Knee joint prosthesis position determination method and device, electronic equipment and storage medium

Abstract

The invention provides a knee joint prosthesis position determination method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a three-dimensional skeleton model of a target knee joint based on thin-layer CT scanning data of the target knee joint; the three-dimensional skeleton model comprises a three-dimensional tibia model and a three-dimensional femur model Based on the three-dimensional tibia model, determining tibia skeleton parameters of the target knee joint; based on the three-dimensional thighbone model, thighbone skeleton parameters of the target knee joint are determined; based on the tibia skeleton parameters and the femur skeleton parameters, determining the prosthesis types of the tibia prosthesis and the femur prosthesis, and based on the prosthesis types of the tibia prosthesis and the femur prosthesis, determining the mounting positions of the tibia prosthesis and the femur prosthesis on the target knee joint. Thus, the three-dimensional skeleton model of the target knee joint is constructed, the knee joint prosthesis body size and the installation position of the target knee joint are determined according to the parameters of the three-dimensional skeleton model, and the position determination accuracy of the knee joint prosthesis can be improved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device, electronic device and storage medium for determining the position of a knee joint prosthesis. Background Art

[0002] The tibiofemoral joint of the knee is divided into two compartments, the inner and outer compartments. Unicompartmental knee replacement is a surgery that replaces the surface of the compartment on the side of the knee joint that is diseased, using the tibial prosthesis and the femoral prosthesis to replace the diseased cartilage surface. Due to the large individual differences in the knee joint, before performing a unicompartmental knee replacement, it is necessary to determine the installation position of the tibial prosthesis and the femoral prosthesis in the corresponding knee joint.

[0003] The determination of the position of the knee prosthesis in existing unicompartmental knee replacement often relies on the doctor's feel and experience, which is highly subjective and has low accuracy. It is very easy for the prosthesis installation position to be inaccurate, resulting in excessive or insufficient osteotomy at the anterior or posterior edge of the tibial plateau, which will have adverse effects on the postoperative flexion and extension function of the knee joint, the stability of the joint and the service life of the prosthesis. Summary of the invention

[0004] In view of this, the embodiments of the present application at least provide a method, device, electronic device and storage medium for determining the position of a knee prosthesis. By constructing a three-dimensional skeletal model of the target knee joint and determining the knee prosthesis model and the installation position in the target knee joint according to various parameters of the three-dimensional skeletal model, the accuracy of determining the position of the knee prosthesis can be improved.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a method for determining a position of a knee joint prosthesis, the method comprising:

[0007] Determine a three-dimensional bone model of the target knee joint based on thin-layer CT scan data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model;

[0008] Based on the three-dimensional tibia model, determining the tibia bone parameters of the target knee joint; the tibia bone parameters include the tibia mechanical axis position, the tibial plateau surface position, the tibial varus angle, the tibial posterior tilt angle and the tibial anterior-posterior axis position;

[0009] Based on the three-dimensional femoral model, the femoral bone parameters of the target knee joint are determined; the femoral bone parameters include the position of the femoral mechanical axis, the midpoint position of the distal end of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, and the midpoint position of the posterior edge of the condyle of the medial femoral condyle;

[0010] Based on the tibial bone parameters and the femoral bone parameters, the prosthesis models of the tibial prosthesis and the femoral prosthesis are determined, and based on the prosthesis models of the tibial prosthesis and the femoral prosthesis, the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint are determined.

