Pelvic fracture reduction method and system, computer equipment and readable storage medium

Abstract

The invention discloses a pelvic fracture reduction method and system, computer equipment and a readable storage medium, relates to the technical field of pelvic reduction, and solves the problem that an orthopedic robot cannot perform reduction on pelvic fracture in pelvic fracture treatment at present. The method comprises the following steps: acquiring two-dimensional image information about a pelvis of a pelvis target to be reset, and generating a two-dimensional pelvis model by using an image recognition algorithm based on the two-dimensional image information; determining parameter values of malformation parameters based on the two-dimensional pelvis model, wherein the malformation parameters comprise a pelvis angulation parameter, a normal position displacement parameter, a lateral position angulation parameter, a lateral position displacement parameter, an axial position angulation parameter and an axial position displacement parameter; and calculating set values of six extension rods of the fracture reduction robot on the basis of the parameter values of the malformation parameters, so that the fracture reduction robot resets the pelvis of the pelvis target to be reset on the basis of the set values of the six extension rods.

Description

Technical Field

[0001] The present application relates to the technical field of pelvic reduction, and in particular to a pelvic fracture reduction method, system, computer equipment, readable storage medium and computer program product. Background Art

[0002] Pelvic fractures are common in various high-energy injuries, accounting for about 1-3% of all fractures in the body, of which the incidence of posterior pelvic ring instability injuries is 17-30%. The goal of surgical treatment of pelvic fractures is to restore the integrity and stability of the pelvic anatomical structure. Although traditional open reduction and internal fixation can be anatomically reduced under direct vision, it is limited by the risks of massive bleeding, vascular and nerve damage. Therefore, the treatment of pelvic fractures has always been a difficult and hot issue in trauma orthopedics.

[0003] With the advancement of minimally invasive concepts and intraoperative fluoroscopy technology, closed or minimally invasive reduction and internal fixation (such as sacroiliac screws, etc.) under intraoperative fluoroscopy has become a new treatment trend. Compared with traditional methods, it has the advantages of less bleeding, low probability of vascular and nerve damage, and faster postoperative recovery. The emergence and development of orthopedic robots have further expanded the advantages of this treatment method. However, since orthopedic robots can only solve the problems of navigation and positioning, in the treatment of pelvic fractures, they are limited by the uniqueness and complexity of the pelvic anatomical structure and cannot reduce pelvic fractures, resulting in the inability of orthopedic robots to be used in the treatment of pelvic fractures. Summary of the invention

[0004] The embodiments of the present application provide a pelvic fracture reduction method, system, computer device, readable storage medium and computer program product, the main purpose of which is to solve the current problem that orthopedic robots are unable to reduce pelvic fractures during pelvic fracture treatment.

[0005] According to a first aspect of the present application, a method for reducing a pelvic fracture is provided, comprising:

[0006] Acquire two-dimensional image information about the pelvis of the pelvis target to be repositioned, and generate a two-dimensional pelvic model based on the two-dimensional image information using an image recognition algorithm;

[0007] Determining parameter values ​​of deformity parameters based on the two-dimensional pelvic model, wherein the deformity parameters include pelvic angulation parameters, anteroposterior displacement parameters, lateral angulation parameters, lateral displacement parameters, axial angulation parameters, and axial displacement parameters;

[0008] The setting values ​​of six extension rods of the fracture reduction robot are calculated based on the parameter values ​​of the deformity parameters, so that the fracture reduction robot can reduce the pelvis of the target pelvis to be reduced based on the setting values ​​of the six extension rods.

[0009] Optionally, before generating the two-dimensional pelvic model by using an image recognition algorithm based on the two-dimensional image information, the method further includes:

[0010] Acquire an image training set, wherein the image training set includes a plurality of two-dimensional pelvic images, each of which is annotated with parameter values ​​of a plurality of characteristic parameters;

[0011] An initial image recognition algorithm is obtained, and the initial image recognition algorithm is trained using the image training set, and model parameters are updated to obtain the image recognition algorithm.

