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

Abstract

This application discloses a method, system, computer device, and readable storage medium for pelvic fracture reduction, relating to the field of pelvic reduction technology, and solving the problem that orthopedic robots cannot reduce pelvic fractures in current treatments. The method includes: acquiring two-dimensional image information of the pelvis to be reduced; generating a two-dimensional pelvic model based on the two-dimensional image information using an image recognition algorithm; determining the parameter values ​​of deformity parameters based on the two-dimensional pelvic model, including pelvic angularity parameters, anteroposterior displacement parameters, lateral angularity parameters, lateral displacement parameters, axial angularity parameters, and axial displacement parameters; and calculating the set 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 based on the set values ​​of the six extension rods.

Description

Technical Field

[0001] This application relates to the field of pelvic reduction technology, and in particular to a method, system, computer device, readable storage medium, and computer program product for pelvic fracture reduction. Background Technology

[0002] Pelvic fractures are common in various high-energy injuries, accounting for approximately 1-3% of all fractures, with posterior pelvic ring instability injuries accounting for 17-30%. The goal of surgical treatment for pelvic fractures is to restore the integrity and stability of the pelvic anatomy. While traditional open reduction and internal fixation can achieve anatomical reduction under direct vision, its limitations are due to risks such as massive bleeding and vascular and nerve damage. Therefore, the treatment of pelvic fractures has always been a challenging and highly relevant issue in trauma orthopedics.

[0003] With advancements in minimally invasive techniques and intraoperative fluoroscopy, fluoroscopic closed or minimally invasive reduction and internal fixation (such as sacroiliac screws) has become a new treatment trend, offering advantages over traditional methods such as less bleeding, lower 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 approach. However, because orthopedic robots can only address navigation and positioning, they cannot be used for pelvic fracture treatment due to the unique and complex anatomy of the pelvis, thus limiting their application. Summary of the Invention

[0004] The embodiments of this application provide a method, system, computer device, readable storage medium, and computer program product for pelvic fracture reduction, the main purpose of which is to solve the problem that orthopedic robots cannot reduce pelvic fractures in the treatment of pelvic fractures.

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

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

[0007] The parameter values ​​of the deformity parameters are determined based on the two-dimensional pelvic model. The deformity parameters include pelvic angulation parameters, orthostatic displacement parameters, lateral angulation parameters, lateral displacement parameters, axial angulation parameters, and axial displacement parameters.

[0008] The set values ​​of the 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 set values ​​of the six extension rods.

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

[0010] Obtain an image training set, which includes multiple two-dimensional pelvic images, each of which is labeled with the parameter values ​​of multiple feature parameters.

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

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

[0013] The following distances are extracted from the two-dimensional pelvic model: a first distance b0 between the mass point at the fracture end of the affected sacroiliac joint surface and the mass point at the affected pubic bone; a second distance c0 between the reduced mass point at the affected pubic bone and the mass point at the fracture end of the affected sacroiliac joint surface; a third distance d0 between the straight line passing through the mass point at the affected pubic bone and the parallel line α to the projection line of the posterior edge of the sacrum; a fourth distance f0 between the mass point at the affected pubic bone and the intersection of the perpendicular line from the reduced mass point at the affected pubic bone and the parallel line α; and an anterior-posterior distance e0. 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 The parameter value is used as the pelvic angle parameter;

[0014] The first horizontal displacement s1 between the healthy sacral bone mass point and the mass point at the fracture end of the sacroiliac joint surface on the affected side is extracted from the entrance position of the two-dimensional pelvic model and used as the parameter value of the orthostatic displacement parameter.

[0015] The relative height difference Δh0 between the mass point at the affected side of the pubic bone after fracture and the mass point at the affected side of the pubic bone after fracture reduction is extracted from the two-dimensional pelvic model. Based on the relative height difference Δh0 and the third distance d0, the sagittal plane rotation angle θ0 is calculated, and the sagittal plane rotation angle θ0 is used as the parameter value of the lateral angular parameter.

[0016] The second displacement s2 between the healthy sacral bone mass point and the mass point at the fracture end of the sacroiliac joint surface on the affected side is extracted from the exit position of the two-dimensional pelvic model and used as the parameter value of the lateral displacement parameter.

[0017] The angle γ between the outer edge of the healthy sacrum and the inner edge of the affected hip bone is extracted from the two-dimensional pelvic model and used as the parameter value of the axial angular parameter.

