.

[0136] For sitting EOS images, the posture anatomical parameters obtained include: the change angle of the anterior pelvic plane in the sagittal plane, the pelvic incidence angle (PI angle), the pelvic tilt angle (PT angle), the sacral and coccygeal tilt angle (SS), the lumbar Cobb angle, the bilateral hip and knee joint gap distances, and the relative positions of the hip, knee and ankle joints.

[0137] For the squatting EOS images, the posture anatomical parameters obtained include: the change angle of the anterior pelvic plane in the sagittal plane, the pelvic incidence angle (PI angle), the pelvic tilt angle (PT angle), the sacral and coccygeal tilt angle (SS), the lumbar Cobb angle, and the relative positions of the hip, knee, and ankle joints.

[0138] For EOS images under extreme movements, the posture anatomical parameters obtained include: femur length, tibia and fibula length of both lower limbs, flexion, extension, adduction and external rotation angles of the hip and knee joints, pelvic tilt angle, acetabular anteversion and abduction angle, relative position coordinates of the hip and knee joints, etc.

[0139] This, by extracting specific anatomical parameters for different postures, can reflect the specific anatomical morphology of the patient's bones in that posture, and provide a posture-specific reference for model correction.

[0140] Regarding step S1052, in this step, the anatomical parameters obtained from different postures are summarized and analyzed to establish comprehensive anatomical parameters.

[0141] For example, statistical methods (such as weighted average, principal component analysis, etc.) can be used to integrate the posture anatomical parameters under multiple postures to ensure that the data represents the patient's overall physiological state.

[0142] In this way, the final generated comprehensive anatomical parameters are a data set that balances the anatomical features under different postures and is used to uniformly guide model correction.

[0143] For step S1053, the comprehensive anatomical parameters are applied to the initial postoperative simulated bone and muscle model to adjust the geometric shape of the model.

[0144] For example, the correction contents include the bone position, the coordinates of the hip joint center, the spatial position of the prosthesis, the range of motion (ROM), etc.

[0145] For step S106, in one embodiment provided in the present application, the contact force is calculated based on the target motion trajectory data and the target plantar pressure data, and each candidate postoperative simulated bone and muscle model is combined to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model, including:

[0146] S1061. For each candidate postoperative simulated bone and muscle model, perform a reverse analysis operation on the candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model.

[0147] S1062. Calculate the contact force of the hip joint based on the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model and the geometric and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model to determine the contact force of the hip joint under the candidate postoperative simulated bone and muscle model.

[0148] For step S1061, the implementation method of this step may include: inputting the target motion trajectory data and the target plantar pressure data into the corresponding software including the candidate postoperative simulated bone and muscle models, and predicting the joint reverse analysis data in any candidate postoperative simulated bone and muscle model of the patient through the inverse dynamics calculation function of the software.

[0149] For example, the corresponding software may be OpenSim software.

[0150] In one embodiment provided in the present application, the joint reverse analysis data includes joint reverse kinematics data and joint reverse dynamics data. For each candidate postoperative simulated bone and muscle model, a reverse analysis operation is performed on the candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, including:

[0151] S10611. Perform inverse kinematics calculations based on the target motion trajectory data and in combination with the candidate postoperative simulated bone and muscle model to obtain inverse kinematics data of the patient's joints under the candidate postoperative simulated bone and muscle model.

[0152] S10612. Perform inverse dynamics calculations based on the target plantar pressure data and joint inverse kinematics data and in combination with the candidate postoperative simulated bone and muscle model to obtain the patient's joint inverse dynamics data under the candidate postoperative simulated bone and muscle model.

[0153] For step S10611, this step includes: first importing the target motion trajectory data (for example, three-dimensional coordinate change data including joints or landmark points), then loading the candidate simulated bone and muscle models in sequence (wherein, the bone and muscle models may include joint structures (such as the rotational freedom of the hip joint, the geometric information of the acetabulum) and anatomical parameters such as bone length), and then, performing inverse kinematic operations, and finally outputting the joint inverse kinematics data of the patient under the candidate postoperative simulated bone and muscle model (which may mainly include the activity angles of the pelvis and lower limb joints in three motion directions in three-dimensional space, and may also include the angle changes, angular velocity and angular acceleration of major joints such as hip joints and knee joints).