[0012] Optionally, determining parameter values ​​of deformity parameters based on the two-dimensional pelvic model includes:

[0013] The first distance b0 between the particle point at the fracture end of the sacroiliac joint surface on the affected side and the particle point at the pubic bone on the affected side, the second distance c0 between the particle point at the pubic bone on the reduced side and the particle point at the fracture end of the sacroiliac joint surface on the affected side, the third distance d0 between the straight line passing through the particle point at the pubic bone on the affected side and the parallel line α of the projection line of the posterior edge of the sacrum, the fourth distance f0 between the particle point at the pubic bone on the affected side and the intersection of the parallel line α with the perpendicular line to the particle point at the pubic bone on the affected side after fracture reduction and the parallel line α, and the anterior-posterior distance e0 are extracted from the two-dimensional pelvic model, and the horizontal plane rotation angle is calculated based on the first distance b0, the second distance c0, the third distance d0, the fourth distance f0 and the anterior-posterior distance e0. Rotate the horizontal plane by an angle as a parameter value of the pelvic angulation parameter;

[0014] Extracting the first horizontal displacement s1 between the healthy side sacrum mass point and the affected side sacroiliac joint surface fracture end mass point from the entrance position of the two-dimensional pelvic model as the parameter value of the anteroposterior displacement parameter;

[0015] Extracting a relative height difference Δh0 between a particle point at the pubic bone on the affected side after fracture and a particle point at the pubic bone on the affected side after fracture reduction from the two-dimensional pelvic model, calculating a sagittal plane rotation angle θ0 based on the relative height difference Δh0 and the third distance d0, and using the sagittal plane rotation angle θ0 as a parameter value of the lateral angulation parameter;

[0016] Extracting a second displacement s2 between a healthy side sacrum mass point and a mass point at a fracture end of the sacroiliac joint surface on the affected side from the exit position of the two-dimensional pelvic model as a parameter value of the lateral displacement parameter;

[0017] Extracting the angle γ between the outer edge of the healthy side sacrum and the inner edge of the affected side hip bone from the two-dimensional pelvic model as the parameter value of the axial angulation parameter;

[0018] A third displacement s3 between the healthy side sacrum mass point and the affected side sacroiliac joint surface fracture end mass point is extracted from the two-dimensional pelvic model as the parameter value of the axial displacement parameter.

[0019] Optionally, the calculating the horizontal plane rotation angle based on the first distance, the second distance, the third distance and the fourth distance includes:

[0020] Determine the horizontal plane rotation angle parameters A first calculation formula for the first distance parameter b, the second distance parameter c, the third distance parameter d, the fourth distance parameter f and the front-back distance parameter e, wherein the first calculation formula is:

[0021]

[0022] Substitute the first distance b0, the second distance c0, the third distance d0, the fourth distance f0 and the front-to-back distance e0 into the calculation formula to obtain the horizontal plane rotation angle .

[0023] Optionally, the calculating the sagittal plane rotation angle based on the relative height difference and the third distance d comprises:

[0024] Determine a second calculation formula for the sagittal plane rotation angle parameter θ, the relative height difference parameter Δh, and the third distance parameter d, wherein the second calculation formula is:

[0025] θ=arcsin((Δh / d),

[0026] Substituting the relative height difference Δh0 and the third distance d0 into the second calculation formula, the sagittal plane rotation angle θ0 is obtained.

[0027] According to a second aspect of the present application, there is provided a pelvic fracture reduction system, comprising: a control unit, a two-dimensional imaging device, a processing unit and a fracture reduction robot;

[0028] The control unit is connected to the two-dimensional image shooting device, the processing unit and the fracture reduction robot;

[0029] The control unit is used to respond to the shooting instruction, control the two-dimensional image shooting device to collect two-dimensional image information about the pelvis of the pelvis target to be reset, and send the two-dimensional image information to the processing unit;

[0030] The processing unit is configured to execute the pelvic fracture reduction method according to any one of the first aspects above upon receiving the two-dimensional image information, and obtain setting values ​​of six extension rods of the fracture reduction robot;

[0031] The control unit is further used to respond to a pelvic resetting instruction and control the fracture resetting robot to reset the pelvis of the target pelvis to be relocated based on the set values ​​of the six extension rods.

[0032] Optionally, the pelvic fracture reduction system further comprises: a rehabilitation unit;

[0033] The rehabilitation unit is used to obtain a reset date and generate a rehabilitation list based on the set values ​​of the six extension rods and the reset date, wherein the rehabilitation list includes multiple rehabilitation dates and target set values ​​of the six extension rods corresponding to each rehabilitation date, wherein the difference between the target set values ​​of the six extension rods corresponding to adjacent rehabilitation dates is a preset difference, and the rehabilitation date is a date after the reset date.

