Pelvic fracture repair plan system by means of mixed reality technology

Abstract

The invention relates to the technical field of pelvic fracture repair, in particular to a pelvic fracture repair plan system by means of a mixed reality technology. The system comprises a fracture symptom analysis unit, a scheme matching unit, a repair unit and a plan integration unit. The CT image is identified through the fracture symptom analysis unit to establish the three-dimensional pelvic model, the pelvic fracture condition is analyzed through the established three-dimensional pelvic model, the previous pelvic fracture symptom is matched through the scheme matching unit, a proper treatment method is obtained, and the treatment accuracy is improved. Then, the repair unit adjusts the matched treatment method to enable the matched treatment method to meet the repair of the pelvic three-dimensional model established by the fracture symptom analysis unit, and the plan integration unit displays the pelvic fracture repair model through the mixed reality technology, so that a doctor can perform the treatment on the pelvic fracture in an operation; an operation can be performed by referring to the content displayed by the plan integration unit, so that a doctor does not need to repeatedly determine the fracture movement direction and position.

Description

Technical Field

[0001] The present invention relates to the technical field of pelvic fracture repair, and in particular to a pelvic fracture repair plan system using mixed reality technology. Background Art

[0002] When a patient has a pelvic fracture due to a fall, collision, etc., the doctor will determine the condition of the pelvic fracture based on the CT image, and then repair the fractured part. For a simple pelvic fracture, the doctor only needs to use a bone fixator to fix the fracture position to ensure that the fracture site does not shake. At this time, the doctor's operation is less difficult. However, when the patient's pelvic fracture is severe and the fractured bone is displaced from its original position, the doctor needs to move the displaced bone to its original position to ensure the later repair of the pelvis.

[0003] During the operation, the doctor needs to rely on the experience of previous operations to move the bones. During the process of bone movement, the doctor needs to constantly adjust the trajectory of the bone movement to ensure that the bone moves to the designated position. Because during the operation, blood will also flow, and the blood will block the doctor's defect in the position of the bone. The doctor needs to repeatedly determine the position, which increases the difficulty of bone movement. At the same time, during the process of moving the bone, the doctor has no object to refer to the direction of the bone movement. The doctor needs to keep trying, slowing down the speed of the operation and increasing the intensity of the operation. Summary of the invention

[0004] The purpose of the present invention is to provide a pelvic fracture repair plan system using mixed reality technology to solve the problems raised in the above background technology.

[0005] To achieve the above purpose, a pelvic fracture repair plan system using mixed reality technology is provided, including a fracture symptom analysis unit, a plan matching unit, a repair unit and a plan integration unit;

[0006] The fracture symptom analysis unit forms a pelvic three-dimensional model by combining the image contents scanned by the CT machine, and identifies the pelvic fracture situation according to the formed pelvic three-dimensional model;

[0007] The solution matching unit matches the previous pelvic repair methods according to the pelvic fracture conditions identified by the fracture symptom analysis unit, and simulates the matched pelvic repair methods to determine whether the matched pelvic repair methods are feasible;

[0008] The repair unit adjusts the pelvic repair method simulated by the solution matching unit, re-determines the installation position of the repair nail, and performs simulation after the adjustment;

[0009] The plan integration unit determines the trajectory of movement during pelvic repair based on the pelvic repair method adjusted by the repair unit and the pelvic three-dimensional model in the fracture symptom analysis unit, and performs a repair demonstration after determination, and displays the demonstration situation. During the demonstration, the demonstration data is transmitted to the repair unit for re-simulation, and saved in the plan matching unit if the simulation is correct.

[0010] As a further improvement of the technical solution, the fracture symptom analysis unit includes a CT image combination module, a stereoscopic three-dimensional modeling module and a fracture condition recognition module;

[0011] The CT image combination module is used to receive images scanned by a CT machine, and combine and sort the images scanned by the CT machine according to the order in which the CT machine scans;

[0012] The stereoscopic three-dimensional modeling module establishes a three-dimensional model of human tissue according to the images scanned by the CT machine scanned and sorted by the CT image combination module, and after the three-dimensional model is established, identifies the position of the pelvis according to the density image of the three-dimensional model, and models the identified pelvis to form a separate three-dimensional pelvic model;

[0013] The fracture condition recognition module recognizes the condition of pelvic fracture based on the three-dimensional pelvic model established by the three-dimensional modeling module.

