Hip joint prosthesis determination method, device and computer equipment

Abstract

The application relates to a hip joint prosthesis determination method, device and computer equipment. Each candidate hip joint prosthesis is assembled to a target hip joint model to obtain a simulated assembly body, and surgical side parameter information of each simulated assembly body is determined, so that the target hip joint prosthesis is determined from each candidate hip joint prosthesis according to the surgical side parameter information of each simulated assembly body. In the embodiment of the application, the target hip joint prosthesis is determined from each candidate hip joint prosthesis by using the surgical side parameter information of the simulated assembly body, the target hip joint prosthesis is obtained in a parameterized manner, the problem of long time consumption caused by the experience-based selection of medical staff is avoided, reference experience is provided for the medical staff when the target hip joint prosthesis is selected, the operation efficiency is improved, and the operation risk can be reduced.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a method, apparatus and computer device for determining a hip joint prosthesis. Background Technology

[0002] Hip replacement surgery, also known as artificial hip replacement, involves using bone cement and screws to fix a hip prosthesis onto healthy bone to replace the diseased joint and restore normal hip function. The hip prosthesis typically includes an acetabular cup and a femoral stem. Therefore, the selection of the appropriate hip prosthesis is extremely important in hip replacement surgery.

[0003] However, in traditional hip replacement surgery, experienced surgeons usually need to select the hip prosthesis based on their experience, which can be time-consuming. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, and computer device for determining hip joint prostheses that can reduce the time required to address the aforementioned technical problems.

[0005] In a first aspect, this application provides a method for determining a hip joint prosthesis, the method comprising:

[0006] Each candidate hip joint prosthesis is assembled into the target hip joint model to obtain a simulated assembly;

[0007] Determine the surgical parameter information of each of the simulated assemblies;

[0008] Based on the surgical parameters of each of the simulated assemblies, the target hip joint prosthesis is determined from the candidate hip joint prostheses.

[0009] In one embodiment, the surgical parameter information of each of the simulated assemblies includes the difference in lower limb length and the difference in combined eccentricity of each of the simulated assemblies.

[0010] In one embodiment, determining the target hip joint prosthesis from the candidate hip joint prostheses based on the surgical parameter information of each of the simulated assemblies includes:

[0011] The summation of the lower limb length difference and the combined eccentricity difference in the surgical side parameter information of each simulated assembly is determined, and the candidate hip joint prosthesis corresponding to the smallest summation result is taken as the target hip joint prosthesis;

[0012] or,

[0013] The lower limb length difference and combined eccentricity difference in the surgical side parameter information of each simulated assembly are determined, and candidate hip joint prostheses that meet the lower limb length difference <= 7mm are selected. Among the selected candidate hip joint prostheses, the candidate hip joint prostheses that meet the combined eccentricity difference <= 4mm are selected as the target hip joint prostheses.

[0014] In one embodiment, the method further includes:

[0015] Based on the images of the hip joint, each of the candidate hip joint prostheses was determined.

[0016] In one embodiment, determining each of the candidate hip joint prostheses based on the detected images of the hip joint includes:

[0017] Based on the detected image of the hip joint, obtain the joint feature point information of the hip joint in the detected image;

[0018] The hip joint prosthesis is planned based on the detected image, the joint feature point information, and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model.

[0019] An evaluation is conducted based on the planned location, and the evaluation results are obtained. Based on the evaluation results, each of the candidate hip joint prostheses is determined.

[0020] In one embodiment, the step of planning the hip joint prosthesis based on the detected image, the joint feature point information, and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is positioned at the planned location in the target hip joint model, includes:

[0021] Based on the detected image of the hip joint, the joint feature point information, the attribute information of the hip joint prosthesis, and the preset planning conditions corresponding to the hip joint prosthesis, the hip joint prosthesis is placed in a predetermined posture at the target position, so that the hip joint prosthesis is in the planned position in the target hip joint model.

[0022] In one embodiment, the step of evaluating based on the planned location and obtaining evaluation results, and determining each of the candidate hip prostheses based on the evaluation results, includes:

[0023] The planned location is evaluated based on the preset indicators of the hip joint prosthesis to obtain the evaluation result;

[0024] Based on the evaluation results and the attribute information of the hip joint prosthesis corresponding to the evaluation results, each candidate hip joint prosthesis is determined.

[0025] In one embodiment, each hip prosthesis includes an acetabular cup and a femoral stem.

[0026] The preset indicators corresponding to the acetabular cup are: the acetabular cup coverage rate is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset.

[0027] The preset index corresponding to the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact conditions.

[0028] Secondly, this application also provides a hip joint prosthesis determining device, the device comprising:

[0029] The acquisition module is used to assemble each candidate hip joint prosthesis into the target hip joint model to obtain a simulated assembly.