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

[0019] Optionally, 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 The first calculation formula is used to calculate the first distance parameter b, the second distance parameter c, the third distance parameter d, the fourth distance parameter f, and the front-to-back distance parameter e. The first calculation formula is:

[0021]

[0022] Substituting 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, the horizontal plane rotation angle is obtained.

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

[0024] A second calculation formula is used to determine the sagittal plane rotation angle parameter θ, the relative height difference parameter Δh, and the third distance parameter d. The second calculation formula is as follows:

[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 this application, a pelvic fracture reduction system is provided, 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 imaging device, the processing unit, and the fracture reduction robot;

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

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

[0031] The control unit is also used to respond to a pelvic reduction command and control the fracture reduction robot to reduce the pelvis of the target pelvis to be reduced based on the set values ​​of the six extension rods.

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

[0033] The rehabilitation unit is used to obtain the reset date, generate a rehabilitation list based on the set values ​​of the six extension rods and the reset date, the rehabilitation list includes multiple rehabilitation dates and the 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 this application, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described in any of the first aspects above.

[0035] According to a fourth aspect of this application, a readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first aspects above.

[0036] According to a fifth aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the steps of any of the methods described in the first aspect above.

[0037] By employing the above technical solutions, this application provides a method, system, computer device, readable storage medium, and computer program product for pelvic fracture reduction. After acquiring two-dimensional image information of the pelvis, this application can generate a two-dimensional pelvic model using an image recognition algorithm, determine the parameter values ​​of deformity parameters based on 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. This allows the fracture reduction robot to reduce the pelvis of the target pelvis based on the setting values ​​of the six extension rods. Through the above process, 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. Attached Figure Description

[0038] Figure 1A A flowchart of a pelvic fracture reduction method provided in an embodiment of this application is shown;

[0039] Figure 1B This illustration shows a schematic diagram of the Taylor external fixator for a pelvic fracture reduction method provided in an embodiment of this application;

[0040] Figure 2A This illustration shows a schematic diagram of the pelvic inlet of a two-dimensional pelvic model, representing a pelvic fracture reduction method according to an embodiment of this application.

[0041] Figure 2B This illustration shows a schematic diagram of the pelvic outlet position of a two-dimensional pelvic model in accordance with an embodiment of the present application for a pelvic fracture reduction method.

[0042] Figure 3 This paper shows a schematic diagram of the structure of a pelvic fracture reduction system provided in an embodiment of this application;

[0043] Figure 4 A schematic diagram of the device structure of a computer device provided in an embodiment of this application is shown. Detailed Implementation

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

[0045] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this application will be apparent to those skilled in the art.

[0046] The accompanying drawings, which are included in and form part of this 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 features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

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

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

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

[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 this application.

[0052] This application provides a method for reducing a pelvic fracture, such as... Figure 1A As shown, it includes:

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

[0054] In this embodiment, the pelvic target to be reduced can be understood as a patient with a pelvic fracture. First, an X-ray image of the pelvic inlet can be captured by a digital X-ray imaging system, i.e., two-dimensional image information. 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 the key information in the two-dimensional image information to generate a two-dimensional pelvic model.

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

[0056] In this embodiment of the 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, orthostatic displacement parameters, lateral angulation parameters, lateral displacement parameters, axial angulation parameters, and axial displacement parameters.

[0057] 103. 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 based on the setting values ​​of the six extension rods.

[0058] In this embodiment of the application, after determining the parameter values ​​of the deformity parameters, 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.

[0059] It should be noted that fracture reduction robots include the Taylor external fixator, such as... Figure 1BAs shown, the Taylor external fixator consists of a moving platform, a static platform, and six scaled, retractable measuring rods. The Taylor external fixator is a theoretical evolution and application of the Stewart platform. The numerical solution process of the forward kinematics of the Stewart platform can be viewed as an optimization problem solving a multivariate objective function, falling within the scope of operations research. The most effective solution is to set it as a process of finding the optimal solution to a set of six nonlinear equations. Based on the parameters of the initial attitude of the moving platform, a set of nonlinear equations can be set. The optimal solution obtained in its feasible solution domain is a unique and optimal set of attitude parameters for the forward kinematics of the Taylor external fixator.