[0014] As a further improvement of the technical solution, the solution matching unit includes a previous symptom matching module and a previous method simulation module;

[0015] The previous disease matching module stores the previous treatment methods for pelvic fractures, and matches the stored treatment methods according to the pelvic fracture identified by the fracture identification module to find a treatment method suitable for the pelvic fracture identified by the fracture identification module;

[0016] The previous method simulation module receives the pelvic three-dimensional model established by the stereoscopic three-dimensional modeling module and the treatment method matched by the previous disease matching module, and simulates the operation treatment method to simulate the treatment of the pelvic three-dimensional model, and after the simulation, determines the effect of the treatment method.

[0017] As a further improvement of the technical solution, the steps of simulating the treatment of the pelvic three-dimensional model by simulating the operation treatment of the simulation module in the previous method are as follows:

[0018] S1. Determine the bone that needs to be fixed according to the shape of the fracture on the 3D pelvic model, and display the fracture position on the 3D pelvic model;

[0019] S2. According to the matching treatment method, anchor points are set near the pelvic fracture in the 3D pelvic model, and bone screws are set according to the positions of the anchor points. Then, the connection between the external fixator and the bone screws is simulated so that the external fixator pulls the bone screws, and the bone screws drive the bones to move, so that the position of the pelvic fracture is fixed. In the process of the external fixator pulling the bone screws, the bones in the 3D pelvic model move in the direction in which the external fixator pulls the bone screws.

[0020] As a further improvement of the technical solution, the method by which the previous method simulation module determines the effect of the treatment method is:

[0021] ①, identifying the moved 3D pelvic model, and identifying whether the bone joints generated by the fracture position of the moved 3D pelvic model disappear;

[0022] ②, identify the edge of the fracture position of the 3D pelvic model after the movement, and determine whether the arc surface transition of the edge of the fracture position of the 3D pelvic model is smooth;

[0023] ③. The effectiveness of the treatment method matched by the previous disease matching module is judged based on the disappearance of the bone suture and whether the edge of the fracture is smooth.

[0024] As a further improvement of the technical solution, the repair unit includes a pre-repair simulation module, a symptomatic adjustment module and an anchor point positioning module;

[0025] The pre-repair simulation module receives information that the previous method simulation module judges that the treatment effect is not good, and receives the pelvic three-dimensional model and treatment method information in the previous method simulation module, and at the same time uses the information that the previous method simulation module judges that the treatment effect is not good to explore the defects of the treatment method matched by the previous disease matching module;

[0026] The symptomatic adjustment module adjusts the treatment method matched by the previous symptom matching module according to the defects of the treatment method found by the pre-repair simulation module and the pelvic three-dimensional model, so as to form a method suitable for pelvic fracture repair;

[0027] The anchor point positioning module locates the position of the anchor point fixed by pelvic drilling according to the pelvic fracture repair method adjusted by the symptomatic adjustment module.

[0028] As a further improvement of the technical solution, the pre-repair simulation module explores the defects of the treatment methods matched by the previous disease matching module and the symptomatic adjustment module forms a method suitable for pelvic fracture repair as follows:

[0029] ① The pre-repair simulation module receives the disappearance of the suture and whether the edge position of the fracture is smooth in the previous method simulation module, determines the change of the suture, and combines the smoothness of the edge position of the fracture to judge the positional relationship between the two fractured bones;

[0030] ②. The symptomatic adjustment module moves the position of the two fractured bones according to the position of the two fractured bones determined by the pre-repair simulation module. The distance and direction of movement of the two bones are recorded. When the suture between the two bones fits tightly and the edge of the fracture is smooth, the movement of the two bones is stopped.