[0030] The first determining module is used to determine the technical parameter information of each of the simulated assemblies;

[0031] The second determining module is used to determine the target hip joint prosthesis from the candidate hip joint prostheses based on the surgical side parameter information of each of the simulated assemblies.

[0032] Thirdly, this application also provides a surgical robot system, which includes a computer device that performs the steps of the method described in the first aspect above.

[0033] Fourthly, this application also provides a computer device, the computer device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0034] Each candidate hip joint prosthesis is assembled into the target hip joint model to obtain a simulated assembly;

[0035] Determine the surgical parameter information of each of the simulated assemblies;

[0036] Based on the surgical parameters of each of the simulated assemblies, the target hip joint prosthesis is determined from the candidate hip joint prostheses.

[0037] Fifthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0038] Each candidate hip joint prosthesis is assembled into the target hip joint model to obtain a simulated assembly;

[0039] Determine the surgical parameter information of each of the simulated assemblies;

[0040] Based on the surgical parameters of each of the simulated assemblies, the target hip joint prosthesis is determined from the candidate hip joint prostheses.

[0041] Sixthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, performs the following steps:

[0042] Each candidate hip joint prosthesis is assembled into the target hip joint model to obtain a simulated assembly;

[0043] Determine the surgical parameter information of each of the simulated assemblies;

[0044] Based on the surgical parameters of each of the simulated assemblies, the target hip joint prosthesis is determined from the candidate hip joint prostheses.

[0045] The aforementioned method, apparatus, and computer equipment for determining hip joint prostheses assemble candidate hip joint prostheses onto a target hip joint model to obtain a simulated assembly. They also determine the surgical parameters of each simulated assembly, thereby identifying the target hip joint prosthesis from among the candidate prostheses based on these parameters. In this embodiment, the target hip joint prosthesis is determined from among the candidate prostheses using the surgical parameters of the simulated assembly. This parameterized method avoids the time-consuming process of relying on experience when selecting a prosthesis, providing reference experience for medical personnel, improving surgical efficiency, and reducing surgical risks. Attached Figure Description

[0046] Figure 1 This is a diagram illustrating the application environment of a hip joint prosthesis determination method in one embodiment.

[0047] Figure 2 This is a flowchart illustrating a method for determining a hip joint prosthesis in one embodiment;

[0048] Figure 3 This is a flowchart illustrating a method for determining a candidate hip joint prosthesis in one embodiment;

[0049] Figure 4 This is a flowchart illustrating a method for determining a candidate hip joint prosthesis in another embodiment;

[0050] Figure 5 This is a structural block diagram of a hip joint prosthesis determining device in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] The hip joint prosthesis determination method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, in one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows. Figure 1 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data related to hip joint prostheses. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for determining hip joint prostheses. The server can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0053] Those skilled in the art will understand that Figure 1 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0054] In one embodiment, such as Figure 2 As shown, a method for determining a hip joint prosthesis is provided, which is then applied to... Figure 1 Taking a computer device as an example, the explanation includes the following steps:

[0055] S201, Assemble each candidate hip joint prosthesis onto the target hip joint model to obtain a simulated assembly.

[0056] Optionally, each candidate hip prosthesis can be a hip prosthesis selected from multiple initial hip prostheses based on the evaluation results of each initial hip prosthesis, or it can be multiple initial hip prostheses directly; candidate hip prostheses include acetabular cups, femoral stems, etc.

[0057] In this embodiment, three-dimensional simulation assembly software can be used to assemble each candidate hip joint prosthesis onto the target hip joint model to obtain a simulated assembly. For example, assembling each candidate hip joint prosthesis onto the target hip joint model can involve assembling the candidate acetabular cup to the planned position of the acetabular fossa of the target hip joint model, assembling the candidate femoral stem to the planned position of the femur of the target hip joint model, and then assembling the acetabular cup and femoral stem together to obtain the simulated assembly.

[0058] S202, determine the technical parameter information of each simulated assembly.

[0059] The surgical parameter information for each simulated assembly includes the difference in lower limb length and the difference in combined eccentricity between the simulated assemblies.

[0060] In this embodiment, after receiving a user-triggered instruction, the measurement tools in the 3D simulation assembly software can be used to measure the positions of joint feature points, obtaining joint feature point information for each simulated assembly. Alternatively, the simulated assembly can be sliced ​​to obtain medical images corresponding to each layer. These multi-layered medical images are then input into a pre-trained network model, which performs target detection and recognition to obtain joint feature point information for each simulated assembly. Optionally, the joint feature point information includes the center of the acetabulum, the radius of the acetabulum, the femoral shaft axis, and the femoral head-neck line in the simulated assembly.

