Joint reconstruction full-dimension operation planning method based on anatomy biomechanical kinematics

Abstract

The invention provides a joint reconstruction full-dimensional operation planning method, system and device based on anatomy biomechanical kinematics and a computer readable storage medium. The method comprises the following steps: acquiring a hip joint CT image of a patient; performing three-dimensional reconstruction based on the hip joint CT image to obtain a hip joint three-dimensional model; performing preoperative planning based on the hip joint three-dimensional model to obtain an initial preoperative planning scheme; after a simulation operation is carried out according to the initial preoperative planning scheme, postoperative motion simulation is carried out on the hip joint femur and the hip joint pelvis, and whether the corresponding normal joint motion range can be reached or not through various motion simulation is judged; and if at least one motion simulation cannot reach the corresponding normal joint motion range, adjusting the initial preoperative planning scheme to obtain a final preoperative planning scheme. According to the embodiment of the invention, preoperative planning can be more accurately carried out.

Description

Technical Field

[0001] The present application belongs to the field of preoperative planning, and in particular, relates to a method, system, device and computer-readable storage medium for full-dimensional surgical planning of joint reconstruction based on anatomy, biomechanics and kinematics. Background Art

[0002] At present, the relevant technology discloses a method for evaluating the postoperative joint mobility of hip replacement surgery, including: completing the hip replacement surgery, registering the patient's hip bone and femur in the camera coordinate system; calculating the mobility of the femur in three directions: external rotation and internal rotation, abduction and adduction, and flexion and extension; recording the range of motion of the femur, and evaluating the femoral mobility of the patient after surgery.

[0003] It can be seen that this method is used to evaluate the femoral mobility of patients after hip replacement surgery, but the preoperative plan cannot be adjusted and modified at this time.

[0004] Therefore, how to perform preoperative planning more accurately is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The embodiments of the present application provide a method, system, device and computer-readable storage medium for full-dimensional surgical planning of joint reconstruction based on anatomy, biomechanics and kinematics, which can perform preoperative planning more accurately.

[0006] In a first aspect, the present application provides a method for full-dimensional surgical planning of joint reconstruction based on anatomy, biomechanics and kinematics, including:

[0007] Obtain a CT image of the patient's hip joint;

[0008] Perform three-dimensional reconstruction based on the hip joint CT image to obtain a three-dimensional model of the hip joint;

[0009] Perform preoperative planning based on the three-dimensional model of the hip joint to obtain the initial preoperative planning plan;

[0010] After the simulated surgery was performed according to the initial preoperative planning plan, the postoperative motion simulation of the hip joint, femur and pelvis was performed to determine whether the various motion simulations could achieve the corresponding normal joint range of motion; the motion simulation of the femur included: abduction, adduction, flexion, extension, external rotation after flexion, and internal rotation after flexion; the motion simulation of the pelvis included: anteversion, posterior tilt, ascent, descent, and rotation;

[0011] If at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the initial preoperative planning plan is adjusted to obtain the final preoperative planning plan.

[0012] Optionally, after obtaining the patient's hip joint CT image, the following is also included:

[0013] Perform denoising and smoothing preprocessing on hip joint CT images;

[0014] Among them, the denoising process includes Gaussian filtering, median filtering and bilateral filtering;

[0015] The smoothing process includes anisotropic diffusion and non-local means filtering.

[0016] Optionally, the hip joint CT image is preprocessed for denoising and smoothing, including:

[0017] Select a filter kernel size of 3x3 or 5x5. The kernel size directly affects the degree of denoising.

[0018] Use the Gaussian filter kernel to perform convolution operations with the image to remove high-frequency noise;

[0019] Select the diffusion coefficient to control the diffusion intensity during the smoothing process;

[0020] The value of each pixel in the image is updated multiple times according to the diffusion equation to make the image gradually smooth.