[0011] In a second aspect, an embodiment of the present application further provides a device for determining the position of a knee joint prosthesis, the device for determining the position of a knee joint prosthesis comprising:

[0012] A bone model determination module, used to determine a three-dimensional bone model of the target knee joint based on thin-layer CT scanning data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model;

[0013] A first parameter determination module is used to determine the tibial bone parameters of the target knee joint based on the three-dimensional tibial model; the tibial bone parameters include the tibial mechanical axis position, the tibial plateau surface position, the tibial varus angle, the tibial posterior tilt angle and the tibial anterior-posterior axis position;

[0014] A second parameter determination module is used to determine the femoral bone parameters of the target knee joint based on the three-dimensional femoral model; the femoral bone parameters include the position of the femoral mechanical axis, the midpoint position of the distal end of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, and the midpoint position of the posterior edge of the condyle of the medial femoral condyle;

[0015] The prosthesis position determination module is used to determine the prosthesis models of the tibial prosthesis and the femoral prosthesis based on the tibial bone parameters and the femoral bone parameters, and to determine the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint based on the prosthesis models of the tibial prosthesis and the femoral prosthesis.

[0016] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to perform the steps of the method for determining the position of a knee prosthesis as described above.

[0017] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for determining the position of a knee prosthesis as described above are executed.

[0018] The method, device, electronic device and storage medium for determining the position of a knee prosthesis provided in the embodiments of the present application determine the three-dimensional bone model of the target knee joint based on thin-layer CT scan data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model; based on the three-dimensional tibia model, the tibial bone parameters of the target knee joint are determined; the tibial bone parameters include the tibial mechanical axis position, the tibial plateau surface position, the tibial varus angle, the tibial posterior tilt angle and the tibial anterior-posterior axis position; based on the three-dimensional femoral model, the femoral bone parameters of the target knee joint are determined; the femoral bone parameters include the femoral mechanical axis position, the distal midpoint position of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle and the midpoint position of the posterior edge of the condyle of the medial femoral condyle; based on the tibial bone parameters and the femoral bone parameters, the prosthesis models of the tibial prosthesis and the femoral prosthesis are determined, and based on the prosthesis models of the tibial prosthesis and the femoral prosthesis, the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint are determined. In this way, the present application can improve the accuracy of determining the position of the knee prosthesis by constructing a three-dimensional skeletal model of the target knee joint and determining the knee prosthesis model and the installation position in the target knee joint according to various parameters of the three-dimensional skeletal model.

[0019] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A flow chart showing a method for determining the position of a knee joint prosthesis provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of a three-dimensional skeleton model in an embodiment of the present application is shown;

[0023] Figure 3 A schematic diagram showing the position of the tibia mechanical axis in an embodiment of the present application is shown;

[0024] Figure 4 A schematic diagram showing the position of the tibial plateau surface in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of the tibial varus angle in an embodiment of the present application is shown;

[0026] Figure 6A schematic diagram showing the posterior tilt angle of the tibia in an embodiment of the present application is shown;

[0027] Figure 7 A schematic diagram showing the position of the anterior-posterior axis of the tibia in an embodiment of the present application is shown;

[0028] Figure 8 A schematic diagram showing the overlap between the bottom surface of the tibial prosthesis support and the tibial plateau surface in an embodiment of the present application is shown;

[0029] Fig. 9 A schematic diagram showing the tibial internal rotation angle in an embodiment of the present application is shown;

[0030] Fig.10 A schematic diagram showing the installation position of the tibial prosthesis in an embodiment of the present application;

[0031] Fig.11 A schematic diagram showing the position of the mechanical axis of the femur in an embodiment of the present application is shown;

[0032] Fig.12 A schematic diagram of the distal end of the medial femoral condyle surface in an embodiment of the present application is shown;

[0033] Fig.13 A schematic diagram of the posterior condyle of the medial femoral condyle in an embodiment of the present application is shown;

[0034] Fig.14 One of the schematic diagrams showing the matching of the femoral prosthesis and the medial femoral condyle in the embodiment of the present application is shown;

[0035] Fig.15 A second schematic diagram showing the matching of the femoral prosthesis and the medial femoral condyle in an embodiment of the present application;

[0036] Fig.16 A schematic diagram showing the extension line of the main column hole of the femoral prosthesis in the embodiment of the present application in the coronal plane is shown;