[0034] According to a third aspect of the present application, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the methods described in the first aspect when executing the computer program.

[0035] According to a fourth aspect of the present application, a readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0036] According to a fifth aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0037] Through the above technical scheme, the present application provides a pelvic fracture reduction method, system, computer equipment, readable storage medium and computer program product. After obtaining the two-dimensional image information of the pelvis, the present application can use the image recognition algorithm to generate a two-dimensional pelvic model, and determine the parameter values ​​of the deformity parameters according to the two-dimensional pelvic model. Finally, based on the parameter values ​​of the deformity parameters, the setting values ​​of the six extension rods of the fracture reduction robot are calculated, so that the fracture reduction robot can reduce the pelvis of the target pelvis to be reduced based on the setting values ​​of the six extension rods; through the above process, the setting values ​​of the six extension rods of the fracture reduction robot suitable for the pelvic structure can be obtained, and the pelvic reduction robot can reduce the pelvic fracture according to the setting values ​​of the six extension rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A A flow chart of a pelvic fracture reduction method provided by an embodiment of the present application is shown;

[0039] Figure 1B A schematic structural diagram of a Taylor bone external fixator for a pelvic fracture reduction method provided in an embodiment of the present application is shown;

[0040] Figure 2A A schematic structural diagram of a pelvic inlet position of a two-dimensional pelvic model of a pelvic fracture reduction method provided in an embodiment of the present application is shown;

[0041] Figure 2B A schematic structural diagram of a pelvic outlet position of a two-dimensional pelvic model of a pelvic fracture reduction method provided in an embodiment of the present application is shown;

[0042] Figure 3 A schematic structural diagram of a pelvic fracture reduction system provided in an embodiment of the present application is shown;

[0043] Figure 4 A schematic diagram of the device structure of a computer device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0044] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0045] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.

[0046] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0047] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0048] It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art will be able to readily implement many other equivalent forms of the present application.

[0049] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0050] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0051] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0052] The present application embodiment provides a pelvic fracture reduction method, such as Figure 1A As shown, including:

[0053] 101. Acquire two-dimensional image information about the pelvis of the pelvis target to be reset, and generate a two-dimensional pelvic model based on the two-dimensional image information using an image recognition algorithm;

[0054] In the embodiment of the present application, the pelvic target to be repositioned can be understood as a patient with a pelvic fracture. First, X-ray image information of the patient's pelvic entrance can be captured by a digital X-ray photography system, that is, two-dimensional image information. In order to improve the degree of automation, a two-dimensional pelvic model can be generated based on the two-dimensional image information using an image recognition algorithm. The image recognition algorithm can automatically annotate key information in the two-dimensional image information to generate a two-dimensional pelvic model.

[0055] 102. Determine the parameter values ​​of the deformity parameters based on the two-dimensional pelvic model.

[0056] In an embodiment of the present application, after determining the two-dimensional pelvic model, the parameter values ​​of the deformity parameters can be determined by the parameter values ​​of the relevant parameters in the two-dimensional pelvic model. The deformity parameters here include pelvic angulation parameters, anteroposterior displacement parameters, lateral angulation parameters, lateral displacement parameters, axial angulation parameters and axial displacement parameters.

[0057] 103. Calculate setting values ​​of six extension rods of the fracture reduction robot based on the parameter values ​​of the deformity parameters, so that the fracture reduction robot can reduce the pelvis of the target pelvis to be reduced based on the setting values ​​of the six extension rods.

[0058] In the embodiment of the present application, after the parameter value of the deformity parameter is determined, the setting values ​​of the six extension rods of the fracture reduction robot can be calculated according to the parameter value of the deformity parameter.