[0061] In this embodiment, the lower limb length is determined based on the joint feature point information of each simulated assembly, and the difference in lower limb length between the two sides is determined based on the lower limb lengths of both sides. For example, the lower limb length can be determined based on the distance between the anterior superior iliac spine and the tip of the medial malleolus on the same side in the joint feature point information, and the difference in lower limb length between the two sides can be determined based on the lower limb lengths of both sides; or the distance between the anterior superior iliac spine and the tip of the lateral malleolus on the same side in the marked points, etc. The lower limb length is determined by measuring the distance between the greater trochanter of the femur and the tip of the medial or lateral malleolus, and the difference in lower limb length between the two sides can be determined based on the lower limb lengths of both sides.

[0062] In this embodiment, a first joint eccentricity is determined based on the femoral head center and femoral shaft axis in the joint feature point information of the simulated assembly. A second joint eccentricity is determined based on the femoral head center and femoral shaft axis in the marker points of the detection image corresponding to the target hip joint. The joint eccentricity difference of the simulated assembly is obtained based on the first joint eccentricity and the second joint eccentricity.

[0063] S203, Based on the surgical parameter information of each simulated assembly, determine the target hip joint prosthesis from each candidate hip joint prosthesis.

[0064] In this embodiment, the summation of the lower limb length difference and the combined eccentricity difference of each simulated assembly can be obtained, and the candidate hip joint prosthesis with the smallest summation result can be determined as the target hip joint prosthesis.

[0065] In one possible implementation, a first simulated assembly with a lower limb length difference less than a preset lower limb length difference can be determined, and a second simulated assembly with a joint eccentricity difference less than a preset joint eccentricity difference can be determined from the first simulated assembly. The candidate hip joint prosthesis corresponding to the second simulated assembly can be used as the target hip joint prosthesis.

[0066] Furthermore, the process of determining the target hip joint prosthesis and the target hip joint prosthesis are recorded and saved as learning cases for offline iterative optimization, providing guidance and reference for subsequent hip joint prosthesis selection.

[0067] In the aforementioned method for determining hip joint prostheses, candidate hip joint prostheses are assembled onto a target hip joint model to obtain a simulated assembly, and surgical parameters of each simulated assembly are determined. Based on these surgical parameters, the target hip joint prosthesis is then determined from among the candidate prostheses. In this embodiment, the target hip joint prosthesis is determined from among the candidate prostheses using the surgical parameters of the simulated assembly. This parameterized method avoids the time-consuming process of relying on experience when selecting a prosthesis, provides reference experience for medical personnel, improves surgical efficiency, and reduces surgical risks.

[0068] This application relates to two possible implementations of how to determine the target hip joint prosthesis from among candidate hip joint prostheses based on the surgical side parameter information of each simulated assembly:

[0069] The first method involves determining the sum of the differences in lower limb length and combined eccentricity in the surgical parameters of each simulated assembly, and then selecting the candidate hip joint prosthesis corresponding to the smallest sum as the target hip joint prosthesis.

[0070] In this embodiment, the differences in lower limb lengths and their corresponding combined eccentricity differences are summed to obtain the summation result. For example, for simulated assembly 1, the difference in lower limb lengths is 0.2 and the difference in combined eccentricity is 1.5, so the summation result is 1.7; for simulated assembly 2, the difference in lower limb lengths is 0.4 and the difference in combined eccentricity is 0.5, so the summation result is 0.9; for simulated assembly 3, the difference in lower limb lengths is 0.7 and the difference in combined eccentricity is 1.5, so the summation result is 2.2.

[0071] Furthermore, the simulated assembly corresponding to the smallest summation result is determined, and the candidate hip joint prosthesis corresponding to this simulated assembly is taken as the target hip joint prosthesis. For example, in the above embodiment, the smallest summation result is 0.9, then the candidate hip joint prosthesis corresponding to simulated assembly 2 is the target hip joint prosthesis.

[0072] The second method involves determining the lower limb length difference and combined eccentricity difference in the surgical parameters of each simulated assembly, screening out candidate hip joint prostheses that meet the lower limb length difference <= 7mm, and selecting the candidate hip joint prostheses that meet the combined eccentricity difference <= 4mm from the screened candidate hip joint prostheses as the target hip joint prostheses.

[0073] In this embodiment, a first candidate hip joint prosthesis with a lower limb length difference of less than or equal to 7 mm can be identified first. From the first candidate hip joint prostheses, a second candidate hip joint prosthesis with a combined eccentricity difference of less than or equal to 4 mm can be selected as the target hip joint prosthesis. Alternatively, a first candidate hip joint prosthesis with a combined eccentricity difference of less than or equal to 4 mm can be screened first. From the first candidate hip joint prostheses, a second candidate hip joint prosthesis with a lower limb length difference of less than or equal to 7 mm can be selected as the target hip joint prosthesis.