[0037] Fig.17 A schematic diagram showing the extended line of the main column hole of the femoral prosthesis in the sagittal plane in an embodiment of the present application is shown;

[0038] Fig.18 A schematic diagram of a cross section of a femoral prosthesis and a tibial prosthesis in an embodiment of the present application is shown;

[0039] Fig.19 A schematic diagram showing the final installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint in an embodiment of the present application is shown;

[0040] Fig. 20 One of the functional module diagrams of a device for determining the position of a knee joint prosthesis provided in an embodiment of the present application is shown;

[0041] Fig.21The second functional module diagram of a device for determining the position of a knee joint prosthesis provided in an embodiment of the present application is shown;

[0042] Fig. 22 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0044] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0045] The embodiments of the present application provide a method, device, electronic device and storage medium for determining the position of a knee prosthesis. By constructing a three-dimensional skeletal model of a target knee joint and determining the knee prosthesis model and the installation position in the target knee joint according to various parameters of the three-dimensional skeletal model, the accuracy of determining the position of the knee prosthesis can be improved.

[0046] See also Figure 1 , Figure 1 Flow chart of a method for determining the position of a knee joint prosthesis provided in an embodiment of the present application. Figure 1 As shown, the method for determining the position of a knee joint prosthesis provided in an embodiment of the present application comprises the following steps:

[0047] S101, determining a three-dimensional bone model of the target knee joint based on thin-layer CT scanning data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model.

[0048] In an embodiment of the present application, thin-layer CT scan data of the target knee joint that will undergo unicompartmental replacement is obtained. Due to the influence of many uncontrollable factors in traditional X-ray film measurement, such as the film shooting is limited and the full-length anteroposterior and lateral films cannot be taken, the film shooting posture is not standard, the film quality is poor, the point selection is inaccurate, and other factors, the subsequent prosthesis position determination is inaccurate; at the same time, the same problem also exists in direct measurement on traditional CT. Due to the single-layer image of CT, it is particularly difficult to display a point selection in a different layer, and the angle measurement requires cross-layer and cross-view point selection, which is more difficult. Therefore, the embodiment of the present application uses thin-layer CT to scan the target knee joint. Thin-slice CT (Thin-slice CT) is a high-resolution computer tomography technology that provides more detailed anatomical structure information by quickly scanning and generating very thin image layers. Specifically, in an embodiment of the present application, the data layer thickness of the thin-layer CT is set to be less than or equal to 1 mm, and the scanning parts include the hip joint, knee joint and ankle joint. The obtained thin-layer CT scan data is segmented and stripped out of the femur, tibia, patella, and fibula in the data, and the segmented bones are reconstructed into a three-dimensional bone model of the target knee joint through a mesh model. For details, please refer to Figure 2 , Figure 2 Schematic diagram of a three-dimensional skeleton model in an embodiment of the present application. Figure 2 As shown, the three-dimensional bone model 200 includes a three-dimensional tibia model 201 and a three-dimensional femur model 202.

[0049] S102, based on the three-dimensional tibial model, determining the tibial bone parameters of the target knee joint; the tibial bone parameters include the tibial mechanical axis position, the tibial plateau surface position, the tibial varus angle, the tibial posterior tilt angle and the tibial anterior-posterior axis position.

[0050] In the embodiment of the present application, after constructing the three-dimensional skeletal model of the target knee joint, firstly, a skeletal coordinate system is established based on the three-dimensional skeletal model, the midpoint of the knee joint is defined as the coordinate origin, the direction of the tibial mechanical axis is the Y-axis direction, and the X-axis direction and the Z-axis direction are set according to the plane perpendicular to the Y-axis to determine the skeletal coordinate system of the target knee joint. After the skeletal coordinate system is built, the coronal plane, sagittal plane and transverse section of the skeletal view are set. Wherein, the coronal plane (coronal plane) is the section that longitudinally cuts the human body into two parts, front and back; the sagittal plane (sagittal plane) is the section that longitudinally cuts the human body into two parts, left and right; the transverse plane (transverse plane) is the section that transversely cuts the human body into two parts, upper and lower. In this way, the coordinates of each point in the three-dimensional skeletal model can be represented by the skeletal coordinate system. Specifically, the tibial mechanical axis position, the tibial plateau position, the tibial varus angle, the tibial posterior tilt angle and the tibial anterior and posterior axis position and other tibial bone parameters can be accurately determined according to the three-dimensional tibial model.