[0060] Specifically, as shown in step 102, the deformity parameters include six posture parameters. This means that when the value of any one of these six posture parameters changes, the length of the extendable rod of the Taylor external fixator in the fracture reduction robot will change accordingly. Therefore, the setting values ​​of the six extension rods of the fracture reduction robot can be calculated using Stewart kinematics based on the parameter values ​​of the deformity parameters. First, the coordinate system of the moving platform is set as Q, and its three-dimensional coordinates are u, v, and w, referred to as the moving coordinate system Q-uvw. The corresponding static platform coordinate system is P, with three-dimensional coordinates x, y, and z, called the base coordinate system P-xyz. Point P is the geometric center of the static platform, and Q is the geometric center of the moving platform. The six positions where the moving platform connects to the hinges are designated N1, N2, N3, N4, N5, and N6, and the six positions where the static platform connects to the hinges are designated M1, M2, M3, M4, M5, and M6. Due to the structural properties of the Taylor frame, the static platform is permanently stationary; therefore, the static coordinate system P is relatively stationary with respect to the moving coordinate system Q. To reduce unnecessary parameters in the solution process, the positive x-axis of the static coordinate system P is set to the midpoint between M1 and M2, and the z-axis is set to be perpendicular to the horizontal plane of the base. The positive y-axis can be obtained using the right-hand rule. In the moving platform's coordinate system Q-uvw, the positive directions of each axis are parallel to and consistent with those of the static platform. Assuming the moving coordinate system Q is relative to the static coordinate system P, with rotation angles around the x-axis denoted as α, around the y-axis as β, and around the z-axis as γ, the three-dimensional spatial angular attitude coordinates of the moving platform in the coordinate system can be represented as (α, β, γ). By vertically projecting the moving and static platforms of the fixation device, it can be seen that the figure formed by the connection points of the six hinges and the platform is a non-regular hexagon. The rotation angles can be calculated from the offset angles formed by the fracture and the vector displacement of the line segments. By calculating the position of each connection point through vertical projection, the following set of offset angle values ​​can be obtained, where α... i For the radius of the moving platform, b i Let be the radius of the static platform. Let γ be ∠M. i PM i-1i = 2, 4, 6, φ is ∠N i QN i-1 , i = 2, 4, 6. If we denote the rotation angle of the dynamic platform Q about the static platform Px axis in the external fixator as α, then the bone portion can be approximated as a line, and the corresponding matrix can be obtained through the formula,

[0061]

[0062] The coordinate transformation matrix for the rotation angle α can be expressed as follows:

[0063]

[0064] Similarly, when a point A in the moving platform Q of the external fixator rotates around the static platform Py axis and Pz axis by angles β and γ, respectively, the specific matrix representation for each rotation angle type is as follows:

[0065]

[0066] The calculation process of projecting the coordinate system Q of the moving platform onto the coordinate system P of the static platform using the above formula can be expressed as follows:

[0067]

[0068] Here, the letter 's' represents the function sin, and the letter 'c' represents the function cos.

[0069] The real-time pose coordinates of the Taylor external fixator's moving platform coordinate system Q-uvw in the static platform coordinate system P-xyz can be expressed as follows, and its matrix form can be expressed as follows, where the known angle of rotation of the moving platform Q around the static platform Pz axis is denoted as (u q v q w q If the six real-time pose parameters of the moving platform Q can be represented as a set of six-dimensional vectors [u, v, w, α, β, γ].

[0070] Therefore, in the two-platform structure of the Taylor external fixator, the problem of finding the optimal solution for the pose parameters of the moving platform originates from the typical forward kinematics process of Stewart. By reading the specific scale values ​​displayed on the six scaled telescopic measuring rods, and then calculating the rotation matrix, the pose parameters of the moving platform Q corresponding to the known parameters can be obtained, and these pose parameters are unique. Let the rotation matrix of the moving platform coordinate system Q relative to the static platform coordinate system P be R′, and its rotation pose parameters be represented by (α, β, γ). After displacement and angular offset occur between the two platforms, the origins of coordinate systems Q and P are not geometrically coincident, 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 values ​​of the telescopic rod can be calculated through spatial geometric projection and line segment translation. Assuming the fracture site is considered the geometric center of the entire cross-section, denoted as point A, then the expression for point A in the static platform coordinate system P-xyz is:

[0071] PA = R′QA + PA Q ,

[0072] The length of the telescopic rod can be represented by a vector as follows:

[0073] PA+AN i =PM i +M i N i i = 1, 2, ..., 6

[0074]

[0075] Therefore, the length l of the extendable rod in the external fixator is... i The value is equal to the vector. The modulus of a vector, according to the definition of modulus in geometry, is... The modulus is the modulus of the vector. To find the square root of the three-dimensional coordinates, that is, in the moving platform Q,

[0076]

[0077] in, This represents the parameter value at the connection point between the hinge and the dynamic ring in the moving platform Q. This represents the parameter value at the connection point between the hinge and the static ring in the static platform P.