[0031] As a further improvement of the technical solution, after determining the anchor point position, the anchor point positioning module feeds back the determined anchor point position to the pre-repair simulation module, so that the pre-repair simulation module performs pelvic fracture repair simulation according to the position of the newly determined anchor point, and determines that the newly determined anchor point can repair the pelvic fracture;

[0032] When the simulation result of the pre-repair simulation module cannot repair the pelvic fracture, the pre-repair simulation module will give feedback to the symptomatic adjustment module, so that the symptomatic adjustment module will continue to adjust the position of the bones and re-determine the anchor point position through the anchor point positioning module, and then the anchor point positioning module will transmit the determined anchor point to the pre-repair simulation module for confirmation;

[0033] When the simulation results of the pre-repair simulation module can repair the pelvic fracture, the pre-repair simulation module will provide feedback to the symptomatic adjustment module, so that the symptomatic adjustment module will transmit the adjustment information to the anchor point positioning module, and then the anchor point positioning module will transmit the position of the anchor point and the information transmitted by the symptomatic adjustment module to the plan integration unit.

[0034] As a further improvement of the technical solution, the plan integration unit includes a trajectory determination module, a repair simulation module and a mixed display module;

[0035] The trajectory determination module receives the anchor point position located by the anchor point positioning module and the pelvic three-dimensional model of the stereoscopic three-dimensional modeling module, and then determines the running trajectory of the bone movement according to the pelvic three-dimensional model;

[0036] The repair simulation module moves the bones according to the running track of the bones determined by the track determination module, simulates the anchor points at the specified positions, and simulates the pelvic repair through the fixed anchor points;

[0037] The mixed display module receives the contents in the trajectory determination module and the repair simulation module, and uses mixed reality technology to display the process of pelvic fracture repair simulation.

[0038] As a further improvement of the technical solution, the method in which the trajectory determination module determines the trajectories of two fixed movements is:

[0039] ① The trajectory determination module receives the treatment method matched in the previous disease matching module and the data on the distance and direction of bone movement from the symptomatic adjustment module to determine the initial position and end position of the bone;

[0040] ② Use the Dijkstra algorithm to plan the movement trajectory from the initial position to the final position of the skeleton.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. In the pelvic fracture repair plan system using mixed reality technology, the fracture symptom analysis unit recognizes the CT image to establish a pelvic three-dimensional model, and the pelvic fracture situation is analyzed by the established pelvic three-dimensional model, and the plan matching unit matches the previous pelvic fracture symptoms to obtain a suitable treatment method, and then the repair unit adjusts the matched treatment method to make the matched treatment method consistent with the repair of the pelvic three-dimensional model established by the fracture symptom analysis unit, and the plan integration unit displays the pelvic fracture repair model through mixed reality technology, so that the doctor can refer to the content displayed by the plan integration unit during the operation, eliminating the doctor's need to repeatedly determine the direction and position of the fracture movement, thereby shortening the doctor's operation time.

[0043] 2. In the pelvic fracture repair plan system, the treatment method matched by the plan matching unit is adjusted through the symptomatic adjustment module, so that the system can adaptively adjust each different pelvic fracture situation, ensure that the treatment method adjusted by the repair unit is in line with the patient's symptoms, and facilitate doctors to repair pelvic fractures according to the content displayed by the plan integration unit, thereby improving the accuracy of doctors in moving bones. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is the overall structural diagram of the present invention;

[0045] Figure 2 The figure is a detailed block diagram of the overall structure of the present invention.

[0046] The meaning of each number in the figure is:

[0047] 1. Fracture symptom analysis unit; 11. CT image combination module; 12. Stereoscopic three-dimensional modeling module; 13. Fracture condition recognition module;

[0048] 2. Plan matching unit; 21. Previous disease matching module; 22. Previous method simulation module;

[0049] 3. Repair unit; 31. Pre-repair simulation module; 32. Symptomatic adjustment module; 33. Anchor point positioning module;

[0050] 4. Plan integration unit; 41. Trajectory determination module; 42. Repair simulation module; 43. Mixed display module. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] To solve the problem of doctors having to repeatedly determine the position of bones during surgery, please refer to Figure 1-Figure 2 As shown, the purpose of the present invention is to provide a pelvic fracture repair plan system using mixed reality technology, including a fracture symptom analysis unit 1, a plan matching unit 2, a repair unit 3 and a plan integration unit 4;