[0051] S103, based on the three-dimensional femoral model, determine the femoral bone parameters of the target knee joint; the femoral bone parameters include the position of the femoral mechanical axis, the midpoint of the distal end of the medial femoral condyle surface, the midpoint of the posterior condyle of the medial femoral condyle, and the midpoint of the posterior edge of the medial femoral condyle.

[0052] In an embodiment of the present application, based on the same principle as in step S102, femoral bone parameters such as the position of the femoral mechanical axis, the distal midpoint of the medial femoral condyle surface, the midpoint of the posterior condyle of the medial femoral condyle, and the midpoint of the posterior edge of the medial femoral condyle can be accurately determined according to the three-dimensional femoral model.

[0053] S104, determining the prosthesis models of the tibial prosthesis and the femoral prosthesis based on the tibial bone parameters and the femoral bone parameters, and determining the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint based on the prosthesis models of the tibial prosthesis and the femoral prosthesis.

[0054] In an embodiment of the present application, a matching prosthesis model is selected for the target knee joint based on the anatomical structure information and anatomical feature information of the bones such as tibial bone parameters and femoral bone parameters, and the installation position of the prosthesis at the target knee joint is adjusted based on the tibial bone parameters, femoral bone parameters, tibial prosthesis model, and femoral prosthesis model, so that the target knee joint after the prosthesis is installed conforms to the movement trajectory of the human body, thereby improving the accuracy of determining the position of the knee joint prosthesis.

[0055] Further, the tibia bone parameters of the target knee joint are determined according to the following steps:

[0056] Step a1, determining the position of the tibia mechanical axis of the three-dimensional tibia model according to the coordinates of the proximal tibia center point and the distal tibia center point of the three-dimensional tibia model.

[0057] In the embodiment of the present application, the coordinates of the center point of the tibial plateau in the three-dimensional tibial model can be determined as the coordinates of the proximal center point of the tibia, and the coordinates of the center point of the ankle joint in the three-dimensional tibial model can be determined as the coordinates of the distal center point of the tibia, thereby determining the position of the tibial mechanical axis of the three-dimensional tibial model. Figure 3 , Figure 3 Schematic diagram of the position of the tibia mechanical axis in the embodiment of the present application. Figure 3 As shown, the medial and lateral points of the tibial plateau and the ankle joint are taken in the coronal view of the three-dimensional tibial model, and the coordinates of the center point of the tibial plateau and the center point of the ankle joint are calculated according to the coordinates of the medial and lateral points of the tibial plateau and the ankle joint. The line connecting the two center points is determined as the tibial mechanical axis of the three-dimensional tibial model, and the position of the tibial mechanical axis of the three-dimensional tibial model is determined according to the coordinates of the two center points.

[0058] In a possible implementation, the center point coordinates of the proximal planed surface of the tibial shaft in the cross-section of the three-dimensional tibial model can be taken as the proximal tibia center point coordinates, and the center point coordinates of the distal planed surface of the tibial shaft in the cross-section of the three-dimensional tibial model can be taken as the distal tibia center point coordinates. The two center points are connected and extended to the tibial plateau and ankle joint as the tibial mechanical axis of the three-dimensional tibial model, and the position of the tibial mechanical axis of the three-dimensional tibial model is determined based on the two center point coordinates.