[0059] It should be noted that fracture reduction robots include Taylor external fixators, such as Figure 1BAs shown in the figure, the Taylor external fixator is composed of a dynamic platform, a static platform and six retractable measuring rods with scales. The Taylor external fixator is the theoretical evolution and application of the Stewart platform. The numerical solution process of the kinematic positive solution of the Stewart platform can be regarded as an optimization problem for solving multivariate objective functions, which belongs to the category of operations research. The most effective solution is to set it as a solution process for the optimal solution of a set of six-variable nonlinear equations. A set of nonlinear equations can be set according to the parameters of the initial posture of the measuring dynamic platform. The optimal solution obtained in the feasible solution domain is a unique and optimal set of posture parameters of the kinematic positive solution of the Taylor external fixator.

[0060] Specifically, it can be seen from step 102 that the deformity parameters include 6 posture parameters, that is, when the value of one of the 6 posture parameters changes, the rod length value of the retractable rod of the Taylor bone external fixator of the fracture reduction robot will change accordingly. Therefore, the setting values ​​of the six extension rods of the fracture reduction robot can be calculated based on the parameter values ​​of the deformity parameters and can be solved using Stewart kinematics. First, the coordinate system of the moving platform is set to Q, and its three-dimensional coordinate systems are u, v, and w, respectively, which are called the moving coordinate system Q-uvw. The corresponding static platform thinking coordinate system is P, and its three-dimensional coordinate systems are x, y, and z, respectively, called the base coordinate system P-xyz, where point P is the geometric center of the static platform, Q is the geometric center of the moving platform, the 6 positions where the moving platform is connected to the hinge are set as N1, N2, N3, N4, N5, and N6, and the 6 positions where the static platform is connected to the hinge are set as M1, M2, M3, M4, M5, and M6. From the structural properties of the Taylor frame, it can be seen that the static platform is always stationary, so the static coordinate system P is in a relatively static state relative to the moving coordinate system Q. In order to reduce unnecessary parameters generated during the entire solution process, the positive direction of the x-axis in the static coordinate system P is set to the midpoint of M1 and M2, and the direction of the z-axis is set to be perpendicular to the horizontal plane of the base. The positive direction of the y-axis can be obtained by the right-hand rule. In the coordinate system Q-uvw of the moving platform, the positive direction of each axis is parallel to the static platform and the direction is consistent. Assuming that the angle of rotation around the x-axis in the moving coordinate system Q relative to the static coordinate system P is denoted as α, the angle of rotation around the y-axis is denoted as β, and the angle of rotation around the z-axis is denoted as γ, the three-dimensional spatial angle posture coordinates of the moving platform in the coordinate system can be expressed as (α, β, γ). By vertically projecting the moving platform and the static platform of the fixator, it can be seen that the figure composed of the connection points of the 6 hinges and the platform is distributed in a non-regular hexagon. The angle of rotation can be calculated by the offset angle formed by the fracture and the vector displacement of the line segment. By calculating the position of each connection point through vertical projection, the following set of offset angle values ​​can be obtained, where a i is the radius of the moving platform, b i is the radius of the static platform. γ is ∠M i PM i-1, i = 2, 4, 6, φ is ∠N i QN i-1 , i = 2, 4, 6. If the rotation angle of the dynamic platform Q around the static platform Px axis in the bone external fixator is recorded as α, the bone part can be approximately regarded as a line, and the corresponding matrix can be obtained by the formula,

[0061]

[0062] To perform coordinate transformation calculation, the coordinate transformation matrix of the rotation angle α can be expressed as:

[0063]

[0064] It can also be obtained that when the rotation angles of a certain point A in the dynamic platform Q of the external fixator around the static platform Py axis and Pz axis are β and γ respectively, the specific matrix representation of each rotation angle type is:

[0065]

[0066]

[0067] Through the above formula, the calculation process of projecting the coordinate system Q of the moving platform into the coordinate system P of the static platform can be expressed as:

[0068]

[0069] Here, the letter s represents the function sin, and the letter c represents the function cos.

[0070] The coordinates of the real-time position of the dynamic platform coordinate system Q-uvw of the Taylor bone external fixator in the static platform coordinate system P-xyz can be expressed as, and its matrix form can be expressed as, the known rotation angle of the dynamic platform Q around the static platform Pz axis is recorded as (u q , v q , w q ), the six real-time posture parameters of the moving platform Q can be expressed as a set of six-dimensional vectors [u, v, w, α, β, γ].