[0154] For step S10612, this step includes: first, loading the target plantar pressure data (load distribution of the plantar contact area during the walking cycle (such as pressure changes in the forefoot, midfoot, and heel)) and inverse kinematics data; then, combining the joint geometry and mechanical properties of the candidate simulated bone and muscle model to establish the dynamic equation of the joint; finally, performing inverse dynamics operations and outputting inverse dynamics data (mainly joint torque data of all joints of the lower limbs at three angles in three-dimensional space).

[0155] For example, when performing inverse dynamics calculations, OpenSim software may be used.

[0156] Before executing step S1062, the present application provides an embodiment in which the prediction method further includes: performing residual error elimination processing and dynamic inconsistency correction processing on the joint inverse analysis data using an error reduction algorithm.

[0157] Here, the residual error elimination process is to eliminate the high-frequency error or systematic deviation introduced by measurement noise, equipment accuracy or mathematical model approximation.

[0158] Dynamic inconsistency correction is to correct the dynamic inconsistency problems that occur during the inverse analysis process so that the physical constraint relationship between the inverse kinematics data and the inverse dynamics data is established.

[0159] For step S1062, for each candidate postoperative simulated bone and muscle model, the joint inverse analysis data (which may mainly include hip joint reaction force and related muscle force data) is extracted from the results of S1061, and then combined with the candidate postoperative simulated bone and muscle model, the contact force of the hip joint at each time point is simulated using a corresponding analysis method (such as finite element analysis or analytical calculation method).

[0160] The geometric properties of the hip joint in the candidate postoperative simulated bone and muscle model may include acetabular depth, femoral head diameter, acetabular direction, etc. The mechanical properties may include material parameters (such as the elastic modulus of acetabular cartilage) and contact surface friction coefficient.

[0161] With respect to step S107, in one embodiment provided in the present application, determining the rotation center position of the hip joint in the target postoperative simulated bone and muscle model according to all hip joint contact forces includes:

[0162] S1071. Determine a minimum hip joint contact force based on all hip joint contact forces.

[0163] S1072. Determine the candidate postoperative simulated bone and muscle model corresponding to the minimum hip joint contact force as the target postoperative simulated bone and muscle model, and determine the position of the hip joint rotation center in the target postoperative simulated bone and muscle model as the optimal position of the hip joint rotation center in hip replacement surgery.

[0164] The hip joint rotation center position may include a horizontal position and a vertical position, and may even include a relative position to other parts.

[0165] In addition, see the examples Figure 6 , Figure 7 , Figure 8 , Figure 6 This is one of the hip joint contact force prediction results examples provided in this application. Figure 7 This is a second example of a hip joint contact force prediction result provided in this application. Figure 8 This is the third example of a hip joint contact force prediction result provided in this application. Figure 6 As shown, Figure 6 The figure shows the change in contact force of the hip joints on both sides after mirroring the rotation center height position of the healthy hip joint on the opposite side. Figure 6The solid line in the figure is the contact force of the normal hip joint on the opposite side mirrored by the rotation center of the surgical side, and the dotted line is the contact force of the normal joint. The rotation center height of the healthy hip joint on the opposite side is mirrored, and the joint contact force is the smallest at this time. As shown in the figure, there are two maximum downward peaks of the solid line, and the maximum contact force is only about 700N. At this time, the wear of the artificial joint prosthesis is minimized. The negative value only represents the direction, not the size, and the contact force is compared in absolute value.

[0166] like Figure 7 As shown, Figure 7 The figure shows the changes in contact force of the hip joints on both sides after the surgical side was moved up 10mm compared to the original position of the normal hip joint. Figure 7 The solid line in the figure is the contact force when the rotation center of the surgical side is moved up by 10mm; the dotted line is the contact force of the normal joint. When the rotation center is moved up by 10mm, as shown in the maximum peak value of the solid line downward, the contact force increases to about 800-850N, and the wear of the artificial joint prosthesis increases. The negative value only represents the direction, not the size, and the contact force is compared in absolute value.

[0167] like Figure 8 As shown, Figure 8 The figure shows the changes in contact force of the hip joints on both sides after the surgical side was moved 20mm upward compared to the original position of the normal hip joint. Figure 8 The solid line in the figure is the contact force when the rotation center of the surgical side is moved up by 20mm; the dotted line is the contact force of the normal joint. When the rotation center is moved up by 20mm, as shown in the maximum peak of the solid line downward, the contact force increases to about 1000-1100N, and the wear of the artificial joint prosthesis increases. The negative value only represents the direction, not the size, and the contact force is compared in absolute value.