[0078] In summary, the attitude parameters [u, v, w, α, β, γ] can be obtained based on the pelvic angulation parameters, anteroposterior displacement parameters, lateral angulation parameters, lateral displacement parameters, axial angulation parameters, and axial displacement parameters. Substituting the attitude parameters into the above formulas, the setting values ​​of the six extension rods of the fracture reduction robot can be obtained.

[0079] The method provided in this application embodiment, after acquiring two-dimensional image information of the pelvis, can generate a two-dimensional pelvic model using an image recognition algorithm, determine the parameter values ​​of the deformity parameters based on 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.

[0080] Furthermore, based on the Stewart platform, this application identifies the geometric and algebraic relationship between pelvic fracture displacement and rotational deformity, obtaining deformity parameters. Based on these parameters, it determines the setting values ​​for the six extension rods of the fracture reduction robot. These settings are oriented towards the pelvic structure, filling a gap in the field of six-axis robotic pelvic fracture reduction. This aims to find an effective, safe, and simpler method for pelvic fracture reduction, providing new insights for the clinical treatment of pelvic fractures.

[0081] Furthermore, as a refinement and extension of the specific implementation of the above embodiments, and to fully illustrate the specific implementation of this embodiment, this application provides another method for pelvic fracture reduction, including:

[0082] 201. Obtain two-dimensional image information of the pelvis of the target pelvis to be repositioned, and generate a two-dimensional pelvic model based on the two-dimensional image information using an image recognition algorithm.

[0083] In this embodiment of the application, the image recognition algorithm can be understood as a trained optimal algorithm. The specific training process is as follows: obtain an image training set, which includes multiple two-dimensional pelvic images, each of which is labeled with the parameter values ​​of multiple feature parameters; obtain an initial image recognition algorithm, train the initial image recognition algorithm using the image training set, update the model parameters, and obtain the image recognition algorithm.

[0084] It should be noted that the initial image recognition algorithm is existing technology and can be easily obtained by those skilled in the art, so it will not be described in detail here.

[0085] 202. Determine the parameter values ​​of deformity parameters based on a two-dimensional pelvic model.

[0086] In the embodiments of this application, such as Figure 2A and Figure 2B The two-dimensional pelvic model shown can be used to extract the following distances from the model: a first distance b0 between the fractured mass point at the affected sacroiliac joint surface and the fractured mass point at the affected pubic bone; a second distance c0 between the reduced fractured mass point at the affected pubic bone and the fractured mass point at the affected sacroiliac joint surface; a third distance d0 between the straight line passing through the fractured mass point at the affected pubic bone and the parallel line α to the projection line of the posterior edge of the sacrum; a fourth distance f0 between the intersection of the perpendicular line from the fractured mass point at the affected pubic bone to the parallel line α and the parallel line α; and an anterior-posterior distance e0. The horizontal plane rotation angle can then be calculated based on these distances. Rotate the horizontal plane by an angle The parameters are used as follows: First, the horizontal displacement s1 between the healthy sacral mass and the mass at the fracture end of the sacroiliac joint surface on the affected side is extracted from the inlet position of the two-dimensional pelvic model as the parameter value of the anteroposterior displacement parameter; Second, the relative height difference Δh0 between the mass at the affected pubic bone after fracture and the mass at the affected pubic bone after fracture reduction is extracted from the two-dimensional pelvic model. Based on the relative height difference Δh0 and the third distance d0, the sagittal plane rotation angle θ0 is calculated and used as the parameter value of the lateral angular parameter; Third, the anterior-posterior displacement s2 between the healthy sacral mass and the mass at the fracture end of the sacroiliac joint surface on the affected side is extracted from the outlet position of the two-dimensional pelvic model as the parameter value of the lateral displacement parameter; Fourth, the angle γ between the outer edge of the healthy sacrum and the inner edge of the affected hip bone is extracted from the two-dimensional pelvic model as the parameter value of the axial angular parameter; Finally, the third displacement s3 between the healthy sacral mass and the mass at the fracture end of the sacroiliac joint surface on the affected side is extracted from the two-dimensional pelvic model as the parameter value of the axial displacement parameter.