[0074] In this embodiment, the target hip joint prosthesis is determined from among candidate hip joint prostheses based on the surgical parameters of each simulated assembly. This embodiment uses the difference in lower limb length and the combined eccentricity difference from the surgical parameters to determine the target hip joint prosthesis, improving the accuracy of target hip joint prosthesis determination. Furthermore, selecting the candidate hip joint prosthesis corresponding to the smallest summation result as the target hip joint prosthesis simplifies the implementation and improves the efficiency of target hip joint prosthesis determination.

[0075] In one embodiment, candidate hip prostheses are determined based on images of the hip joint.

[0076] Optionally, the detected images can be computed tomography (CT) images, magnetic resonance images, and positron emission tomography (PET) images, etc.

[0077] In this embodiment, the historical database stores hip joint models and corresponding hip joint prostheses for each detection image in historical planning cases. Based on the hip joint detection images, detection images with the same or similar physiological parameters as the target hip joint are retrieved from the historical database, and the corresponding hip joint prostheses from the historical planning cases are used as candidate hip joint prostheses. This embodiment fully utilizes historical planning cases, which are all validated and superior prosthesis selection cases. Therefore, it allows for searching within the historical planning cases in the historical database for cases with the same or similar physiological parameters. If such cases exist, they can be retrieved, and simulated assembly and surgical parameters can be calculated first. This embodiment improves the efficiency of acquiring candidate hip joint prostheses. Furthermore, it is understood that after the hip joint prosthesis selection scheme of this embodiment is determined and implemented, the corresponding detection images containing physiological parameters and the finally determined target hip joint prosthesis can also be stored in the historical database for reference in subsequent planning cases.

[0078] Figure 3 This is a flowchart illustrating a method for determining a candidate hip prosthesis in one embodiment, as shown below. Figure 3 As shown, this application embodiment relates to a possible implementation of determining each candidate hip joint prosthesis based on hip joint detection images, including the following steps:

[0079] S301, Based on the detected image of the hip joint, obtain the joint feature point information of the hip joint in the corresponding detected image. 。

[0080] In this embodiment, an image detection algorithm is used to process the detection image to obtain the joint feature point information of the hip joint in the corresponding detection image. 。

[0081] S302, based on the detected image, joint feature point information and the attribute information of the hip joint prosthesis, the hip joint prosthesis is planned so that it is positioned in the planned position in the target hip joint model.

[0082] Optional, the attribute information of the hip prosthesis includes the model, manufacturer, and size information of the hip prosthesis.

[0083] In this embodiment, the hip joint prosthesis is initially planned based on the detected image, joint feature point information and the attribute information of the hip joint prosthesis, and the hip joint prosthesis is placed at the target position in a predetermined posture. The target position is directly used as the planned position of the hip joint prosthesis in the target hip joint model.

[0084] In one possible implementation, the hip joint prosthesis can be placed at the target position in a predetermined posture. Based on the preset planning conditions corresponding to the hip joint prosthesis, the target position of the hip joint prosthesis in the target hip joint model can be adjusted to obtain the planned position of the hip joint prosthesis in the target hip joint model.

[0085] S303, evaluate the planned location and obtain the evaluation results, and determine each candidate hip prosthesis based on the evaluation results.

[0086] In this embodiment, the planned position of the hip joint prosthesis can be evaluated according to preset indicators to obtain evaluation results, and the hip joint prosthesis corresponding to the qualified evaluation results in the evaluation results can be used as candidate hip joint prostheses.

[0087] In this embodiment, based on the detected image of the hip joint, joint feature point information corresponding to the hip joint in the detected image is obtained. The hip joint prosthesis is planned according to the detected image, joint feature point information, and attribute information of the hip joint prosthesis, so that the hip joint prosthesis is positioned at the planned location within the target hip joint model. The planned location is evaluated, and the evaluation result is obtained. Based on the evaluation result, candidate hip joint prostheses are determined. This embodiment plans the hip joint prosthesis to be positioned at the planned location within the target hip joint model, is compatible with different hip joint prosthesis planning methods, includes location planning and planned location evaluation functions, and provides relevant indicators for hip joint prosthesis planning.

[0088] This application relates to a possible implementation of how to plan a hip joint prosthesis based on a detection image, joint feature point information, and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located at the planned position in the target hip joint model, including:

[0089] Based on the hip joint detection image, joint feature point information, hip joint prosthesis attribute information, and the preset planning conditions corresponding to the hip joint prosthesis, the hip joint prosthesis is placed in the target position with a predetermined posture, so that the hip joint prosthesis is in the planned position in the target hip joint model.

[0090] Hip joint prostheses include the acetabular cup and the femoral stem.