[0054] The fracture symptom analysis unit 1 forms a three-dimensional pelvic model by combining the image contents scanned by the CT machine, and identifies the pelvic fracture situation according to the formed three-dimensional pelvic model;

[0055] The fracture symptom analysis unit 1 comprises a CT image combination module 11, a stereoscopic three-dimensional modeling module 12 and a fracture condition recognition module 13;

[0056] The CT image combination module 11 is used to receive images scanned by a CT machine, that is, after the CT machine takes images of the human pelvic area, the taken images are transmitted to the CT image combination module 11, and the images scanned by the CT machine are combined and sorted according to the order of the CT machine scanning, so that the three-dimensional modeling module 12 can combine the images through the combination and sorting;

[0057] The three-dimensional modeling module 12 establishes a three-dimensional model of human tissue according to the images scanned by the CT machine scanned and sorted by the CT image combination module 11, and the steps are as follows: first, the human tissue image in the CT image is extracted, and the extracted human tissue image is arranged in the order of the CT image, and after the arrangement, the image is combined so that multiple images are combined together to form a three-dimensional human tissue image, and then a three-dimensional model is established according to the three-dimensional human tissue image. At this time, the established three-dimensional model includes a three-dimensional model of the human pelvis and skin and flesh tissue. After the three-dimensional model is established, the position of the pelvis is identified according to the density image of the three-dimensional model, and the identified pelvis is modeled to distinguish the pelvis from the skin and flesh tissue, and then the pelvis is modeled to form a separate pelvic three-dimensional model. At this time, the outside of the pelvic three-dimensional model is wrapped with a model of skin and flesh tissue. When setting the pelvic three-dimensional model and the skin and flesh tissue model, the skin and flesh tissue model is set to be translucent so that the skin and flesh tissue will not block the pelvic three-dimensional model;

[0058] The fracture condition recognition module 13 identifies the condition of pelvic fracture based on the three-dimensional pelvic model established by the stereoscopic three-dimensional modeling module 12. The recognition method is to find bone joints, gaps, cracks, and fracture areas on the established three-dimensional pelvic model, and judge the found bone joints, gaps, cracks, and fracture areas to identify the damage of the pelvis. The damage of the pelvis can be matched in the hospital's disease database to obtain the accurate disease condition of the pelvis.

[0059] The solution matching unit 2 matches the previous pelvic repair methods according to the pelvic fracture conditions identified by the fracture symptom analysis unit 1, and simulates the matched pelvic repair methods to determine whether the matched pelvic repair methods are feasible;

[0060] The scheme matching unit 2 includes a previous symptom matching module 21 and a previous method simulation module 22;

[0061] The previous disease matching module 21 stores the previous treatment methods for pelvic fractures, which are the process of pulling the fractured bones together. At the same time, according to the pelvic fracture identified by the fracture identification module 13, the stored treatment methods are matched to find the treatment method suitable for the pelvic fracture identified by the fracture identification module 13;

[0062] The previous method simulation module 22 receives the pelvic three-dimensional model established by the stereoscopic three-dimensional modeling module 12 and the treatment method matched by the previous disease matching module 21, and simulates the operation treatment method to perform a simulated treatment on the pelvic three-dimensional model, and after the simulation, determines the effect of the treatment method;

[0063] The steps of simulating the treatment of the pelvic three-dimensional model by the simulation module 22 of the previous method are as follows:

[0064] S1. Determine the bone that needs to be fixed according to the shape of the fracture on the 3D pelvic model. The bone that needs to be fixed is a smaller bone. By moving the smaller bone, the doctor's surgical intensity can be reduced. At the same time, the fracture position on the 3D pelvic model can be displayed.

[0065] S2. According to the matching treatment method, anchor points are set near the pelvic fracture in the 3D pelvic model, and bone screws are set according to the positions of the anchor points. Then, the connection between the external fixator and the bone screws is simulated so that the external fixator pulls the bone screws, and the bone screws drive the bones to move, so that the position of the pelvic fracture is fixed. In the process of the external fixator pulling the bone screws, the bones in the 3D pelvic model move in the direction in which the external fixator pulls the bone screws, so that the two bones that need to be moved are in contact with each other.