[0168] In this way, this scheme can create a personalized three-dimensional skeletal model of the patient by three-dimensionally reconstructing and correcting the patient's CT images and multi-posture EOS images, so as to more accurately reflect the individual skeletal characteristics of the patient. Then, by integrating the patient's initial three-dimensional skeletal model with the prosthesis model at different rotation center positions, and replacing it with the general bone muscle model, a postoperative simulated bone muscle model at different rotation center positions can be obtained. Finally, by using the target motion trajectory data and the plantar pressure data and combining each postoperative simulated bone muscle model for contact force calculation, the force condition of the hip joint during postoperative activities can be simulated. And the optimal rotation center position is determined according to the contact force, so that the problems of inaccurate rotation center position and excessive contact force existing in the traditional method can be effectively solved, thereby improving the effect of hip replacement and the service life of the artificial joint.

[0169] Based on the same inventive concept, a prediction device corresponding to the prediction method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned prediction method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0170] See also Fig. 9 , Fig. 9 This is a schematic diagram of the structure of a device for predicting the center of rotation of the hip joint during hip replacement surgery provided by an embodiment of the present application. Fig. 9 As shown in , the prediction device 1100 includes:

[0171] The acquisition module 1110 is used to acquire target motion trajectory data and target plantar pressure data of the patient during the motion process, and to acquire CT images of the patient's designated limb area and EOS images in multiple postures; wherein the designated limb area includes the hip joint;

[0172] A reconstruction module 1120 is used to perform a three-dimensional reconstruction process according to the CT image to determine an initial personalized three-dimensional bone model of the patient;

[0173] The integration module 1130 is used to perform model integration processing on the initial personalized three-dimensional bone model and each prosthesis model with different positions designed for hip replacement surgery, so as to determine at least one postoperative simulated bone model of the patient; wherein different postoperative simulated bone models have different rotation center positions;

[0174] A replacement module 1140 is used for performing bone replacement processing on a corresponding bone region in a universal bone-muscle model using each postoperative simulated bone model to obtain at least one initial postoperative simulated bone-muscle model of the patient;

[0175] A correction module 1150 is used to correct each initial postoperative simulated bone and muscle model using the EOS images in multiple postures to obtain at least one candidate postoperative simulated bone and muscle model of the patient;

[0176] A calculation module 1160 is used to calculate the contact force according to the target motion trajectory data and the target plantar pressure data, and in combination with each candidate postoperative simulated bone and muscle model, to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model;

[0177] Prediction module 1170 is used to predict the optimal position of the center of rotation of the hip joint during hip replacement surgery based on all hip joint contact forces.

[0178] Optionally, when the correction module 1150 is used to respectively correct each initial postoperative simulated bone and muscle model using the EOS images in the multiple postures to obtain at least one candidate postoperative simulated bone and muscle model of the patient, the correction module 1150 is used to:

[0179] For each EOS image in each posture, the corresponding posture anatomical parameters are obtained;

[0180] Summarizing all posture anatomical parameters to obtain comprehensive anatomical parameters of the patient;

[0181] The initial postoperative simulated bone and muscle model is modified according to the comprehensive anatomical parameters of the patient to obtain at least one candidate postoperative simulated bone and muscle model of the patient.

[0182] Optionally, when the calculation module 1160 is used to calculate the contact force according to the target motion trajectory data and the target plantar pressure data and in combination with each candidate postoperative simulated bone and muscle model to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model, the calculation module 1160 is used to:

[0183] For each candidate postoperative simulated bone and muscle model, a reverse analysis operation is performed on the candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model;

[0184] According to the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, combined with the geometric properties and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model, the contact force of the hip joint is calculated to determine the contact force of the hip joint under the candidate postoperative simulated bone and muscle model.

[0185] Optionally, the joint reverse analysis data includes joint reverse kinematics data and joint reverse dynamics data. When the calculation module 1160 is used to perform a reverse analysis operation on each candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, the calculation module 1160 is used to:

[0186] According to the target motion trajectory data, inverse kinematics calculation is performed in combination with the candidate postoperative simulated bone and muscle model to obtain joint inverse kinematics data of the patient under the candidate postoperative simulated bone and muscle model;

[0187] According to the target plantar pressure data and joint inverse kinematics data, inverse dynamics calculation is performed in combination with the candidate postoperative simulated bone and muscle model to obtain the joint inverse dynamics data of the patient under the candidate postoperative simulated bone and muscle model.