[0091] In this embodiment, the acetabular cup is placed at the corresponding target position with a preset forward tilt angle and a preset abduction angle as the predetermined posture. That is, the position where the center point of the acetabular cup coincides with the center point of the acetabular fossa of the target hip joint model.

[0092] With the axis of the femoral stem coinciding with the axis of the femoral shaft as the predetermined posture, the femoral stem is placed at the corresponding target position, which is the intersection of two lines, namely the intersection of the first line connecting the center point of the femoral stem and the femoral head, and the second line connecting the center point of the femoral neck and the femoral shaft.

[0093] Optionally, the preset planning conditions for the acetabular cup are the position of the center point of the acetabular cup and the degrees of freedom of the acetabular cup in the x, y, and z directions; the preset planning conditions for the femoral stem are the axial direction of the femoral stem.

[0094] In this embodiment, the target position of the acetabular cup in the target hip joint model is adjusted according to the preset planning conditions of the acetabular cup, so that the acetabular cup is in the planned position in the target hip joint model; and the target position of the femoral stem is adjusted according to the preset planning conditions of the femoral stem, so that the femoral stem is in the planned position in the target hip joint model.

[0095] In this embodiment, based on the detected image of the hip joint and the attribute information of the hip joint prosthesis, the hip joint prosthesis is placed at the target position in a predetermined posture. According to the preset planning conditions corresponding to the hip joint prosthesis, the target position of the hip joint prosthesis in the target hip joint model is adjusted, ensuring that the hip joint prosthesis is positioned at the planned position within the target hip joint model. This embodiment utilizes preset planning conditions to adjust the target position of the hip joint prosthesis in the target hip joint model, obtaining the planned position of the hip joint prosthesis within the target hip joint model, thus laying the foundation for determining candidate hip joint prostheses based on the planned position.

[0096] Figure 4 This is a flowchart illustrating a method for determining a candidate hip prosthesis in another embodiment, as shown below. Figure 4As shown, this application embodiment relates to how to evaluate based on the planned location and obtain the evaluation results, and determine a possible implementation method for each candidate hip joint prosthesis based on the evaluation results, including the following steps:

[0097] S401, evaluate the planned position based on the preset indicators of the hip joint prosthesis, and obtain the evaluation results.

[0098] The preset indicators for the acetabular cup are: the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset; the preset indicators for the femoral stem are: the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact conditions.

[0099] In this embodiment, the planned position is evaluated according to the preset indicators of the hip joint prosthesis to obtain the evaluation result. When the acetabular cup is in the planned position in the target hip joint model, the coverage rate of the acetabular cup, the radius of the acetabular cup, and the offset of the center point of the acetabular fossa are obtained. If the coverage rate of the acetabular cup is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset, then the evaluation result of the acetabular cup is qualified. If any one of them is not satisfied, then the evaluation result of the acetabular cup is unqualified.

[0100] When the preset contact conditions are met, the amount of femoral medullary canal resurfacing is relatively small. Therefore, when the femoral stem is in the planned position within the target hip joint model, the contact between the femoral stem and the femoral medullary canal of the target hip joint model is obtained. If the contact between the femoral stem and the target hip joint model meets the preset contact conditions, the evaluation result of the femoral stem is qualified; if the contact between the femoral stem and the target hip joint model does not meet the preset contact conditions, the evaluation result of the femoral stem is unqualified. Optionally, if the morphology of the femoral stem and the femoral medullary canal of the target hip joint model matches consistently, the preset contact conditions are considered met; if the effective contact area between the femoral stem and the femoral medullary canal of the target hip joint is greater than a preset area threshold, the preset contact conditions are considered met.

[0101] S402, Based on the evaluation results and the attribute information of the hip joint prosthesis corresponding to the evaluation results, determine each candidate hip joint prosthesis.

[0102] In this embodiment, the qualified first evaluation result is determined, and the hip joint prosthesis corresponding to the first evaluation result can be used as the initial hip joint prosthesis. Based on the attribute information and preset attribute information of the initial hip joint prosthesis, the initial hip joint prosthesis is further screened, and the initial hip joint prosthesis that meets the preset attribute information is used as the candidate hip joint prosthesis.

[0103] In this embodiment, the planned location is evaluated based on preset indicators of the hip joint prosthesis to obtain evaluation results. Based on the evaluation results and the corresponding attribute information of the hip joint prosthesis, candidate hip joint prostheses are determined. This embodiment utilizes evaluation results to determine candidate hip joint prostheses, simplifying the process of determining the target hip joint prosthesis based on candidate hip joint prostheses and the target hip joint model, and improving the efficiency of target hip joint prosthesis determination.

[0104] In one embodiment, a surgical robot system is provided, the surgical robot system including a computer device for implementing the hip joint prosthesis determination method provided in any of the above embodiments, thereby determining a target hip joint prosthesis.