[0066] The method used by the previous method simulation module 22 to determine the effect of the treatment method is:

[0067] ①, identifying the moved 3D pelvic model, and identifying whether the bone joints generated by the fracture position of the moved 3D pelvic model disappear;

[0068] ② Identify the edge of the fracture position of the 3D pelvic model after the movement, and determine whether the arc transition of the edge of the fracture position of the 3D pelvic model is smooth. If the transition is smooth, that is, the two bones fit closely together, it means that the positions of the two bones after the movement are accurate. If the transition is not smooth, it means that there is a deviation in the positions of the two bones after the movement, and the two bones are not aligned.

[0069] ③. Judging the effect of the treatment method matched by the previous disease matching module 21 according to the disappearance of the bone suture and whether the edge of the fracture is smooth. If the edge of the fracture is smooth, that is, the two bones fit closely together, it means that the positions of the two bones after the movement are accurate. If the edge of the fracture is not smooth, it means that there is a deviation in the positions of the two bones after the movement, and the two bones are not aligned.

[0070] When the bones are aligned, there is no obvious protrusion between the two bones. If the bones are not aligned, the two bones may appear to be staggered up and down, left and right, or not in contact with each other.

[0071] When the bones are aligned, it means that the treatment method matched by the previous symptom matching module 21 is effective. At this time, the treatment method matched by the previous symptom matching module 21 is transmitted to the plan integration unit 4;

[0072] When the bones are not aligned, it means that the treatment method matched by the previous disease matching module 21 is not effective, and the treatment method matched by the previous disease matching module 21 needs to be adjusted. At this time, the situation that the treatment method matched by the previous disease matching module 21 is not effective is transmitted to the repair unit 3.

[0073] The repair unit 3 adjusts the pelvic repair method simulated by the solution matching unit 2, re-determines the installation position of the repair nail, and performs simulation after the adjustment;

[0074] The repair unit 3 includes a pre-repair simulation module 31, a symptomatic adjustment module 32 and an anchor point positioning module 33;

[0075] The pre-repair simulation module 31 receives the information that the previous method simulation module 22 judges that the treatment effect is not good, and receives the pelvic three-dimensional model and treatment method information in the previous method simulation module 22, and at the same time uses the information that the previous method simulation module 22 judges that the treatment effect is not good to explore the defects of the treatment method matched by the previous disease matching module 21;

[0076] The symptomatic adjustment module 32 adjusts the treatment method matched by the previous symptom matching module 21 according to the defects of the treatment method found by the pre-repair simulation module 31 and the pelvic three-dimensional model, so as to form a method suitable for repairing pelvic fractures. The suitable method for repairing pelvic fractures is that after the pelvic bones are in contact, the contact position of the two bones is smooth;

[0077] The pre-repair simulation module 31 explores the defects of the treatment methods matched by the previous disease matching module 21 and the symptomatic adjustment module 32 forms a method suitable for pelvic fracture repair as follows:

[0078] ①, the pre-repair simulation module 31 receives the disappearance of the suture and whether the edge position of the fracture is smooth in the previous method simulation module 22, determines the change of the suture, and judges the positional relationship between the two fractured bones in combination with the smoothness of the edge position of the fracture;

[0079] ②, the symptomatic adjustment module 32 moves the position of the two bones according to the position of the two fractured bones determined by the pre-repair simulation module 31, and the distance and direction of the movement of the two bones are recorded. When the bone joints between the two bones are tightly fitted and the edge position of the fracture is smooth, the movement of the two bones is stopped, and the position of the two bones is correct at this time;

[0080] The anchor point positioning module 33 locates the anchor point of the pelvic punching fixation according to the pelvic fracture repair method adjusted by the symptomatic adjustment module 32, wherein the position of the anchor point is the position where the bone screw is installed, and the bone screw and the external fixator are installed together so that the external fixator pulls the two bones together by pulling the bone screw.