[0087] Furthermore, the specific method for calculating the horizontal plane rotation angle based on the first distance, second distance, third distance, and fourth distance is as follows:

[0088] First, determine the horizontal plane rotation angle parameters. The first calculation formula is used to calculate the first distance parameter b, the second distance parameter c, the third distance parameter d, the fourth distance parameter f, and the front-to-back distance parameter e. The first calculation formula is:

[0089]

[0090] Then, substituting 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, the horizontal plane rotation angle is obtained.

[0091] Furthermore, the specific method for calculating the sagittal plane rotation angle based on the relative height difference and the third distance d is as follows:

[0092] First, determine the 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 as follows:

[0093] θ = arcsin(Δh / d),

[0094] Then, substituting the relative height difference Δh0 and the third distance d0 into the second calculation formula, we obtain the sagittal plane rotation angle θ0.

[0095] The method provided in this application embodiment, after acquiring two-dimensional image information of the pelvis, can generate a two-dimensional pelvic model using an image recognition algorithm, determine the parameter values ​​of the deformity parameters based on 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.

[0096] Furthermore, such as Figure 3 As shown, this embodiment of the invention provides a pelvic fracture reduction system, including: a control unit, a two-dimensional imaging device, a processing unit, and a fracture reduction robot.

[0097] Specifically, the control unit is connected to the two-dimensional imaging device, the processing unit, and the fracture reduction robot. The control unit is used to respond to the imaging command, control the two-dimensional imaging device to acquire two-dimensional image information about the pelvis of the target pelvis 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 it receives the two-dimensional image information to 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 command, control the fracture reduction robot to reduce the pelvis of the target pelvis to be reduced based on the set values ​​of the six extension rods.

[0098] Furthermore, the pelvic fracture reduction system also includes a rehabilitation unit. The rehabilitation unit is used to acquire the reduction date and generate a rehabilitation list based on the settings of the six extension rods and the reduction date. The rehabilitation list includes multiple rehabilitation dates and the target settings of the six extension rods corresponding to each rehabilitation date. The difference between the target settings of the six extension rods corresponding to adjacent rehabilitation dates is a preset difference, and the rehabilitation date is a date following the reduction date.

[0099] The system provided in this application includes a control unit, a two-dimensional imaging device, a processing unit, a fracture reduction robot, and a rehabilitation unit. The control unit can control the two-dimensional imaging device to acquire two-dimensional image information about the pelvis of the target pelvis to be reduced. The processing unit can obtain the set values ​​of the six extension rods of the fracture reduction robot based on the two-dimensional image information. Under the control of the control unit, the fracture reduction robot can reduce the pelvis of the target pelvis based on the set values ​​of the six extension rods. Simultaneously, the rehabilitation unit can generate a rehabilitation list based on the set values ​​of the six extension rods and the reduction date. The control unit can then control the fracture reduction robot to perform rehabilitation on the target pelvis according to the rehabilitation list and the scheduled rehabilitation dates.

[0100] In an exemplary embodiment, see Figure 4 The invention also provides a computer device including a bus, a processor, a memory, and a communication interface. It may also include an input / output interface and a display device, wherein the various functional units can communicate with each other via the bus. The memory stores a computer program, and the processor executes the program stored in the memory to perform the pelvic fracture reduction method described in the above embodiments.

[0101] This application also provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the pelvic fracture reduction method.

[0102] If the modules / units integrated in the computer unit are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, 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.

[0103] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the pelvic fracture reduction method.

[0104] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of the implementation scenario.