[0021] Optionally, three-dimensional reconstruction is performed based on the hip joint CT image to obtain a three-dimensional model of the hip joint, including:

[0022] Import hip joint CT images into 3D reconstruction software;

[0023] Perform image segmentation on the hip joint CT image to obtain the image segmentation result;

[0024] Perform three-dimensional reconstruction according to the image segmentation results to obtain an initial three-dimensional model of the hip joint;

[0025] The initial hip joint 3D model is smoothed and filled with holes to obtain the final hip joint 3D model.

[0026] Optionally, preoperative planning is performed based on the three-dimensional model of the hip joint to obtain an initial preoperative planning plan, including:

[0027] Based on the three-dimensional model of the hip joint, key anatomical markings are made; the anatomical landmarks include the femoral head, acetabular rim, acetabular center, and femoral neck axis, which are used to determine the installation position and angle of the prosthesis;

[0028] Determine the type of prosthesis and match the size of the prosthesis;

[0029] Determine the implant position and angle;

[0030] Select the surgical approach and simulate the surgical operation path.

[0031] An initial preoperative planning plan is generated based on comprehensive information such as prosthesis selection, installation position, surgical approach, and motor function prediction.

[0032] Optionally, after the simulated surgery according to the initial preoperative planning plan, postoperative motion simulations of the hip joint, femur, and pelvis are performed to determine whether various motion simulations can achieve the corresponding normal joint range of motion, including:

[0033] After the simulated surgery according to the initial preoperative planning plan, simulate the hip joint in abduction and adduction to observe whether there is abnormal contact or conflict between the prosthesis and the bone;

[0034] Simulate the movement of the femur in flexion and extension, focusing on the rotational friction between the acetabulum and the femur, and whether there is any obstruction or jamming;

[0035] With the femur flexed, simulate external rotation and internal rotation to observe the flexibility of joint rotation, with a focus on assessing whether there is friction or interference between the prosthesis edge and soft tissue;

[0036] By simulating the change in the anteroposterior tilt of the pelvis, the stability of the prosthesis position at different tilt angles is tested to ensure that there is no excessive pressure on the joints;

[0037] Simulate the lifting and lowering movement of the pelvis, mainly to detect the relative distance between the prosthesis and the femur and the contact between the joint cavity at different heights;

[0038] The pelvic rotation simulation is used to test the rotation angle of the pelvis to ensure that the joint movement is not restricted during the rotation movement and that normal mechanical balance can be maintained.

[0039] Optionally, if at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the initial preoperative planning scheme is adjusted to obtain a final preoperative planning scheme, including:

[0040] If at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the acetabular prosthesis and femoral prosthesis in the initial preoperative planning plan will be adjusted in model;

[0041] Adjust the prosthesis implantation angle and surgical approach.

[0042] In a second aspect, the present application embodiment provides a full-dimensional joint reconstruction surgery planning system based on anatomy, biomechanics and kinematics, including:

[0043] An image acquisition module, used for acquiring a CT image of a patient's hip joint;

[0044] A three-dimensional reconstruction module is used to perform three-dimensional reconstruction based on the hip joint CT image to obtain a three-dimensional model of the hip joint;

[0045] Preoperative planning module, used to perform preoperative planning based on the three-dimensional model of the hip joint and obtain the initial preoperative planning plan;

[0046] The postoperative motion simulation module is used to simulate the postoperative motion of the hip joint, femur and pelvis respectively after the simulated surgery according to the initial preoperative planning plan, to determine whether various motion simulations can achieve the corresponding normal joint range of motion; the motion simulation of the femur includes: abduction, adduction, flexion, extension, external rotation after flexion and internal rotation after flexion; the motion simulation of the pelvis includes: anteversion, posterior tilt, ascent, descent and rotation;

[0047] The preoperative planning scheme adjustment module is used to adjust the initial preoperative planning scheme if at least one of the motion simulations cannot achieve the corresponding normal joint activity range, so as to obtain the final preoperative planning scheme.

[0048] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0049] When the processor executes the computer program instructions, a full-dimensional surgical planning method for joint reconstruction based on anatomical biomechanics and kinematics is implemented.

[0050] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement a full-dimensional surgical planning method for joint reconstruction based on anatomy, biomechanics and kinematics.

