A pelvic fracture repair pre - plan system with the help of mixed reality technology

Abstract

The present invention relates to the technical field of pelvic fracture repair, and specifically, to a pelvic fracture repair pre-plan system with the aid of mixed reality technology. It includes a fracture condition analysis unit, a plan matching unit, a repair unit, and a pre-plan integration unit. The present invention identifies CT images through the fracture condition analysis unit to establish a three-dimensional pelvic model, analyzes the pelvic fracture situation through the established three-dimensional pelvic model, matches the previous pelvic fracture conditions through the plan matching unit to obtain a suitable treatment method, then the repair unit adjusts the matched treatment method to make the matched treatment method conform to the repair of the three-dimensional pelvic model established by the fracture condition analysis unit, and enables the pre-plan integration unit to display the pelvic fracture repair model through mixed reality technology, so that doctors can refer to the content displayed by the pre-plan integration unit during the operation, eliminating the need for doctors to repeatedly determine the direction and position of fracture movement.

Description

Technical Field

[0001] The present invention relates to the technical field of pelvic fracture repair, and more specifically, to a pelvic fracture repair pre - plan system with the aid of mixed reality technology. Background Art

[0002] When a patient's pelvis fractures due to a fall, impact, etc., doctors will judge the situation of the pelvic fracture based on the CT image, and then repair the fractured part. For simple pelvic fractures, doctors only need to use a bone fixation frame to fix the fractured position to ensure that the fractured area does not shake. At this time, the operation difficulty for doctors is relatively low. However, when the patient's pelvic fracture is severe and the fractured bones deviate from their original positions, doctors need to move the deviated bones back to their original positions to ensure the subsequent repair of the pelvis.

[0003] During the operation, doctors need to rely on their past surgical experience to move the bones. During the process of moving the bones, doctors need to continuously adjust the trajectory of bone movement to ensure that the bones are moved to the designated position. Because during the operation, blood also flows, and the blood will block doctors' view of the bone position, requiring doctors to repeatedly determine the position, which increases the difficulty of bone movement. At the same time, during the process of moving the bones, there is no item to reference the direction of bone movement, requiring doctors to keep trying, delaying the operation speed, and increasing the doctors' surgical intensity. Summary of the Invention

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

[0005] To achieve the above - mentioned purpose, a pelvic fracture repair pre - plan system with the aid of mixed reality technology is provided, including a fracture condition analysis unit, a plan matching unit, a repair unit, and a pre - plan integration unit;

[0006] The fracture condition analysis unit combines the image content scanned by a CT machine to form a three - dimensional pelvic model, and based on the formed three - dimensional pelvic model, identifies the situation of pelvic fracture;

[0007] The plan matching unit matches the previous pelvic repair methods according to the situation of pelvic fracture identified by the fracture condition 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 method of the pelvic repair method simulated by the plan matching unit, re - determines the installation position of the repair nails, and conducts a simulation after the adjustment;

[0009] The pre - plan integration unit determines the trajectory of movement during pelvic repair based on the adjusted pelvic repair method of the repair unit and the pelvic three - dimensional model in the fracture condition analysis unit. After determination, it conducts a repair demonstration and displays the demonstration situation. At the same time, during the display process, the displayed data is transmitted to the repair unit for re - simulation. After the simulation is correct, it is saved in the plan matching unit.

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

[0011] The CT image combination module is used to receive the images scanned by the CT machine and sort the images scanned by the CT machine in the order of scanning by the CT machine;

[0012] The three - dimensional modeling module establishes a three - dimensional model of human tissues based on the images scanned and sorted by the CT image combination module. After the three - dimensional model is established, it 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 pelvic three - dimensional model;

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

[0014] As a further improvement of this technical solution, the plan matching unit includes a past disease matching module and a past method simulation module;

[0015] The past disease matching module stores the methods for treating pelvic fracture diseases in the past. At the same time, according to the pelvic fracture condition identified by the fracture condition recognition module, it matches the stored treatment methods to find the treatment methods applicable to the pelvic fracture identified by the fracture condition recognition module;

[0016] The past method simulation module receives the pelvic three - dimensional model established by the three - dimensional modeling module and the treatment method matched by the past disease matching module, and simulates the treatment method to perform simulated treatment on the pelvic three - dimensional model. After the simulation, it judges the treatment effect of this treatment method.