[0071] Therefore, in the two-platform structure of the entire Taylor external fixator, the problem of solving the optimal solution of the dynamic platform posture parameters originates from the typical Stewart kinematics forward solution process. By reading the specific scale values ​​displayed on the 6 telescopic measuring rods marked with scales, and then calculating the rotation matrix, the posture parameters of the dynamic platform Q corresponding to the known parameters can be obtained, and the posture parameters are unique. Let the rotation matrix of the dynamic platform coordinate system Q relative to the static platform coordinate system P be R′, and its rotation posture parameters are represented by (α, β, γ). After displacement and angular offset occur between the two platforms, the origins of the coordinate systems Q and P do not coincide in a geometric sense, and the directions of the positive axes of the two coordinate systems are also inconsistent. For each connection point N on the platform, i and M i , the specific value of the telescopic rod can be calculated through spatial geometric projection and line segment translation. Assuming that the cross section of the fracture site is regarded as the geometric center of the entire cross section, denoted as point A, the expression of point A in the static platform coordinate system P-xyz is:

[0072] P A=R′ Q A+ P A Q ,

[0073] The length of the retractable rod is represented by a vector:

[0074] PA+AN i =PM i +M i N i ,i=1,2,…,6,

[0075]

[0076] Therefore, the value of the length li of the telescopic rod in the external fixator is equal to the vector According to the definition of module in geometric mathematics, we know that the vector The modulus of the vector Find the square root of the three-dimensional coordinates, that is, in the moving platform Q,

[0077]

[0078] in, represents the parameter value at the connection point between the hinge and the dynamic ring in the dynamic platform Q, Represents the parameter value at the connection point between the hinge and the static ring in the static platform P.

[0079] In summary, the posture parameters [u, v, w, α, β, γ] can be obtained based on the pelvic angulation parameter, anteroposterior displacement parameter, lateral angulation parameter, lateral displacement parameter, axial angulation parameter and axial displacement parameter; substituting the posture parameters into the above formula can obtain the setting values ​​of the six extension rods of the fracture reduction robot.

[0080] The method provided in the embodiment of the present application can, after acquiring the two-dimensional image information of the pelvis, generate a two-dimensional pelvic model by using an image recognition algorithm, determine the parameter values ​​of the deformity parameters according to the two-dimensional pelvic model, and finally calculate the setting values ​​of the six extension rods of the fracture reduction robot based on the parameter values ​​of the deformity parameters, so that the fracture reduction robot can reduce the pelvis of the target pelvis to be reduced based on the setting values ​​of the six extension rods; through the above process, the setting values ​​of the six extension rods of the fracture reduction robot suitable for the pelvic structure can be obtained, and the pelvic reduction robot can reduce the pelvic fracture according to the setting values ​​of the six extension rods.

[0081] Furthermore, based on the Stewart platform, this application obtains deformity parameters by discovering the geometric and algebraic relationship between pelvic fracture displacement and rotational deformity, and obtains the setting values ​​of the six extension rods of the fracture reduction robot based on the deformity parameters. The setting values ​​of the six extension rods are oriented to the pelvic structure, filling the gap in the field of pelvic fracture reduction of six-axis robots. Seeking an effective, safe and simpler way to reduce pelvic fractures provides new ideas for the clinical treatment of pelvic fractures.

[0082] Further, as a refinement and extension of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation of this embodiment, the embodiment of the present application provides another pelvic fracture reduction method, including:

[0083] 201. Obtain two-dimensional image information about the pelvis of a pelvic target to be repositioned, and generate a two-dimensional pelvic model based on the two-dimensional image information using an image recognition algorithm.

[0084] In the embodiment of the present application, the image recognition algorithm can be understood as a trained optimal algorithm, and the specific training process is: obtain an image training set, the image training set includes multiple two-dimensional pelvic images, and each two-dimensional pelvic image is annotated with parameter values ​​of multiple feature parameters; obtain an initial image recognition algorithm, use the image training set to train the initial image recognition algorithm, update the model parameters, and obtain the image recognition algorithm.

[0085] It should be noted that the initial image recognition algorithm is a prior art and can be easily obtained by those skilled in the art, so it will not be described in detail here.

[0086] 202. Determine parameter values ​​of deformity parameters based on the two-dimensional pelvic model.