[0051] The full-dimensional surgical planning method, system, device and computer-readable storage medium for joint reconstruction based on anatomy, biomechanics and kinematics of the embodiments of the present application can perform preoperative planning more accurately.

[0052] This full-dimensional surgical planning method for joint reconstruction based on anatomical biomechanics and kinematics includes:

[0053] Obtain a CT image of the patient's hip joint;

[0054] Perform three-dimensional reconstruction based on the hip joint CT image to obtain a three-dimensional model of the hip joint;

[0055] Perform preoperative planning based on the three-dimensional model of the hip joint to obtain the initial preoperative planning plan;

[0056] After the simulated surgery was performed according to the initial preoperative planning plan, the postoperative motion simulation of the hip joint, femur and pelvis was performed to determine whether the various motion simulations could achieve the corresponding normal joint range of motion; the motion simulation of the femur included: abduction, adduction, flexion, extension, external rotation after flexion, and internal rotation after flexion; the motion simulation of the pelvis included: anteversion, posterior tilt, ascent, descent, and rotation;

[0057] If at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the initial preoperative planning plan is adjusted to obtain the final preoperative planning plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 It is a flowchart of a full-dimensional surgical planning method for joint reconstruction based on anatomy, biomechanics and kinematics provided by an embodiment of the present application;

[0060] Figure 2 is a schematic diagram of femoral motion simulation provided by one embodiment of the present application;

[0061] Figure 3 is a schematic diagram of femoral pelvic linkage functional motion simulation provided by an embodiment of the present application;

[0062] Figure 4 It is a structural schematic diagram of a full-dimensional surgical planning system for joint reconstruction based on anatomy, biomechanics and kinematics provided by an embodiment of the present application;

[0063] Figure 5 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0064] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0065] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0066] In order to solve the problems of the prior art, the embodiments of the present application provide a method, system, device and computer-readable storage medium for full-dimensional surgery planning of joint reconstruction based on anatomical biomechanics and kinematics. The following first introduces the full-dimensional surgery planning method for joint reconstruction based on anatomical biomechanics and kinematics provided by the embodiments of the present application.

[0067] Figure 1 FIG. 1 is a flow chart of a method for full-dimensional joint reconstruction surgery planning based on anatomical biomechanics and kinematics provided by an embodiment of the present application. Figure 1 As shown, the full-dimensional surgical planning method for joint reconstruction based on anatomical biomechanics and kinematics includes:

[0068] S101, obtaining a CT image of a patient's hip joint;

[0069] S102, performing three-dimensional reconstruction based on the hip joint CT image to obtain a three-dimensional model of the hip joint;

[0070] S103, performing preoperative planning based on the three-dimensional model of the hip joint to obtain an initial preoperative planning plan;

[0071] S104. After the simulated surgery is performed according to the initial preoperative planning scheme, the postoperative motion simulation of the hip joint, femur and pelvis is performed respectively to determine whether the various motion simulations can achieve the corresponding normal joint range of motion; wherein the motion simulation of the femur includes: abduction, adduction, flexion, extension, external rotation after flexion and internal rotation after flexion; the motion simulation of the pelvis includes: anteversion, posterior tilt, ascent, descent and rotation;

[0072] Figure 2 is a schematic diagram of femoral motion simulation provided by one embodiment of the present application; Figure 3 It is a schematic diagram of the femoral-pelvic linkage functional motion simulation provided by an embodiment of the present application.

[0073] S105: If at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the initial preoperative planning scheme is adjusted to obtain a final preoperative planning scheme.

[0074] In one embodiment, after acquiring the patient's hip joint CT image, the method further includes:

[0075] Perform denoising and smoothing preprocessing on hip joint CT images;

[0076] Among them, the denoising process includes Gaussian filtering, median filtering and bilateral filtering;

[0077] The smoothing process includes anisotropic diffusion and non-local means filtering.

[0078] In one embodiment, the hip joint CT image is preprocessed for denoising and smoothing, including:

[0079] Select a filter kernel size of 3x3 or 5x5. The kernel size directly affects the degree of denoising.