[0081] After determining the anchor point position, the anchor point positioning module 33 feeds back the determined anchor point position to the pre-repair simulation module 31, so that the pre-repair simulation module 31 performs pelvic fracture repair simulation according to the newly determined anchor point position, and determines that the newly determined anchor point can repair the pelvic fracture;

[0082] When the simulation result of the pre-repair simulation module 31 cannot repair the pelvic fracture, the pre-repair simulation module 31 feeds back to the symptomatic adjustment module 32, so that the symptomatic adjustment module 32 continues to adjust the position of the bones, and re-determines the anchor point position through the anchor point positioning module 33, and then the anchor point positioning module 33 transmits the determined anchor point to the pre-repair simulation module 31 for confirmation;

[0083] When the simulation result of the pre-repair simulation module 31 can repair the pelvic fracture, the pre-repair simulation module 31 will provide feedback to the symptomatic adjustment module 32, so that the symptomatic adjustment module 32 will transmit the adjustment information to the anchor point positioning module 33, and then the anchor point positioning module 33 will transmit the position of the anchor point and the information transmitted by the symptomatic adjustment module 32 to the plan integration unit 4.

[0084] The plan integration unit 4 determines the trajectory of movement during pelvic repair based on the pelvic repair method adjusted by the repair unit 3 and the three-dimensional pelvic model in the fracture symptom analysis unit 1, and performs a repair demonstration after determination, and displays the demonstration situation. During the demonstration, the demonstration data is transmitted to the repair unit 3 for re-simulation, and saved in the plan matching unit 2 if the simulation is correct.

[0085] The plan integration unit 4 includes a trajectory determination module 41, a repair simulation module 42 and a mixed display module 43;

[0086] The trajectory determination module 41 receives the anchor point position located by the anchor point positioning module 33 and the pelvic three-dimensional model of the stereoscopic three-dimensional modeling module 12, and then determines the running trajectory of the skeleton movement according to the pelvic three-dimensional model;

[0087] The method by which the trajectory determination module 41 determines the trajectories of the two fixed movements is:

[0088] ① The trajectory determination module 41 receives the treatment method matched in the previous disease matching module 21 and the data of the distance and direction of bone movement from the symptomatic adjustment module 32, and determines the initial position and the end position of the bone;

[0089] ② Use the Dijkstra algorithm to plan the movement trajectory from the initial position to the final position of the bone. In the process of trajectory planning using the Dijkstra algorithm, it is necessary to pay attention to the skin and flesh tissue model. The trajectory of bone displacement needs to move inside the skin and flesh tissue model and cannot protrude from the skin and flesh model tissue, so as to meet the actual surgical needs.

[0090] The repair simulation module 42 moves the bones according to the running track of the bones determined by the track determination module 41, simulates the anchor points at the specified positions, and simulates the pelvic repair through the fixed anchor points;

[0091] The hybrid display module 43 receives the contents in the trajectory determination module 41 and the repair simulation module 42, and uses the mixed reality technology to display the process of pelvic fracture repair simulation. During the operation, the doctor can watch the trajectory of the movement of the pelvic bones through the mixed reality technology, so that the doctor can move the bones according to the movement trajectory during the operation, so that the doctor does not need to repeatedly try to move the position of the bones, thereby reducing the difficulty of the doctor moving the bones.

[0092] The fracture symptom analysis unit 1 identifies the CT image to establish a three-dimensional pelvic model, and analyzes the pelvic fracture situation through the established three-dimensional pelvic model, and matches the previous pelvic fracture symptoms through the solution matching unit 2 to obtain a suitable treatment method, and then the repair unit 3 adjusts the matched treatment method to make the matched treatment method consistent with the repair of the three-dimensional pelvic model established by the fracture symptom analysis unit 1, and the plan integration unit 4 displays the model of pelvic fracture repair through mixed reality technology, so that the doctor can refer to the content displayed by the plan integration unit 4 during the operation, eliminating the doctor's need to repeatedly determine the direction and position of the fracture movement, shortening the doctor's operation time, and adjusting the treatment method matched by the solution matching unit 2 through the symptomatic adjustment module 32, so that the system can adaptively adjust each different pelvic fracture situation, ensuring that the treatment method adjusted by the repair unit 3 is consistent with the patient's symptoms, making it convenient for the doctor to repair the pelvic fracture according to the content displayed by the plan integration unit 4, and improving the accuracy of the doctor's bone movement.