[0087] In the present application embodiment, Figure 2A and Figure 2B The two-dimensional pelvic model shown can first extract from the two-dimensional pelvic model a first distance b0 between the particle at the fracture end of the affected sacroiliac joint surface and the particle at the affected pubic bone, a second distance c0 between the particle at the reduced affected pubic bone and the particle at the fracture end of the affected sacroiliac joint surface, a third distance d0 between a straight line passing through the particle at the affected pubic bone and a parallel line α of the projection line of the posterior edge of the sacrum, a fourth distance f0 between the particle at the affected pubic bone and the intersection of the parallel line α with a perpendicular line to the particle at the affected pubic bone after fracture reduction and the parallel line α, and an anterior-posterior distance e0, and calculate the horizontal plane rotation angle based on the first distance b0, the second distance c0, the third distance d0, the fourth distance f0 and the anterior-posterior distance e0. , rotate the horizontal plane by angle As the parameter value of the pelvic angulation parameter; then, the horizontal first displacement s1 between the healthy side sacrum particle and the particle at the fracture end of the affected side sacroiliac joint surface is extracted from the entrance position of the two-dimensional pelvic model as the parameter value of the anteroposterior displacement parameter; the relative height difference Δh0 between the particle at the affected side pubic bone after the fracture and the particle at the affected side pubic bone after the fracture reduction is further extracted from the two-dimensional pelvic model, the sagittal rotation angle θ0 is calculated based on the relative height difference Δh0 and the third distance d0, and the sagittal rotation angle θ0 is used as the parameter value of the lateral angulation parameter; then, the anterior-posterior second displacement s2 between the healthy side sacrum particle and the particle at the fracture end of the affected side sacroiliac joint surface is extracted from the exit position of the two-dimensional pelvic model as the parameter value of the lateral displacement parameter; then, the angle γ between the outer edge of the healthy side sacrum and the inner edge of the affected side hip bone is extracted from the two-dimensional pelvic model as the parameter value of the axial angulation parameter; finally, the third displacement s3 between the healthy side sacrum particle and the particle at the fracture end of the affected side sacroiliac joint surface is extracted from the two-dimensional pelvic model as the parameter value of the axial displacement parameter.

[0088] Furthermore, a specific method for calculating the horizontal plane rotation angle based on the first distance, the second distance, the third distance and the fourth distance is:

[0089] First, determine the horizontal plane rotation angle parameter A first calculation formula for the first distance parameter b, the second distance parameter c, the third distance parameter d, the fourth distance parameter f and the front-back distance parameter e, wherein the first calculation formula is:

[0090]

[0091] Then, the first distance b0, the second distance c0, the third distance d0, the fourth distance f0 and the front-back distance e0 are substituted into the calculation formula to obtain the horizontal plane rotation angle

[0092] Furthermore, the specific method for calculating the sagittal plane rotation angle based on the relative height difference and the third distance d is:

[0093] First, determine a second calculation formula for the sagittal plane rotation angle parameter θ, the relative height difference parameter Δh, and the third distance parameter d. The second calculation formula is:

[0094] θ=arcsin(Δh / d),

[0095] Afterwards, the relative height difference Δh0 and the third distance d0 are substituted into the second calculation formula to obtain the sagittal plane rotation angle θ0.

[0096] The method provided in the embodiment of the present application can, after acquiring the two-dimensional image information of the pelvis, generate a two-dimensional pelvic model by using an image recognition algorithm, determine the parameter values ​​of the deformity parameters according to the two-dimensional pelvic model, and finally calculate the setting values ​​of the six extension rods of the fracture reduction robot based on the parameter values ​​of the deformity parameters, so that the fracture reduction robot can reduce the pelvis of the target pelvis to be reduced based on the setting values ​​of the six extension rods; through the above process, the setting values ​​of the six extension rods of the fracture reduction robot suitable for the pelvic structure can be obtained, and the pelvic reduction robot can reduce the pelvic fracture according to the setting values ​​of the six extension rods.

[0097] Furthermore, if Figure 3 As shown, an embodiment of the present invention provides a pelvic fracture reduction system, including: a control unit, a two-dimensional image shooting device, a processing unit and a fracture reduction robot.