[0080] Use the Gaussian filter kernel to perform convolution operations with the image to remove high-frequency noise;

[0081] Select the diffusion coefficient to control the diffusion intensity during the smoothing process;

[0082] The value of each pixel in the image is updated multiple times according to the diffusion equation to make the image gradually smooth.

[0083] In one embodiment, three-dimensional reconstruction is performed based on the hip joint CT image to obtain a three-dimensional model of the hip joint, including:

[0084] Import hip joint CT images into 3D reconstruction software;

[0085] Perform image segmentation on the hip joint CT image to obtain the image segmentation result;

[0086] Perform three-dimensional reconstruction according to the image segmentation results to obtain an initial three-dimensional model of the hip joint;

[0087] The initial hip joint 3D model is smoothed and filled with holes to obtain the final hip joint 3D model.

[0088] In one embodiment, preoperative planning is performed based on the three-dimensional model of the hip joint to obtain an initial preoperative planning scheme, including:

[0089] Based on the three-dimensional model of the hip joint, key anatomical markings are made; the anatomical landmarks include the femoral head, acetabular rim, acetabular center, and femoral neck axis, which are used to determine the installation position and angle of the prosthesis;

[0090] Determine the type of prosthesis and match the size of the prosthesis;

[0091] Determine the implant position and angle;

[0092] Select the surgical approach and simulate the surgical operation path.

[0093] An initial preoperative planning plan is generated based on comprehensive information such as prosthesis selection, installation position, surgical approach, and motor function prediction.

[0094] In one embodiment, after the simulated surgery is performed according to the initial preoperative planning scheme, postoperative motion simulations are performed on the hip joint, femur, and pelvis respectively to determine whether various motion simulations can achieve the corresponding normal joint range of motion, including:

[0095] After the simulated surgery according to the initial preoperative planning plan, simulate the hip joint in abduction and adduction to observe whether there is abnormal contact or conflict between the prosthesis and the bone;

[0096] Simulate the movement of the femur in flexion and extension, focusing on the rotational friction between the acetabulum and the femur, and whether there is any obstruction or jamming;

[0097] With the femur flexed, simulate external rotation and internal rotation to observe the flexibility of joint rotation, with a focus on assessing whether there is friction or interference between the prosthesis edge and soft tissue;

[0098] By simulating the change in the anteroposterior tilt of the pelvis, the stability of the prosthesis position at different tilt angles is tested to ensure that there is no excessive pressure on the joints;

[0099] Simulate the lifting and lowering movement of the pelvis, mainly to detect the relative distance between the prosthesis and the femur and the contact between the joint cavity at different heights;

[0100] The pelvic rotation simulation is used to test the rotation angle of the pelvis to ensure that the joint movement is not restricted during the rotation movement and that normal mechanical balance can be maintained.

[0101] In one embodiment, if at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the initial preoperative planning scheme is adjusted to obtain a final preoperative planning scheme, including:

[0102] If at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the acetabular prosthesis and femoral prosthesis in the initial preoperative planning plan will be adjusted in model;

[0103] Adjust the prosthesis implantation angle and surgical approach.

[0104] Figure 4: is a structural schematic diagram of a joint reconstruction full-dimensional surgical planning system based on anatomical biomechanics and kinematics provided by an embodiment of the present application; the joint reconstruction full-dimensional surgical planning system based on anatomical biomechanics and kinematics comprises:

[0105] An image acquisition module 401 is used to acquire a CT image of a patient's hip joint;

[0106] A three-dimensional reconstruction module 402 is used to perform three-dimensional reconstruction based on the hip joint CT image to obtain a three-dimensional model of the hip joint;

[0107] A preoperative planning module 403 is used to perform preoperative planning based on the three-dimensional model of the hip joint to obtain an initial preoperative planning plan;

[0108] The postoperative motion simulation module 404 is used to perform postoperative motion simulation on the hip joint, femur and pelvis respectively after the simulated surgery is performed according to the initial preoperative planning scheme, and determine whether various motion simulations can achieve the corresponding normal joint range of motion; wherein the motion simulation of the femur includes: abduction, adduction, flexion, extension, external rotation after flexion and internal rotation after flexion; the motion simulation of the pelvis includes: anteversion, posterior tilt, ascent, descent and rotation;

[0109] The preoperative planning scheme adjustment module 405 is used to adjust the initial preoperative planning scheme if at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, so as to obtain a final preoperative planning scheme.