[0093] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A pelvic fracture repair plan system using mixed reality technology, characterized by: It includes a fracture symptom analysis unit (1), a plan matching unit (2), a repair unit (3) and a plan integration unit (4); The fracture symptom analysis unit (1) forms a three-dimensional pelvic model by combining the image contents scanned by the CT machine, and identifies the condition of pelvic fracture based on the formed three-dimensional pelvic model; The solution matching unit (2) matches the previous pelvic repair methods according to the pelvic fracture conditions identified by the fracture symptom analysis unit (1), and simulates the matched pelvic repair methods to determine whether the matched pelvic repair methods are feasible; The repair unit (3) adjusts the pelvic repair method simulated by the solution matching unit (2), re-determines the installation position of the repair nail, and performs simulation after the adjustment; The plan integration unit (4) determines the trajectory of movement during pelvic repair based on the pelvic repair method adjusted by the repair unit (3) and the three-dimensional pelvic model in the fracture symptom analysis unit (1), and performs a repair demonstration after determination, and displays the demonstration situation. During the demonstration process, the displayed data is transmitted to the repair unit (3) for re-simulation, and if the simulation is correct, it is saved in the plan matching unit (2).

2. The pelvic fracture repair planning system using mixed reality technology according to claim 1, characterized in that: The fracture symptom analysis unit (1) comprises a CT image combination module (11), a stereoscopic three-dimensional modeling module (12) and a fracture condition identification module (13); The CT image combination module (11) is used to receive images scanned by a CT machine, and to combine and sort the images scanned by the CT machine according to the order in which the CT machine scanned them; The three-dimensional modeling module (12) establishes a three-dimensional model of human tissue according to the images scanned by the CT machine and sorted by the CT image combination module (11), and after the three-dimensional model is established, identifies the position of the pelvis according to the density image of the three-dimensional model, and models the identified pelvis to form a separate three-dimensional pelvis model; The fracture condition identification module (13) identifies the condition of pelvic fracture based on the three-dimensional pelvic model established by the three-dimensional modeling module (12).

3. The pelvic fracture repair planning system using mixed reality technology according to claim 2, characterized in that: The scheme matching unit (2) includes a previous symptom matching module (21) and a previous method simulation module (22); The previous disease matching module (21) stores the previous treatment methods for pelvic fractures, and matches the stored treatment methods according to the pelvic fracture identified by the fracture identification module (13) to find a treatment method suitable for the pelvic fracture identified by the fracture identification module (13); The previous method simulation module (22) receives the three-dimensional pelvic model established by the stereoscopic three-dimensional modeling module (12) and the treatment method matched by the previous disease matching module (21), and simulates the operation treatment method to perform simulated treatment on the three-dimensional pelvic model, and after the simulation, determines the effect of the treatment method.

4. The pelvic fracture repair planning system using mixed reality technology according to claim 3 is characterized in that: The method of simulating operation treatment by the simulation module (22) of the previous method performs the following steps on the pelvic three-dimensional model: S1. Determine the bone that needs to be fixed according to the shape of the fracture on the 3D pelvic model, and display the fracture position on the 3D pelvic model; S2. According to the matching treatment method, anchor points are set near the pelvic fracture in the 3D pelvic model, and bone screws are set according to the positions of the anchor points. Then, the connection between the external fixator and the bone screws is simulated so that the external fixator pulls the bone screws, and the bone screws drive the bones to move, so that the position of the pelvic fracture is fixed. In the process of the external fixator pulling the bone screws, the bones in the 3D pelvic model move in the direction in which the external fixator pulls the bone screws.

5. The pelvic fracture repair planning system using mixed reality technology according to claim 3 is characterized in that: The method by which the previous method simulation module (22) determines the effect of the treatment method is: ①, identifying the moved 3D pelvic model, and identifying whether the bone joints generated by the fracture position of the moved 3D pelvic model disappear; ②, identify the edge of the fracture position of the 3D pelvic model after the movement, and determine whether the arc surface transition of the edge of the fracture position of the 3D pelvic model is smooth; ③. The effect of the treatment method matched by the previous disease matching module (21) is judged based on the disappearance of the bone suture and whether the edge of the fracture is smooth.