[0098] Specifically, the control unit is connected to the two-dimensional image shooting device, the processing unit and the fracture reduction robot; the control unit is used to respond to the shooting instruction, control the two-dimensional image shooting device to collect two-dimensional image information about the pelvis of the pelvic target to be reduced, and send the two-dimensional image information to the processing unit; the processing unit is used to execute the pelvic fracture reduction method when receiving the two-dimensional image information, and obtain the set values ​​of the six extension rods of the fracture reduction robot; the control unit is also used to respond to the pelvic reduction instruction, and control the fracture reduction robot to reduce the pelvis of the pelvic target to be reduced based on the set values ​​of the six extension rods.

[0099] Furthermore, the pelvic fracture reduction system also includes a rehabilitation unit. The rehabilitation unit is used to obtain a reduction date, generate a rehabilitation list based on the setting values ​​of the six extension rods and the reduction date, and the rehabilitation list includes multiple rehabilitation dates and target setting values ​​of the six extension rods corresponding to each rehabilitation date, wherein the difference between the target setting values ​​of the six extension rods corresponding to adjacent rehabilitation dates is a preset difference, and the rehabilitation date is a date after the reduction date.

[0100] The system provided by the embodiment of the present application includes a control unit, a two-dimensional image shooting device, a processing unit, a fracture reduction robot and a rehabilitation unit. The control unit can control the two-dimensional image shooting device to collect two-dimensional image information about the pelvis of the pelvis target to be reduced, and the processing unit can obtain the setting values ​​of the six extension rods of the fracture reduction robot according to the two-dimensional image information. Under the control of the control unit, the fracture reduction robot can reduce the pelvis of the pelvis target to be reduced based on the setting values ​​of the six extension rods; at the same time, the rehabilitation unit can also generate a rehabilitation list based on the setting values ​​of the six extension rods and the reduction date, and the control unit can control the fracture reduction robot to rehabilitate the pelvis of the pelvis target to be reduced according to the rehabilitation list when the pelvis target to be reduced is rehabilitated according to the rehabilitation date.

[0101] In an exemplary embodiment, see Figure 4 , and also provides a computer device, which includes a bus, a processor, a memory and a communication interface, and may also include an input and output interface and a display device, wherein each functional unit can communicate with each other through the bus. The memory stores a computer program, and the processor is used to execute the program stored in the memory and execute the pelvic fracture reduction method in the above embodiment.

[0102] The present application also provides a readable storage medium having a computer program stored thereon, and the computer program, when executed by a processor, implements the steps of the pelvic fracture reduction method.

[0103] If the module / unit integrated in the computer unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0104] The present application also provides a computer program product, including a computer program, which implements the steps of the pelvic fracture reduction method when executed by a processor.

[0105] The above application serial numbers are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0106] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A method for reducing a pelvic fracture, characterized in that: include: Acquire two-dimensional image information about the pelvis of the pelvis target to be repositioned, and generate a two-dimensional pelvic model based on the two-dimensional image information using an image recognition algorithm; Determining parameter values ​​of deformity parameters based on the two-dimensional pelvic model, the deformity parameters including pelvic angulation parameters, anteroposterior displacement parameters, lateral angulation parameters, lateral displacement parameters, axial angulation parameters and axial displacement parameters; The setting values ​​of six extension rods of the fracture reduction robot are calculated based on the parameter values ​​of the deformity parameters, so that the fracture reduction robot can reduce the pelvis of the target pelvis to be reduced based on the setting values ​​of the six extension rods.

2. The method for pelvic fracture reduction according to claim 1, characterized in that: Before generating the two-dimensional pelvic model by using an image recognition algorithm based on the two-dimensional image information, the method further includes: Acquire an image training set, wherein the image training set includes a plurality of two-dimensional pelvic images, each of which is annotated with parameter values ​​of a plurality of characteristic parameters; An initial image recognition algorithm is obtained, and the initial image recognition algorithm is trained using the image training set, and model parameters are updated to obtain the image recognition algorithm.