[0110] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0111] The electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0112] Specifically, the processor 501 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0113] The memory 502 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 502 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 502 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 502 may be inside or outside the electronic device. In a particular embodiment, the memory 502 may be a non-volatile solid-state memory.

[0114] In one embodiment, the memory 502 may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0115] The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement any one of the full-dimensional surgical planning methods for joint reconstruction based on anatomy, biomechanics and kinematics in the above embodiments.

[0116] In one example, the electronic device may further include a communication interface 503 and a bus 510. Figure 5 As shown, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 510 and communicate with each other.

[0117] The communication interface 503 is mainly used to implement communication between various modules, systems, units and / or devices in the embodiments of the present application.

[0118] Bus 510 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 510 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0119] In addition, in combination with the full-dimensional surgical planning method for joint reconstruction based on anatomical biomechanics and kinematics in the above embodiments, the present application embodiment can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the full-dimensional surgical planning methods for joint reconstruction based on anatomical biomechanics and kinematics in the above embodiments is implemented.

[0120] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0121] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0122] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or systems. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0123] The above reference is according to the method of the embodiment of the present application, the flowchart and / or block diagram of the system and computer program product described various aspects of the present application.It should be understood that each square block in the flowchart and / or block diagram and the combination of each square block in the flowchart and / or block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing system, to produce a kind of machine, so that these instructions executed by the processor of the computer or other programmable data processing system enable the realization of the function / action specified in one or more square blocks of the flowchart and / or block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square block in the block diagram and / or the flowchart and the combination of the square blocks in the block diagram and / or the flowchart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0124] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A full-dimensional surgical planning method for joint reconstruction based on anatomy, biomechanics and kinematics, characterized in that: include: Obtain a CT image of the patient's hip joint; Perform three-dimensional reconstruction based on the hip joint CT image to obtain a three-dimensional model of the hip joint; Perform preoperative planning based on the three-dimensional model of the hip joint to obtain the initial preoperative planning plan; After the simulated surgery was performed according to the initial preoperative planning plan, the postoperative motion simulation of the hip joint, femur and pelvis was performed to determine whether the various motion simulations could achieve the corresponding normal joint range of motion; the motion simulation of the femur included: abduction, adduction, flexion, extension, external rotation after flexion, and internal rotation after flexion; the motion simulation of the pelvis included: anteversion, posterior tilt, ascent, descent, and rotation; If at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the initial preoperative planning plan is adjusted to obtain the final preoperative planning plan.

2. The method for full-dimensional surgical planning of joint reconstruction based on anatomical biomechanics and kinematics according to claim 1, characterized in that: After obtaining the patient's hip CT image, it also includes: Perform denoising and smoothing preprocessing on hip joint CT images; Among them, the denoising process includes Gaussian filtering, median filtering and bilateral filtering; The smoothing process includes anisotropic diffusion and non-local means filtering.

3. The method for full-dimensional surgical planning of joint reconstruction based on anatomical biomechanics and kinematics according to claim 2, characterized in that: The hip joint CT images are preprocessed for denoising and smoothing, including: Select a filter kernel size of 3x3 or 5x5. The kernel size directly affects the degree of denoising. Use the Gaussian filter kernel to perform convolution operations with the image to remove high-frequency noise; Select the diffusion coefficient to control the diffusion intensity during the smoothing process; The value of each pixel in the image is updated multiple times according to the diffusion equation to make the image gradually smooth.

4. The method for full-dimensional surgical planning of joint reconstruction based on anatomical biomechanics and kinematics according to claim 1, characterized in that: Based on the CT image of the hip joint, a three-dimensional model of the hip joint is obtained, including: Import hip joint CT images into 3D reconstruction software; Perform image segmentation on the hip joint CT image to obtain the image segmentation result; Perform three-dimensional reconstruction based on the image segmentation results to obtain an initial three-dimensional model of the hip joint; The initial hip joint 3D model is smoothed and filled with holes to obtain the final hip joint 3D model.