[0017] As a further improvement of this technical solution, the steps for the past method simulation module to simulate the treatment method to perform simulated treatment on the pelvic three - dimensional model are:

[0018] S1. Determine the bones that need to be fixed according to the shape of the fracture on the pelvic three - dimensional model, and at the same time display the fracture position on the pelvic three - dimensional model;

[0019] S2. According to the matching treatment method, set anchor points near the pelvic fracture in the three-dimensional pelvic model, set bone screws according to the positions of the anchor points, then simulate the connection between the external fixator and the bone screws, so that the external fixator pulls the bone screws, the bone screws drive the bones to move, and the position of the pelvic fracture is fixed. During the process of the external fixator pulling the bone screws, the bones in the three-dimensional pelvic model move in the direction of the external fixator pulling the bone screws.

[0020] As a further improvement of this technical solution, the method for the past method simulation module to judge the treatment effect of this treatment method is as follows:

[0021] ①. Identify the three-dimensional pelvic model after movement, and identify whether the bone seams generated at the fracture position of the three-dimensional pelvic model after movement disappear;

[0022] ②. Identify the edges of the fracture position that appear in the three-dimensional pelvic model after movement, and determine whether the arc transition at the edge position where the fracture appears in the three-dimensional pelvic model is smooth;

[0023] ③. Judge the treatment effect of the treatment method matched by the past disease matching module according to the disappearance of the bone seams and whether the edge position of the fracture is smooth.

[0024] As a further improvement of this 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 the information that the treatment effect judged by the past method simulation module is not good, receives the three-dimensional pelvic model and the treatment method information in the past method simulation module, and at the same time uses the information that the treatment effect judged by the past method simulation module to explore the defects of the treatment method matched by the past disease matching module;

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

[0027] The anchor point positioning module locates the positions of the anchor points for pelvic drilling and fixation according to the method of pelvic fracture repair adjusted by the symptomatic adjustment module.

[0028] As a further improvement of this technical solution, the pre-repair simulation module explores the defects of the treatment method matched by the past 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 analysis of the disappearance of the suture and the smoothness of the fracture edge position in the past method simulation module, determines the change of the suture, and combines the smoothness of the fracture edge position to judge the positional relationship between the two fractured bones;

[0030] ②. The symptomatic adjustment module moves the positions of the two bones according to the positions of the two fractured bones judged by the pre - repair simulation module. The moving distance and direction of the two bones are recorded. When the sutures between the two bones are closely attached and the fracture edge position is smooth, the movement of the two bones stops.

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

[0032] When the result simulated by the pre - repair simulation module cannot repair the pelvic fracture, at this time, the pre - repair simulation module feeds back to the symptomatic adjustment module, so that the symptomatic adjustment module continues to adjust the positions of the bones, and the anchor point positioning module re - determines the anchor point position. Then the anchor point positioning module transmits the determined anchor point to the pre - repair simulation module for determination;

[0033] When the result simulated by the pre - repair simulation module can repair the pelvic fracture, at this time, the pre - repair simulation module feeds back to the symptomatic adjustment module, so that the symptomatic adjustment module transmits the adjustment information to the anchor point positioning module. Then the anchor point positioning module transmits 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 this 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 three - dimensional modeling module, and then determines the running trajectory of bone movement according to the pelvic three - dimensional model;

[0036] The repair simulation module moves the bones according to the running trajectory of bone movement determined by the trajectory determination module, simulates the anchor point at the specified position, and conducts pelvic repair simulation through the fixed anchor point;

[0037] The mixed display module receives the content 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 present technical solution, the method for the trajectory determination module to determine the trajectories of two fixed movements is as follows:

[0039] ①. The trajectory determination module receives the treatment method matched in the past disease matching module and the data on the distance and direction of bone movement from the symptomatic adjustment module, and determines the initial position and the end position of the bone.

[0040] ②. The Dijkstra algorithm is used to plan the movement trajectory of the bone from the initial position to the end position.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0042] 1. In the pelvic fracture repair pre - plan system with the aid of mixed reality technology, the fracture symptom analysis unit recognizes the CT images to establish a three - dimensional pelvic model, analyzes the pelvic fracture situation through the established three - dimensional pelvic model, and the plan matching unit matches the past pelvic fracture diseases to obtain a suitable treatment method. Then, the repair unit adjusts the matched treatment method to make it conform to the repair of the three - dimensional pelvic model established by the fracture symptom analysis unit, and the pre - plan integration unit displays the pelvic fracture repair model through mixed reality technology, enabling doctors to refer to the content displayed by the pre - plan integration unit during the operation, eliminating the need for doctors to repeatedly determine the direction and position of fracture movement and shortening the operation time of doctors.