[0105] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

Claims

1. A pelvic fracture reduction system, characterized in that, include: Control unit, two-dimensional imaging device, processing unit, and fracture reduction robot; The control unit is connected to the two-dimensional imaging device, the processing unit, and the fracture reduction robot; The control unit is used to respond to the shooting command, control the two-dimensional imaging device to acquire two-dimensional image information about the pelvis of the target to be repositioned, and send the two-dimensional image information to the processing unit. The processing unit is used to, upon receiving the two-dimensional image information, execute the method of pelvic fracture reduction to obtain the set values ​​of the six extension rods of the fracture reduction robot. The control unit is also used to respond to a pelvic reduction command and control the fracture reduction robot to reduce the pelvis of the target pelvis to be reduced based on the set values ​​of the six extension rods. The pelvic fracture reduction method includes: Obtain two-dimensional image information of the pelvis of the target pelvis to be repositioned, and generate a two-dimensional pelvic model based on the two-dimensional image information using an image recognition algorithm; The parameter values ​​of the deformity parameters are determined based on the two-dimensional pelvic model. The deformity parameters include pelvic angulation parameters, orthostatic displacement parameters, lateral angulation parameters, lateral displacement parameters, axial angulation parameters, and axial displacement parameters. The set values ​​of the 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 set values ​​of the six extension rods. The parameter values ​​for determining the deformity parameters based on the two-dimensional pelvic model include: The first distance between the mass point at the fracture end of the sacroiliac joint surface on the affected side and the mass point at the pubic bone on the affected side is extracted from the two-dimensional pelvic model. b 0. The second distance between the fractured bone point on the affected side and the fractured bone point at the sacroiliac joint surface on the affected side after reduction. c 0. A straight line passing through a point on the affected side of the pubic bone, parallel to the projection line of the posterior border of the sacrum. The third distance between d 0. The mass point at the pubic bone on the affected side and the parallel line mentioned above. The perpendicular line to the mass point at the pubic bone on the affected side after fracture reduction and the parallel line mentioned above. The fourth distance between the intersection points f 0. Front and rear distance e 0, and based on the first distance b 0. Second distance c 0. The third distance d 0. The fourth distance f 0 and the aforementioned front and rear distance e 0 Calculate the horizontal plane rotation angle Rotate the horizontal plane by an angle The parameter value is used as the pelvic angle parameter; The first horizontal displacement between the contralateral sacral bone mass point and the mass point at the fracture end of the sacroiliac joint surface on the affected side is extracted from the entrance position of the two-dimensional pelvic model. s 1 is used as the parameter value of the positive displacement parameter; The relative height difference between the mass point at the affected pubic bone after fracture and the mass point at the affected pubic bone after fracture reduction was extracted from the two-dimensional pelvic model. Based on the relative height difference and the third distance d 0 Calculate the sagittal plane rotation angle And rotate the sagittal plane by an angle The parameter value is used as the lateral angular parameter; The second displacement between the healthy sacral bone mass point and the mass point at the fracture end of the sacroiliac joint surface on the affected side is extracted from the exit position of the two-dimensional pelvic model. s 2 is the parameter value of the lateral displacement parameter; The angle between the outer edge of the healthy sacrum and the inner edge of the affected hip bone was extracted from the two-dimensional pelvic model. The parameter value is used as the axial angle parameter; The third displacement between the healthy sacral bone mass point and the mass point at the fracture end of the sacroiliac joint surface on the affected side is extracted from the two-dimensional pelvic model. s 3 is the parameter value of the axial displacement parameter.

2. The pelvic fracture reduction system according to claim 1, characterized in that, Before generating a two-dimensional pelvic model based on the two-dimensional image information using an image recognition algorithm, the method further includes: Obtain an image training set, which includes multiple two-dimensional pelvic images, each of which is labeled with the parameter values ​​of multiple feature parameters. An initial image recognition algorithm is obtained, and the initial image recognition algorithm is trained using the image training set. The model parameters are then updated to obtain the image recognition algorithm.

3. The pelvic fracture reduction system according to claim 1, characterized in that, The horizontal plane rotation angle is calculated based on the first, second, third, and fourth distances, including: Determine the horizontal plane rotation angle parameters With the first distance parameter b Second distance parameter c Third distance parameter d Fourth distance parameter f and front and rear distance parameters e The first calculation formula is: ， The first distance b 0. Second distance c 0. The third distance d 0. The fourth distance f 0 and the aforementioned front and rear distance e Substituting 0 into the calculation formula, the horizontal plane rotation angle is obtained. .

4. The pelvic fracture reduction system according to claim 1, characterized in that, The sagittal plane rotation angle is calculated based on the relative height difference and the third distance d, including: Determine the sagittal plane rotation angle parameters With relative height difference parameter and the third distance parameter d The second calculation formula is as follows: ， The relative height difference and the third distance d Substituting 0 into the second calculation formula, the sagittal plane rotation angle is obtained. .

5. The pelvic fracture reduction system according to claim 1, characterized in that, Also includes: Rehabilitation unit; The rehabilitation unit is used to obtain the reset date, generate a rehabilitation list based on the set values ​​of the six extension rods and the reset date, the rehabilitation list includes multiple rehabilitation dates and the 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.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the pelvic fracture reduction method in the pelvic fracture reduction system of any one of claims 1 to 5.

7. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the pelvic fracture reduction method in the pelvic fracture reduction system of any one of claims 1 to 5.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the pelvic fracture reduction method in any of the pelvic fracture reduction systems of claims 1 to 5.

Images