5. The method for full-dimensional surgical planning of joint reconstruction based on anatomical biomechanics and kinematics according to claim 1, characterized in that: Preoperative planning is performed based on the three-dimensional model of the hip joint to obtain the initial preoperative planning plan, including: Based on the three-dimensional model of the hip joint, key anatomical markings are made; the anatomical landmarks include the femoral head, acetabular rim, acetabular center, and femoral neck axis, which are used to determine the installation position and angle of the prosthesis; Determine the type of prosthesis and match the size of the prosthesis; Determine the implantation position and angle of the prosthesis; Select the surgical approach and simulate the surgical operation path. An initial preoperative planning plan is generated based on comprehensive information such as prosthesis selection, installation position, surgical approach, and motor function prediction.

6. The method for full-dimensional joint reconstruction surgery planning based on anatomical biomechanics and kinematics according to claim 1, characterized in that: After the simulated surgery is performed according to the initial preoperative planning plan, the postoperative motion simulation of the hip joint, femur, and pelvis is performed to determine whether various motion simulations can achieve the corresponding normal joint range of motion, including: After the simulated surgery according to the initial preoperative planning plan, simulate the femoral abduction and adduction movements to observe whether there is abnormal contact or conflict between the prosthesis and the bone; Simulate the movement of the femur in flexion and extension, focusing on the rotational friction between the acetabulum and the femur, and whether there is any obstruction or jamming; With the femur flexed, simulate external rotation and internal rotation to observe the flexibility of joint rotation, with a focus on assessing whether there is friction or interference between the prosthesis edge and soft tissue; By simulating the change in the anteroposterior tilt of the pelvis, the stability of the prosthesis position at different tilt angles is tested to ensure that there is no excessive pressure on the joints; Simulate the lifting and lowering movement of the pelvis, mainly to detect the relative distance between the prosthesis and the femur and the contact between the joint cavity at different heights; The pelvic rotation simulation is used to test the rotation angle of the pelvis to ensure that the joint movement is not restricted during the rotation movement and that normal mechanical balance can be maintained.

7. The method for full-dimensional joint reconstruction surgery planning based on anatomical biomechanics and kinematics according to claim 1, characterized in that: If at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the initial preoperative planning plan will be adjusted to obtain the final preoperative planning plan, including: If at least one of the motion simulations cannot achieve the corresponding normal joint range of motion, the acetabular prosthesis and femoral prosthesis in the initial preoperative planning plan will be adjusted in model; Adjust the prosthesis implantation angle and surgical approach.

8. A full-dimensional surgical planning system for joint reconstruction based on anatomy, biomechanics and kinematics, characterized in that: The system comprises: An image acquisition module, used for acquiring a CT image of a patient's hip joint; A three-dimensional reconstruction module is used to perform three-dimensional reconstruction based on the hip joint CT image to obtain a three-dimensional model of the hip joint; Preoperative planning module, used to perform preoperative planning based on the three-dimensional model of the hip joint and obtain the initial preoperative planning plan; The postoperative motion simulation module is used to simulate the postoperative motion of the hip joint, femur and pelvis respectively after the simulated surgery according to the initial preoperative planning plan, to determine whether various motion simulations can achieve the corresponding normal joint range of motion; the motion simulation of the femur includes: abduction, adduction, flexion, extension, external rotation after flexion and internal rotation after flexion; the motion simulation of the pelvis includes: anteversion, posterior tilt, ascent, descent and rotation; The preoperative planning scheme adjustment module is used to adjust the initial preoperative planning scheme if at least one of the motion simulations cannot achieve the corresponding normal joint activity range, so as to obtain the final preoperative planning scheme.

9. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the full-dimensional surgical planning method for joint reconstruction based on anatomical biomechanics and kinematics as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the full-dimensional surgical planning method for joint reconstruction based on anatomical biomechanics and kinematics as described in any one of claims 1 to 7.

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