6. The pelvic fracture repair planning system using mixed reality technology according to claim 3, characterized in that: The repair unit (3) comprises a pre-repair simulation module (31), a symptomatic adjustment module (32) and an anchor point positioning module (33); The pre-repair simulation module (31) receives information that the previous method simulation module (22) determines that the treatment effect is not good, and receives the pelvic three-dimensional model and treatment method information in the previous method simulation module (22), and at the same time uses the information that the previous method simulation module (22) determines that the treatment effect is not good to explore the defects of the treatment method matched by the previous disease matching module (21); The symptomatic adjustment module (32) adjusts the treatment method matched by the previous symptom matching module (21) according to the defects of the treatment method found by the pre-repair simulation module (31) and the pelvic three-dimensional model, so as to form a method suitable for pelvic fracture repair; The anchor point positioning module (33) locates the position of the anchor point for fixing the pelvis through drilling according to the pelvic fracture repair method adjusted by the symptomatic adjustment module (32).

7. The pelvic fracture repair planning system using mixed reality technology according to claim 6, characterized in that: The pre-repair simulation module (31) explores the defects of the treatment method matched by the previous disease matching module (21) and the symptomatic adjustment module (32) forms a method suitable for pelvic fracture repair as follows: ①, the pre-repair simulation module (31) receives the disappearance of the suture and whether the edge position of the fracture is smooth in the previous method simulation module (22), determines the change of the suture, and combines the smoothness of the edge position of the fracture to judge the positional relationship between the two fractured bones; ②. The symptomatic adjustment module (32) moves the position of the two fractured bones according to the position of the two fractured bones determined by the pre-repair simulation module (31). The distance and direction of movement of the two bones are recorded. When the suture between the two bones fits tightly and the edge of the fracture is smooth, the movement of the two bones is stopped.

8. The pelvic fracture repair planning system using mixed reality technology according to claim 7, characterized in that: After determining the anchor point position, the anchor point positioning module (33) feeds back the determined anchor point position to the pre-repair simulation module (31), so that the pre-repair simulation module (31) performs pelvic fracture repair simulation according to the newly determined anchor point position, and determines whether the newly determined anchor point can repair the pelvic fracture; When the simulation result of the pre-repair simulation module (31) cannot repair the pelvic fracture, the pre-repair simulation module (31) feeds back to the symptomatic adjustment module (32), so that the symptomatic adjustment module (32) continues to adjust the position of the bones, and re-determines the anchor point position through the anchor point positioning module (33), and then the anchor point positioning module (33) transmits the determined anchor point to the pre-repair simulation module (31) for confirmation; When the simulation result of the pre-repair simulation module (31) can repair the pelvic fracture, the pre-repair simulation module (31) feeds back to the symptomatic adjustment module (32), so that the symptomatic adjustment module (32) transmits the adjustment information to the anchor point positioning module (33), and then the anchor point positioning module (33) transmits the position of the anchor point and the information transmitted by the symptomatic adjustment module (32) to the plan integration unit (4).

9. The pelvic fracture repair planning system using mixed reality technology according to claim 8, characterized in that: The plan integration unit (4) includes a trajectory determination module (41), a repair simulation module (42) and a mixed display module (43); The trajectory determination module (41) receives the anchor point position located by the anchor point positioning module (33) and the pelvic three-dimensional model of the stereoscopic three-dimensional modeling module (12), and then determines the running trajectory of the bone movement according to the pelvic three-dimensional model; The repair simulation module (42) moves the skeleton according to the running track of the skeleton movement determined by the track determination module (41), simulates the anchor point at a specified position, and simulates pelvic repair through the fixed anchor point; The mixed display module (43) receives the contents in the trajectory determination module (41) and the repair simulation module (42), and uses mixed reality technology to display the process of pelvic fracture repair simulation.

10. The pelvic fracture repair planning system using mixed reality technology according to claim 9, characterized in that: The method in which the trajectory determination module (41) determines the trajectories of the two fixed movements is: ①, the trajectory determination module (41) receives the treatment method matched in the previous disease matching module (21) and the data on the distance and direction of bone movement from the symptomatic adjustment module (32), and determines the initial position and the end position of the bone; ② Use the Dijkstra algorithm to plan the movement trajectory from the initial position to the final position of the skeleton.

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