[0043] 2. In the pelvic fracture repair pre - plan system with the aid of mixed reality technology, the symptomatic adjustment module adjusts the treatment method matched by the plan matching unit, enabling the system to adaptively adjust to each different pelvic fracture situation, ensuring that the treatment method adjusted by the repair unit conforms to the patient's condition, facilitating doctors to perform pelvic fracture repair according to the content displayed by the pre - plan integration unit, and improving the accuracy of doctors' bone movement. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0045] Figure 2 is the detailed structural block diagram of the present invention.

[0046] The meanings of each label in the figure are as follows:

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

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

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

[0050] 4. Pre-plan integration unit; 41. Trajectory determination module; 42. Repair simulation module; 43. Hybrid display module. Detailed implementation manners

[0051] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0053] To solve the problem that doctors need 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 pre-plan system with the aid of mixed reality technology, including a fracture symptom analysis unit 1, a plan matching unit 2, a repair unit 3, and a pre-plan integration unit 4;

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

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

[0056] The CT image combination module 11 is used to receive the images scanned by the CT scanner. That is, after the CT scanner takes pictures of the human pelvic part, the taken pictures are transmitted to the CT image combination module 11, and the images scanned by the CT scanner are combined and sorted in the order of CT scanner scanning. Through the combination and sorting, it is convenient for the three-dimensional stereoscopic modeling module 12 to combine the images;

[0057] The three-dimensional modeling module 12 constructs a three-dimensional model of human tissues based on the images scanned by the CT machine sorted by the CT image combination module 11. The steps are as follows: First, extract the human tissue images in the CT images, arrange the extracted human tissue images in the order of the CT images, and after the arrangement, combine the images so that multiple images are combined to form a three-dimensional human tissue image. Then, construct a three-dimensional model based on the three-dimensional human tissue image. At this time, the constructed three-dimensional model includes the three-dimensional models of the human pelvis and the skin and flesh tissues. After the three-dimensional model is constructed, identify the position of the pelvis based on the density image of the three-dimensional model, and model the identified pelvis to distinguish the pelvis from the skin and flesh tissues. Then, model the pelvis to form a separate three-dimensional pelvis model. At this time, the outside of the three-dimensional pelvis model is wrapped with the model of the skin and flesh tissues. When setting the models of the three-dimensional pelvis model and the skin and flesh tissues, set the model of the skin and flesh tissues to be semi-transparent so that the skin and flesh tissues do not block the three-dimensional pelvis model;

[0058] The fracture condition recognition module 13 identifies the fracture condition of the pelvis based on the three-dimensional pelvis model established by the three-dimensional modeling module 12. The recognition method is to search for bone seams, gaps, cracks, and fracture areas on the established three-dimensional pelvis model, and judge the found bone seams, gaps, cracks, and fracture areas to identify the damage condition of the pelvis. The damage condition 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 condition identified by the fracture disease analysis unit 1, and simulates the matched pelvic repair methods to determine whether the matched pelvic repair methods are feasible;

[0060] The solution matching unit 2 includes a past disease matching module 21 and a past method simulation module 22;

[0061] The past disease matching module 21 stores the methods for treating pelvic fractures in the past. The treatment method is the process of pulling the fractured bones together. At the same time, according to the pelvic fracture condition identified by the fracture condition recognition module 13, match the stored treatment methods to find the treatment methods applicable to the pelvic fracture identified by the fracture condition recognition module 13;

[0062] The past method simulation module 22 receives the three-dimensional pelvis model established by the three-dimensional modeling module 12 and the treatment method matched by the past disease matching module 21, and simulates the treatment method to perform simulated treatment on the three-dimensional pelvis model. After the simulation, judge the treatment effect of the treatment method;

[0063] The steps for the past method simulation module 22 to perform simulated treatment on the three-dimensional pelvis model by simulating the treatment method are as follows:

[0064] S1. Determine the bones to be fixed according to the shape of the fracture on the three-dimensional pelvic model. The bones to be fixed are the smaller bones. By moving the smaller bones, the intensity of the doctor's surgery can be reduced, and at the same time, the fracture position on the three-dimensional pelvic model is displayed.

[0065] S2. According to the matching treatment method, set anchor points near the pelvic fracture in the three-dimensional pelvic model, set bone screws according to the positions of the anchor points, and then simulate the connection between the external fixator and the bone screws, so that the external fixator pulls the bone screws, the bone screws drive the bones to move, and the position of the pelvic fracture is fixed. During the process of the external fixator pulling the bone screws, the bones in the three-dimensional pelvic model move in the direction of the external fixator pulling the bone screws, so that the two bones that need to move come into contact with each other.