[0105] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0106] Based on the same inventive concept, this application also provides a hip joint prosthesis determining device for implementing the hip joint prosthesis determining method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the hip joint prosthesis determining device provided below can be found in the limitations of the hip joint prosthesis determining method described above, and will not be repeated here.

[0107] In one embodiment, such as Figure 5 As shown, a hip joint prosthesis determination device is provided, comprising: an acquisition module 11, a first determination module 12, and a second determination module 13, wherein:

[0108] Module 11 is used to assemble each candidate hip joint prosthesis into the target hip joint model to obtain a simulated assembly;

[0109] The first determining module 12 is used to determine the technical parameter information of each simulated assembly;

[0110] The second determining module 13 is used to determine the target hip joint prosthesis from among the candidate hip joint prostheses based on the surgical parameter information of each simulated assembly.

[0111] In one embodiment, the surgical parameter information for each simulated assembly includes the difference in lower limb length and the difference in combined eccentricity between the simulated assemblies.

[0112] In one embodiment, the second determining module is used to determine the summation result of the lower limb length difference and the combined eccentricity difference in the surgical side parameter information of each simulated assembly, and to take the candidate hip joint prosthesis corresponding to the smallest summation result as the target hip joint prosthesis;

[0113] Alternatively, the lower limb length difference and combined eccentricity difference in the surgical side parameter information of each simulated assembly can be used to screen out candidate hip joint prostheses that meet the lower limb length difference <= 7mm, and the candidate hip joint prostheses that meet the combined eccentricity difference <= 4mm among the screened candidate hip joint prostheses can be used as target hip joint prostheses.

[0114] In one embodiment, the hip prosthesis determining device further includes:

[0115] The third determination module is used to determine each candidate hip joint prosthesis based on the detection images of the hip joint.

[0116] In one embodiment, the third determining module includes:

[0117] The acquisition unit is used to acquire joint feature point information of the hip joint in the corresponding detection image based on the detection image of the hip joint;

[0118] The planning unit is used to plan the hip joint prosthesis based on the detected image, joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located in the planned position in the target hip joint model.

[0119] The first determining unit is used to evaluate the planned location and obtain the evaluation results, and to determine each candidate hip joint prosthesis based on the evaluation results.

[0120] In one embodiment, the planning unit is further configured to place the hip joint prosthesis in a predetermined posture at the target position based on the hip joint detection image, joint feature point information, attribute information of the hip joint prosthesis, and preset planning conditions corresponding to the hip joint prosthesis, so that the hip joint prosthesis is in the planned position in the target hip joint model.

[0121] In one embodiment, the first determining unit is further configured to evaluate the planned position according to the preset indicators of the hip joint prosthesis and obtain the evaluation result; and determine each candidate hip joint prosthesis according to the evaluation result and the attribute information of the hip joint prosthesis corresponding to the evaluation result.

[0122] In one embodiment, each hip prosthesis includes an acetabular cup and a femoral stem.

[0123] The preset indicators for the acetabular cup are: the acetabular cup coverage rate is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset.

[0124] The preset index corresponding to the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact conditions.

[0125] The modules in the aforementioned hip joint prosthesis determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0126] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0127] Each candidate hip joint prosthesis is assembled into the target hip joint model to obtain a simulated assembly;

[0128] Determine the surgical parameter information for each simulated assembly;

[0129] Based on the surgical parameters of each simulated assembly, the target hip joint prosthesis is determined from the candidate hip joint prostheses.

[0130] In one embodiment, the surgical parameter information for each simulated assembly includes the difference in lower limb length and the difference in combined eccentricity between the simulated assemblies.

[0131] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0132] The summation of the lower limb length difference and combined eccentricity difference in the surgical side parameter information of each simulated assembly is determined, and the candidate hip joint prosthesis corresponding to the smallest summation result is taken as the target hip joint prosthesis;

[0133] or,

[0134] The lower limb length difference and combined eccentricity difference in the surgical parameters of each simulated assembly were determined, and candidate hip joint prostheses that meet the lower limb length difference <= 7mm were selected. Among the selected candidate hip joint prostheses, the candidate hip joint prostheses that meet the combined eccentricity difference <= 4mm were selected as the target hip joint prostheses.

[0135] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0136] Based on the images of the hip joint, candidate hip prostheses were identified.

[0137] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0138] Based on the detected images of the hip joint, obtain the joint feature point information of the hip joint in the corresponding detected images;

[0139] The hip joint prosthesis is planned based on the detected images, joint feature point information, and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located in the planned position in the target hip joint model.

[0140] An assessment is conducted based on the planned location, and the results are used to determine the candidate hip prostheses.