[0188] Optionally, the calculation module 1160 is further used for:

[0189] Before calculating the contact force of the hip joint based on the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model and combining the geometric properties and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model, the joint reverse analysis data is subjected to residual error elimination and dynamic inconsistency correction processing using an error reduction algorithm.

[0190] Optionally, when the prediction module 1170 is used to predict the optimal position of the center of rotation of the hip joint in hip replacement surgery based on all hip joint contact forces, the prediction module 1170 is used to:

[0191] Based on all hip contact forces, determine the minimum hip contact force;

[0192] The candidate postoperative simulated bone and muscle model corresponding to the minimum hip joint contact force is determined as the target postoperative simulated bone and muscle model, and the position of the hip joint rotation center in the target postoperative simulated bone and muscle model is determined as the optimal position of the hip joint rotation center in hip replacement.

[0193] Optionally, when the acquisition module 1110 is used to acquire the target motion trajectory data and target plantar pressure data during the patient's exercise, the acquisition module 1110 is used to:

[0194] Acquiring initial motion trajectory data of the patient during the motion process captured by a motion capture system, and acquiring initial plantar pressure data of the patient during the motion process collected by a pressure sensor;

[0195] Integrate and store the initial motion trajectory data and the initial plantar pressure data in a predetermined format to obtain target motion data;

[0196] Visually analyzing and processing the target motion data to obtain motion trajectory verification data and plantar pressure verification data;

[0197] Using the motion trajectory verification data to perform consistency verification with the initial motion trajectory data, and using the plantar pressure verification data to perform consistency verification with the initial plantar pressure data;

[0198] If the verification results of the two are consistent, the initial motion trajectory data is determined as the target initial motion trajectory data, and the initial plantar pressure data is determined as the target plantar pressure data.

[0199] See also Fig.10 , Fig.10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.10As shown in , the electronic device 1200 includes a processor 1210 , a memory 1220 and a bus 1230 .

[0200] The memory 1220 stores machine-readable instructions executable by the processor 1210. When the electronic device 1200 is running, the processor 1210 communicates with the memory 1220 via the bus 1230. When the machine-readable instructions are executed by the processor 1210, the above-mentioned Figures 1 to 10 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0201] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figures 1 to 10 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0202] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0203] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0204] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0205] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0206] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0207] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for predicting the position of the center of rotation of the hip joint during hip replacement surgery, characterized in that: The prediction method comprises: Acquire target motion trajectory data and target plantar pressure data during the patient's motion, and acquire CT images of a designated limb area of ​​the patient and EOS images in multiple postures; wherein the designated limb area includes a hip joint; Performing three-dimensional reconstruction processing according to the CT image to determine an initial personalized three-dimensional bone model of the patient; The initial personalized three-dimensional bone model and each prosthesis model with different positions designed for hip replacement are respectively integrated to determine at least one postoperative simulated bone model of the patient; wherein different postoperative simulated bone models have different rotation center positions; For each postoperative simulated bone model, use the postoperative simulated bone model to perform bone replacement processing on the corresponding bone area in the universal bone and muscle model to obtain at least one initial postoperative simulated bone and muscle model of the patient; Using the EOS images in multiple postures to respectively modify each initial postoperative simulated bone and muscle model, to obtain at least one candidate postoperative simulated bone and muscle model of the patient; According to the target motion trajectory data and the target plantar pressure data, contact force is calculated in combination with each candidate postoperative simulated bone and muscle model to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model; To predict the optimal position of the center of rotation of the hip during hip arthroplasty based on all hip contact forces.

2. The prediction method according to claim 1, characterized in that: The method of using the EOS images in multiple postures to respectively correct each initial postoperative simulated bone and muscle model to obtain at least one candidate postoperative simulated bone and muscle model of the patient includes: For each EOS image in each posture, the corresponding posture anatomical parameters are obtained; Summarizing all posture anatomical parameters to obtain comprehensive anatomical parameters of the patient; The initial postoperative simulated bone and muscle model is modified according to the comprehensive anatomical parameters of the patient to obtain at least one candidate postoperative simulated bone and muscle model of the patient.