[0066] The method for the past method simulation module 22 to judge the treatment effect of this treatment method is as follows:

[0067] ①. Identify the three-dimensional pelvic model after movement, and identify whether the bone gap generated at the fracture position of the three-dimensional pelvic model after movement disappears;

[0068] ②. Identify the edge of the fracture position that appears in the three-dimensional pelvic model after movement, and determine whether the arc transition at the edge position where the fracture appears in the three-dimensional pelvic model is smooth. If the transition is smooth, that is, the two bones fit closely to each other, it means that the positions of the two bones after movement are accurate. If the transition is not smooth, it means that there is a deviation in the positions of the two bones after movement, and the two bones are not aligned.

[0069] ③. Judge the treatment effect of the treatment method matched by the past disease matching module 21 according to the disappearance of the bone gap and whether the edge position of the fracture is smooth. If the edge of the fracture is smooth, that is, the two bones fit closely to each other, it means that the positions of the two bones after 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 movement, and the two bones are not aligned.

[0070] When the bones are aligned, there is no obvious protrusion between the two bones. When the bones are not aligned, there will be situations such as vertical and horizontal position intersections and non-contact between the two bones.

[0071] When the bones are aligned, it means that the treatment method matched by the past disease matching module 21 has a treatment effect. At this time, the treatment method matched by the past disease matching module 21 is transmitted to the pre-plan integration unit 4.

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

[0073] The repair unit 3 adjusts the pelvic repair method simulated by the plan matching unit 2, re-determines the installation position of the repair nails, and performs simulation after 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 determines the poor treatment effect, and receives the pelvic three-dimensional model and the treatment method information in the previous method simulation module 22. At the same time, it explores the defects of the treatment method matched by the previous disease matching module 21 by virtue of the information that the previous method simulation module 22 determines the poor treatment effect;

[0076] The symptomatic adjustment module 32 adjusts the treatment method matched by the previous disease matching module 21 according to the defects of the treatment method explored 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 suitable method for pelvic fracture repair is that after the pelvic bones come into contact, the positions where the two bones contact are smooth;

[0077] 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:

[0078] ①. The pre-repair simulation module 31 receives the analysis of the disappearance of the bone suture and the smoothness of the fracture edge position in the previous method simulation module 22, determines the change of the bone suture, and combines the smoothness of the fracture edge position to judge the positional relationship between the two fractured bones;

[0079] ②. The symptomatic adjustment module 32 moves the positions between the two bones according to the positions between the two fractured bones judged by the pre-repair simulation module 31. The moving distance and direction of the two bones are recorded. When the bone suture between the two bones is closely attached and the fracture edge position is smooth, the movement of the two bones is stopped. At this time, the positions of the two bones are correct;

[0080] The anchor point positioning module 33 locates the position of the anchor points for pelvic bone fracture repair adjusted by the symptomatic adjustment module 32. The position of the anchor points is the position where the bone nails are installed. The bone nails are installed together with the external fixator, so that the external fixator pulls the two bones together by pulling the bone nails.

[0081] After determining the anchor point positions, the anchor point positioning module 33 feeds back the determined anchor point positions to the pre-repair simulation module 31, so that the pre-repair simulation module 31 performs pelvic bone fracture repair simulation based on the newly determined anchor point positions to determine that the newly determined anchor points can repair the pelvic bone fracture.

[0082] When the result simulated by the pre-repair simulation module 31 cannot repair the pelvic bone fracture, at this time, 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 positions of the bones, and re-determines the anchor point positions through the anchor point positioning module 33, and then the anchor point positioning module 33 transmits the determined anchor points to the pre-repair simulation module 31 for determination.

[0083] When the result simulated by the pre-repair simulation module 31 can repair the pelvic bone fracture, at this time, the pre-repair simulation module 31 feeds back to the symptomatic adjustment module 32, so that the symptomatic adjustment module 32 transmits the adjusted information to the anchor point positioning module 33, and then the anchor point positioning module 33 transmits the positions of the anchor points and the information transmitted by the symptomatic adjustment module 32 to the plan integration unit 4.