[0141] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0142] Based on the hip joint detection image, joint feature point information, hip joint prosthesis attribute information, and the preset planning conditions corresponding to the hip joint prosthesis, the hip joint prosthesis is placed in the target position with a predetermined posture, so that the hip joint prosthesis is in the planned position in the target hip joint model.

[0143] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0144] The planned location is evaluated based on the preset parameters of the hip joint prosthesis, and the evaluation results are obtained.

[0145] Based on the evaluation results and the corresponding attribute information of the hip joint prosthesis, each candidate hip joint prosthesis is determined.

[0146] In one embodiment, each hip prosthesis includes an acetabular cup and a femoral stem.

[0147] The preset indicators for the acetabular cup are: the acetabular cup coverage rate is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset.

[0148] The preset index for the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact conditions.

[0149] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0150] Each candidate hip joint prosthesis is assembled into the target hip joint model to obtain a simulated assembly;

[0151] Determine the technical parameters of each simulated assembly;

[0152] Based on the surgical parameters of each simulated assembly, the target hip joint prosthesis is determined from the candidate hip joint prostheses.

[0153] In one embodiment, the surgical parameter information for each simulated assembly includes the difference in lower limb length and the difference in combined eccentricity between the simulated assemblies.

[0154] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0155] The summation of the lower limb length difference and combined eccentricity difference in the surgical side parameter information of each simulated assembly is determined, and the candidate hip joint prosthesis corresponding to the smallest summation result is taken as the target hip joint prosthesis;

[0156] or,

[0157] The lower limb length difference and combined eccentricity difference in the surgical parameters of each simulated assembly were determined, and candidate hip joint prostheses that meet the lower limb length difference <= 7mm were selected. Among the selected candidate hip joint prostheses, the candidate hip joint prostheses that meet the combined eccentricity difference <= 4mm were selected as the target hip joint prostheses.

[0158] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0159] Based on the images of the hip joint, candidate hip prostheses were identified.

[0160] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0161] Based on the detected images of the hip joint, obtain the joint feature point information of the hip joint in the corresponding detected images;

[0162] The hip joint prosthesis is planned based on the detected images, joint feature point information, and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located in the planned position in the target hip joint model.

[0163] An assessment is conducted based on the planned location, and the results are used to determine the candidate hip prostheses.

[0164] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0165] Based on the hip joint detection image, joint feature point information, hip joint prosthesis attribute information, and the preset planning conditions corresponding to the hip joint prosthesis, the hip joint prosthesis is placed in the target position with a predetermined posture, so that the hip joint prosthesis is in the planned position in the target hip joint model.

[0166] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0167] The planned location is evaluated based on the preset parameters of the hip joint prosthesis, and the evaluation results are obtained.

[0168] Based on the evaluation results and the corresponding attribute information of the hip joint prosthesis, each candidate hip joint prosthesis is determined.

[0169] In one embodiment, each hip prosthesis includes an acetabular cup and a femoral stem.

[0170] The preset indicators for the acetabular cup are: the acetabular cup coverage rate is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset.

[0171] The preset index for the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact conditions.

[0172] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0173] Each candidate hip joint prosthesis is assembled into the target hip joint model to obtain a simulated assembly;

[0174] Determine the technical parameters of each simulated assembly;

[0175] Based on the surgical parameters of each simulated assembly, the target hip joint prosthesis is determined from the candidate hip joint prostheses.

[0176] In one embodiment, the surgical parameter information for each simulated assembly includes the difference in lower limb length and the difference in combined eccentricity between the simulated assemblies.

[0177] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0178] The summation of the lower limb length difference and combined eccentricity difference in the surgical side parameter information of each simulated assembly is determined, and the candidate hip joint prosthesis corresponding to the smallest summation result is taken as the target hip joint prosthesis;

[0179] or,

[0180] The lower limb length difference and combined eccentricity difference in the surgical parameters of each simulated assembly were determined, and candidate hip joint prostheses that meet the lower limb length difference <= 7mm were selected. Among the selected candidate hip joint prostheses, the candidate hip joint prostheses that meet the combined eccentricity difference <= 4mm were selected as the target hip joint prostheses.

[0181] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0182] Based on the images of the hip joint, candidate hip prostheses were identified.

[0183] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0184] Based on the detected images of the hip joint, obtain the joint feature point information of the hip joint in the corresponding detected images;

[0185] The hip joint prosthesis is planned based on the detected images, joint feature point information, and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located in the planned position in the target hip joint model.

[0186] An assessment is conducted based on the planned location, and the results are used to determine the candidate hip prostheses.

[0187] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0188] Based on the hip joint detection image, joint feature point information, hip joint prosthesis attribute information, and the preset planning conditions corresponding to the hip joint prosthesis, the hip joint prosthesis is placed in the target position with a predetermined posture, so that the hip joint prosthesis is in the planned position in the target hip joint model.