3. The prediction method according to claim 1, characterized in that: The contact force calculation is performed based on the target motion trajectory data and the target plantar pressure data, and in combination with each candidate postoperative simulated bone and muscle model, to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model, including: For each candidate postoperative simulated bone and muscle model, a reverse analysis operation is performed on the candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model; According to the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, combined with the geometric properties and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model, the contact force of the hip joint is calculated to determine the contact force of the hip joint under the candidate postoperative simulated bone and muscle model.

4. The prediction method according to claim 3, characterized in that: The joint reverse analysis data includes joint reverse kinematics data and joint reverse dynamics data. For each candidate postoperative simulated bone and muscle model, a reverse analysis operation is performed on the candidate postoperative simulated bone and muscle model according to the target motion trajectory data and the target plantar pressure data to obtain the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model, including: According to the target motion trajectory data, inverse kinematics calculation is performed in combination with the candidate postoperative simulated bone and muscle model to obtain joint inverse kinematics data of the patient under the candidate postoperative simulated bone and muscle model; According to the target plantar pressure data and joint inverse kinematics data, inverse dynamics calculation is performed in combination with the candidate postoperative simulated bone and muscle model to obtain the joint inverse dynamics data of the patient under the candidate postoperative simulated bone and muscle model.

5. The prediction method according to claim 3, characterized in that: Before calculating the contact force of the hip joint based on the joint reverse analysis data of the patient under the candidate postoperative simulated bone and muscle model and combining the geometric properties and mechanical properties of the hip joint in the candidate postoperative simulated bone and muscle model, the prediction method further includes: The error reduction algorithm is used to perform residual error elimination processing and dynamic inconsistency correction processing on the joint reverse analysis data.

6. The prediction method according to claim 1, characterized in that: Predict the optimal position of the hip center of rotation during hip arthroplasty based on all hip contact forces, including: Based on all hip contact forces, determine the minimum hip contact force; The candidate postoperative simulated bone and muscle model corresponding to the minimum hip joint contact force is determined as the target postoperative simulated bone and muscle model, and the position of the hip joint rotation center in the target postoperative simulated bone and muscle model is determined as the optimal position of the hip joint rotation center in hip replacement.

7. The prediction method according to claim 1, characterized in that: The acquisition of target motion trajectory data and target plantar pressure data during the patient's motion process includes: Acquiring initial motion trajectory data of the patient during the motion process captured by a motion capture system, and acquiring initial plantar pressure data of the patient during the motion process collected by a pressure sensor; Integrate and store the initial motion trajectory data and the initial plantar pressure data in a predetermined format to obtain target motion data; Visually analyzing and processing the target motion data to obtain motion trajectory verification data and plantar pressure verification data; Using the motion trajectory verification data to perform consistency verification with the initial motion trajectory data, and using the plantar pressure verification data to perform consistency verification with the initial plantar pressure data; If the verification results of the two are consistent, the initial motion trajectory data is determined as the target initial motion trajectory data, and the initial plantar pressure data is determined as the target plantar pressure data.

8. A device for predicting the center of rotation of a hip joint during hip replacement surgery, characterized in that: The prediction device comprises: An acquisition module, used to acquire target motion trajectory data and target plantar pressure data during the patient's motion, and to acquire CT images of a designated limb area of ​​the patient and EOS images in multiple postures; wherein the designated limb area includes a hip joint; A reconstruction module, used for performing three-dimensional reconstruction processing according to the CT image to determine an initial personalized three-dimensional bone model of the patient; An integration module is used to perform model integration processing on the initial personalized three-dimensional bone model and each prosthesis model with different positions designed for hip replacement surgery, so as to determine at least one postoperative simulated bone model of the patient; wherein different postoperative simulated bone models have different rotation center positions; A replacement module is used for performing bone replacement processing on the corresponding bone area in the universal bone and muscle model for each postoperative simulated bone model, using the postoperative simulated bone model to obtain at least one initial postoperative simulated bone and muscle model of the patient; A correction module, used to correct each initial postoperative simulated bone and muscle model respectively using the EOS images in multiple postures to obtain at least one candidate postoperative simulated bone and muscle model of the patient; A calculation module, for calculating the contact force according to the target motion trajectory data and the target plantar pressure data, and respectively combining each candidate postoperative simulated bone and muscle model, to obtain the hip joint contact force under each candidate postoperative simulated bone and muscle model; A prediction module is used to predict the optimal position of the center of rotation of the hip joint during hip arthroplasty based on all hip contact forces.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the prediction method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the prediction method according to any one of claims 1 to 7 are executed.

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