3. The method for pelvic fracture reduction according to claim 1, characterized in that: Determining the parameter value of the deformity parameter based on the two-dimensional pelvic model includes: The first distance b0 between the particle point at the fracture end of the sacroiliac joint surface on the affected side and the particle point at the pubic bone on the affected side, the second distance c0 between the particle point at the pubic bone on the reduced side and the particle point at the fracture end of the sacroiliac joint surface on the affected side, the third distance d0 between the straight line passing through the particle point at the pubic bone on the affected side and the parallel line α of the projection line of the posterior edge of the sacrum, the fourth distance f0 between the particle point at the pubic bone on the affected side and the intersection of the parallel line α with the perpendicular line to the particle point at the pubic bone on the affected side after fracture reduction and the parallel line α, and the anterior-posterior distance e0 are extracted from the two-dimensional pelvic model, and the horizontal plane rotation angle is calculated based on the first distance b0, the second distance c0, the third distance d0, the fourth distance f0 and the anterior-posterior distance e0. Rotate the horizontal plane by an angle as a parameter value of the pelvic angulation parameter; Extracting the first horizontal displacement s1 between the healthy side sacrum mass point and the affected side sacroiliac joint surface fracture end mass point from the entrance position of the two-dimensional pelvic model as the parameter value of the anteroposterior displacement parameter; Extracting a relative height difference Δh0 between a particle point at the pubic bone on the affected side after fracture and a particle point at the pubic bone on the affected side after fracture reduction from the two-dimensional pelvic model, calculating a sagittal plane rotation angle θ0 based on the relative height difference Δh0 and the third distance d0, and using the sagittal plane rotation angle θ0 as a parameter value of the lateral angulation parameter; Extracting a second displacement s2 between a healthy side sacrum mass point and a mass point at a fracture end of the sacroiliac joint surface on the affected side from the exit position of the two-dimensional pelvic model as a parameter value of the lateral displacement parameter; Extracting the angle γ between the outer edge of the healthy side sacrum and the inner edge of the affected side hip bone from the two-dimensional pelvic model as the parameter value of the axial angulation parameter; A third displacement s3 between the healthy side sacrum mass point and the affected side sacroiliac joint surface fracture end mass point is extracted from the two-dimensional pelvic model as the parameter value of the axial displacement parameter.

4. The method for reducing a pelvic fracture according to claim 3, characterized in that: The calculating the horizontal plane rotation angle based on the first distance, the second distance, the third distance and the fourth distance comprises: Determine the horizontal plane rotation angle parameters A first calculation formula for the first distance parameter b, the second distance parameter c, the third distance parameter d, the fourth distance parameter f and the front-back distance parameter e, wherein the first calculation formula is: Substitute the first distance b0, the second distance c0, the third distance d0, the fourth distance f0 and the front-back distance e0 into the calculation formula to obtain the horizontal plane rotation angle 5. The method for reducing a pelvic fracture according to claim 3, characterized in that: The calculating the sagittal plane rotation angle based on the relative height difference and the third distance d comprises: Determine a second calculation formula for the sagittal plane rotation angle parameter θ, the relative height difference parameter Δh, and the third distance parameter d, wherein the second calculation formula is: θ=arcsin(Δh / d), Substituting the relative height difference Δh0 and the third distance d0 into the second calculation formula, the sagittal plane rotation angle θ0 is obtained.

6. A pelvic fracture reduction system, characterized in that: include: A control unit, a two-dimensional imaging device, a processing unit and a fracture reduction robot; The control unit is connected to the two-dimensional image shooting device, the processing unit and the fracture reduction robot; The control unit is used to respond to the shooting instruction, control the two-dimensional image shooting device to collect two-dimensional image information about the pelvis of the pelvis target to be reset, and send the two-dimensional image information to the processing unit; The processing unit is used to execute the pelvic fracture reduction method according to any one of claims 1 to 5 when receiving the two-dimensional image information, and obtain the setting values ​​of the six extension rods of the fracture reduction robot; The control unit is further used to respond to a pelvic resetting instruction and control the fracture resetting robot to reset the pelvis of the target pelvis to be relocated based on the set values ​​of the six extension rods.

7. The pelvic fracture reduction system according to claim 6, characterized in that: Also includes: Rehabilitation Unit; The rehabilitation unit is used to obtain a reset date and generate a rehabilitation list based on the set values ​​of the six extension rods and the reset date, wherein the rehabilitation list includes multiple rehabilitation dates and target set values ​​of the six extension rods corresponding to each rehabilitation date, wherein the difference between the target set values ​​of the six extension rods corresponding to adjacent rehabilitation dates is a preset difference, and the rehabilitation date is a date after the reset date.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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