[0189] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0190] The planned location is evaluated based on the preset parameters of the hip joint prosthesis, and the evaluation results are obtained.

[0191] Based on the evaluation results and the corresponding attribute information of the hip joint prosthesis, each candidate hip joint prosthesis is determined.

[0192] In one embodiment, various types of hip prostheses include an acetabular cup and a femoral stem.

[0193] The preset indicators for the acetabular cup are: the acetabular cup coverage rate is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset.

[0194] The preset index for the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact conditions.

[0195] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0196] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0197] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0198] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining a hip joint prosthesis, characterized in that, The method includes: Each candidate hip joint prosthesis is assembled into the target hip joint model to obtain a simulated assembly; Determine the surgical parameter information of each of the simulated assemblies; Based on the surgical parameters of each of the simulated assemblies, the target hip joint prosthesis is determined from each of the candidate hip joint prostheses; The target hip joint prosthesis and the corresponding simulated assembly are stored, and the process of determining the target hip joint prosthesis based on the target hip joint prosthesis and the corresponding simulated assembly is optimized offline iteratively. Based on the detection image of the hip joint, obtain the joint feature point information of the hip joint in the detection image; plan the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located in the planned position in the target hip joint model; evaluate according to the planned position and obtain the evaluation result, and determine each of the candidate hip joint prostheses according to the evaluation result.

2. The method according to claim 1, characterized in that, The surgical parameter information of each of the simulated assemblies includes the difference in lower limb length and the difference in combined eccentricity of each of the simulated assemblies.

3. The method according to claim 1, characterized in that, The step of determining the target hip joint prosthesis from among the candidate hip joint prostheses based on the surgical parameter information of each of the simulated assemblies includes: The summation of the lower limb length difference and the combined eccentricity difference in the surgical side parameter information of each simulated assembly is determined, and the candidate hip joint prosthesis corresponding to the smallest summation result is taken as the target hip joint prosthesis; or, The lower limb length difference and combined eccentricity difference in the surgical side parameter information of each simulated assembly are determined, and candidate hip joint prostheses that meet the lower limb length difference <= 7mm are selected. Among the selected candidate hip joint prostheses, the candidate hip joint prosthesis that meets the combined eccentricity difference <= 4mm is selected as the target hip joint prosthesis.

4. The method according to claim 1, characterized in that, The step of planning the hip joint prosthesis based on the detected image, the joint feature point information, and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is positioned at the planned location in the target hip joint model, includes: Based on the detected image of the hip joint, the joint feature point information, the attribute information of the hip joint prosthesis, and the preset planning conditions corresponding to the hip joint prosthesis, the hip joint prosthesis is placed in a predetermined posture at the target position, so that the hip joint prosthesis is in the planned position in the target hip joint model.

5. The method according to claim 4, characterized in that, The step of evaluating based on the planned location and obtaining evaluation results, and determining each of the candidate hip joint prostheses based on the evaluation results, includes: The planned location is evaluated based on the preset indicators of the hip joint prosthesis to obtain the evaluation result; Based on the evaluation results and the attribute information of the hip joint prosthesis corresponding to the evaluation results, each candidate hip joint prosthesis is determined.

6. The method according to claim 5, characterized in that, Each hip joint prosthesis includes the acetabular cup and femoral stem. The preset indicators corresponding to the acetabular cup are: the acetabular cup coverage rate is greater than the preset coverage rate, the radius of the acetabular cup is within the preset radius range, and the offset of the center point of the acetabular fossa is less than the preset offset. The preset index corresponding to the femoral stem is that the contact between the femoral stem and the femoral medullary cavity of the target hip joint model meets the preset contact conditions.

7. A hip joint prosthesis determining device, characterized in that, The device includes: The acquisition module is used to assemble each candidate hip joint prosthesis into the target hip joint model to obtain a simulated assembly. The first determining module is used to determine the technical parameter information of each of the simulated assemblies; The second determining module is used to determine the target hip joint prosthesis from the candidate hip joint prostheses based on the surgical side parameter information of each of the simulated assemblies; The target hip joint prosthesis and the corresponding simulated assembly are stored, and the process of determining the target hip joint prosthesis based on the target hip joint prosthesis and the corresponding simulated assembly is optimized offline iteratively. The third determining module is used to obtain joint feature point information of the hip joint in the detection image based on the detection image of the hip joint; plan the hip joint prosthesis according to the detection image, the joint feature point information and the attribute information of the hip joint prosthesis, so that the hip joint prosthesis is located in the planned position in the target hip joint model; evaluate according to the planned position and obtain the evaluation result; and determine each of the candidate hip joint prostheses according to the evaluation result.

8. A surgical robot system, characterized in that, The surgical robot system includes a computer device that performs the steps of the method as described in any one of claims 1 to 6.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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