[0084] The plan integration unit 4 determines the movement trajectory during pelvic repair according to the adjusted pelvic repair method of the repair unit 3 and the pelvic three-dimensional model in the fracture condition analysis unit 1, and conducts a repair demonstration after determination and displays the demonstration situation. At the same time, the data during the display is transmitted to the repair unit 3 for re-simulation, and is saved in the plan matching unit 2 when the simulation is correct.

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

[0086] The trajectory determination module 41 receives the anchor point positions 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 movement trajectory of the bones according to the pelvic three-dimensional model.

[0087] The method for the trajectory determination module 41 to determine the trajectories of the two fixed movements is as follows:

[0088] ①. The trajectory determination module 41 receives the treatment methods matched in the past disease matching module 21 and the data of the distance and direction of bone movement by the symptomatic adjustment module 32 to determine the initial and final positions of the bones.

[0089] ②. Use the Dijkstra algorithm to plan the movement trajectory from the initial position to the termination position of the bone. During the process of using the Dijkstra algorithm for trajectory planning, attention should be paid to the skin and muscle tissue model. The trajectory of bone displacement needs to move within the skin and muscle tissue model and should not protrude from the skin and muscle model tissue, so as to meet the requirements of actual surgery.

[0090] The repair simulation module 42 moves the bone according to the movement trajectory of the bone determined by the trajectory determination module 41, simulates the anchor points at the specified positions, and simulates the pelvic repair through the fixed anchor points.

[0091] The mixed display module 43 receives the content 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. During the operation, the doctor can view the movement trajectory of the pelvic bone shown by the mixed reality technology mechanism, so that the doctor can move the bone according to the movement trajectory during the operation, eliminating the need for the doctor to repeatedly try to move the position of the bone and reducing the difficulty of the doctor moving the bone.

[0092] The fracture condition analysis unit 1 identifies the CT image to establish a three-dimensional pelvic model, analyzes the pelvic fracture condition through the established three-dimensional pelvic model, matches the previous pelvic fracture diseases through the scheme 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 conform to the repair of the three-dimensional pelvic model established by the fracture condition analysis unit 1. The pre-plan integration unit 4 displays the pelvic fracture repair model through mixed reality technology, enabling the doctor to refer to the content displayed by the pre-plan integration unit 4 during the operation, eliminating the need for the doctor to repeatedly determine the direction and position of fracture movement, shortening the doctor's operation time. The symptomatic adjustment module 32 adjusts the treatment method matched by the scheme matching unit 2, enabling the system to adaptively adjust to each different pelvic fracture condition, ensuring that the treatment method adjusted by the repair unit 3 conforms to the patient's condition, facilitating the doctor to perform pelvic fracture repair according to the content displayed by the pre-plan integration unit 4, and improving the accuracy of the doctor moving the bone.

[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 the descriptions in the specification are only preferred examples of the present invention and do not limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pelvic fracture repair pre - plan system with the aid of mixed reality technology, characterized in that: It includes a fracture condition analysis unit (1), a solution matching unit (2), a repair unit (3), and a pre-plan integration unit (4); The fracture condition analysis unit (1) forms a three-dimensional pelvic model by combining the image content scanned by a CT scanner, and identifies the pelvic fracture condition based on the formed three-dimensional pelvic model; The solution matching unit (2) matches the previous pelvic repair methods according to the pelvic fracture condition identified by the fracture condition 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 bone nails, and performs simulation after adjustment; The pre-plan integration unit (4) determines the movement trajectory during pelvic repair according to the adjusted pelvic repair method of the repair unit (3) and the three-dimensional pelvic model in the fracture condition analysis unit (1), performs a repair demonstration after determination, and displays the demonstration situation. At the same time, the data during the display is transmitted to the repair unit (3) for re-simulation, and the adjusted pelvic repair method is saved in the solution matching unit (2) when the simulation is correct; The solution matching unit (2) includes a previous disease matching module (21) and a previous method simulation module (22); The previous disease matching module (21) stores the methods for treating pelvic fracture diseases in the past, and at the same time matches the stored treatment methods according to the identified pelvic fracture condition to find the treatment methods applicable to the identified pelvic fracture; The previous method simulation module (22) receives the three-dimensional pelvic model and the matched treatment method, performs simulated treatment on the three-dimensional pelvic model, and after simulation, identifies the three-dimensional pelvic model after movement to determine whether the bone seams generated at the fracture position of the three-dimensional pelvic model after movement disappear, identifies the edge of the fracture position of the three-dimensional pelvic model after movement, and determines whether the arc transition of the edge position of the fracture is smooth. It judges the treatment effect of the matched treatment method according to the disappearance of the bone seams and the smoothness of the fracture edge position; The repair unit (3) includes 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 the information that the treatment effect judged by the previous method simulation module (22) is not good, the three-dimensional pelvic model, and the treatment method information to explore the defects of the treatment method matched by the previous disease matching module (21); The symptomatic adjustment module (32) adjusts the matched treatment method according to the explored defects of the treatment method and the three-dimensional pelvic model to form a method suitable for pelvic fracture repair; The anchor point positioning module (33) locates the position of the anchor points for pelvic drilling and fixation according to the adjusted pelvic fracture repair method of the symptomatic adjustment module (32).

2. The pelvic fracture repair pre - plan system with the aid of mixed reality technology according to claim 1, wherein: The fracture condition analysis unit (1) includes a CT image combination module (11), a three-dimensional modeling module (12), and a fracture condition recognition module (13); The CT image combination module (11) is used to receive the images scanned by the CT machine and combine and sort the images scanned by the CT machine in the order of scanning by the CT machine; The three-dimensional modeling module (12) establishes a three-dimensional model of human tissues based on the images scanned and sorted by the CT image combination module (11). 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 form a separate three-dimensional pelvis model; The fracture condition recognition module (13) identifies the fracture condition of the pelvis according to the three-dimensional pelvis model established by the three-dimensional modeling module (12).

3. The pelvic fracture repair pre - plan system with the aid of mixed reality technology according to claim 1, characterized in that: The steps of simulating the treatment of the three-dimensional pelvis model according to the matched treatment method are as follows: S1. Determine the bones to be fixed according to the shape of the fracture on the three-dimensional pelvis model, and at the same time display the fracture position on the three-dimensional pelvis model; S2. According to the matched treatment method, set anchor points near the pelvic fracture in the three-dimensional pelvis model, set bone screws according to the positions of the anchor points, and then simulate the connection between the external fixator and the bone screws, so that the external fixator pulls the bone screws, the bone screws drive the bones to move, and the position of the pelvic fracture is fixed. During the process of the external fixator pulling the bone screws, the bones in the three-dimensional pelvis model move in the direction of the external fixator pulling the bone screws.

4. The pelvic fracture repair plan system with the aid of mixed reality technology according to claim 1, characterized in that: The pre-repair simulation module (31) explores the defects of the treatment method matched by the past disease matching module (21) and the symptomatic adjustment module (32) to form a method suitable for pelvic fracture repair as follows: ①. The pre-repair simulation module (31) receives the analysis of the disappearance of the bone suture and the smoothness of the fracture edge position in the past method simulation module (22), determines the change of the bone suture, and combines the smoothness of the fracture edge position to judge the positional relationship between the two fractured bones; ②. The symptomatic adjustment module (32) moves the two bones according to the positional relationship between the two fractured bones judged by the pre-repair simulation module (31), records the moving distance and direction of the two bones, and stops moving the two bones when the bone suture between the two bones is closely attached and the fracture edge position is smooth.

5. The pelvic fracture repair plan system with the aid of mixed reality technology according to claim 4, 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) simulates the repair of the pelvic fracture according to the newly determined anchor point position to determine 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) to make the symptomatic adjustment module (32) continue to adjust the position of the bone, and re-determine 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 determination; When the result simulated by 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), enabling the symptomatic adjustment module (32) to transmit the adjustment information to the anchor point positioning module (33). 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 pre-plan integration unit (4).

6. The pelvic fracture repair pre - plan system by means of mixed reality technology according to claim 5, wherein: The pre-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 position of the anchor point located by the anchor point positioning module (33) and the three-dimensional pelvic model of the three-dimensional modeling module (12), and then determines the running trajectory of the bone movement based on the three-dimensional pelvic model; The repair simulation module (42) moves the bone according to the running trajectory of the bone movement determined by the trajectory determination module (41), simulates the anchor point at the specified position, and simulates the repair of the pelvis through the fixed anchor point; The mixed display module (43) receives the content 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.

7. The pelvic fracture repair plan system with the aid of mixed reality technology according to claim 6, wherein: The method for the trajectory determination module (41) to determine the trajectories of two fixed movements is as follows: ①. The trajectory determination module (41) receives the treatment method matched in the past disease matching module (21) and the data of the distance and direction of the bone movement by the symptomatic adjustment module (32), and determines the initial position and the end position of the bone; ②. The Dijkstra algorithm is used to plan the movement trajectory from the initial position to the end position of the bone.

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