[0059] Step a2, determining the position of the tibial plateau surface of the three-dimensional tibial model according to the anterior and posterior coordinates of two points on the medial platform surface of the tibial plateau and the anterior and posterior midpoint coordinates of the lateral platform surface of the tibial plateau of the three-dimensional tibial model.

[0060] In the present application, please refer to Figure 4 , Figure 4 Schematic diagram of the position of the tibial plateau surface in the embodiment of the present application. Figure 4 As shown, the tibial plateau is found in the cross section of the three-dimensional tibial model, one point is taken from each of the anterior and posterior unworn areas of the medial plateau surface of the tibial plateau, and one point is taken from the anterior and posterior midpoint of the lateral plateau surface of the tibial plateau. The three points generate a surface as the tibial plateau surface, and the position of the tibial plateau surface of the three-dimensional tibial model is determined based on the coordinates of the two anterior and posterior points on the medial plateau surface of the tibial plateau and the coordinates of the anterior and posterior midpoint of the lateral plateau surface of the tibial plateau.

[0061] Step a3, according to the position of the tibial mechanical axis and the position of the tibial plateau surface, determine the angle between the tibial mechanical axis and the tibial plateau surface in the coronal plane of the three-dimensional tibial model as the tibial varus angle.

[0062] In the present application, please refer to Figure 5 , Figure 5 Schematic diagram of the tibial varus angle in the embodiment of the present application. Figure 5 As shown, according to the position of the tibial mechanical axis and the position of the tibial plateau surface, the angle between the tibial mechanical axis and the tibial plateau surface in the coronal plane of the three-dimensional tibial model is determined as the tibial varus angle.

[0063] Step a4, according to the position of the tibial mechanical axis and the position of the tibial plateau surface, determine the angle between the tibial mechanical axis and the tibial plateau surface in the sagittal plane of the three-dimensional tibial model as the tibial posterior slope angle.

[0064] In the present application, please refer to Figure 6 , Figure 6 Schematic diagram of the posterior tibial inclination angle in the embodiment of the present application. Figure 6 As shown, according to the position of the tibial mechanical axis and the position of the tibial plateau surface, the angle between the tibial mechanical axis and the tibial plateau surface in the sagittal plane of the three-dimensional tibial model is determined as the tibial posterior tilt angle.

[0065] Step a5, determining the anterior-posterior axis position of the tibia of the three-dimensional tibia model according to the midpoint coordinates of the medial edge of the patellar tendon insertion point and the midpoint coordinates of the posterior cruciate ligament of the three-dimensional tibia model.

[0066] In the present application, please refer to Figure 7 , Figure 7 Schematic diagram of the position of the anterior-posterior axis of the tibia in the embodiment of the present application. Figure 7 As shown, the coordinates of the midpoint of the medial edge of the patellar tendon insertion point and the midpoint coordinates of the posterior cruciate ligament are taken in the three-dimensional tibial model, and the two midpoints are connected as the anterior-posterior axis of the tibia of the three-dimensional tibial model. The position of the anterior-posterior axis of the tibia of the three-dimensional tibial model is determined based on the coordinates of the two midpoints.

[0067] Further, the prosthesis model of the tibial prosthesis is determined according to the following steps:

[0068] Step b1, determining the corresponding candidate tibial prosthesis model according to the distance between the front and rear points of the medial platform surface of the tibial plateau of the three-dimensional tibial model.

[0069] In the embodiment of the present application, after obtaining the digital three-dimensional femoral model, the tibial prosthesis of each model is also three-dimensionally digitized. Specifically, the center of gravity of the prosthesis support, the bottom surface of the prosthesis support, and the outer side surface of the vertical wall of the prosthesis support of each model of the tibial prosthesis are identified through the grid model, and according to the distance between the front and rear points of the medial platform surface of the tibial plateau of the three-dimensional bone model, the tibial prosthesis model whose distance between the front and rear points of the bottom surface of the tibial prosthesis support is approximately equal to the distance between the front and rear points of the medial platform surface of the tibial plateau is selected from the tibial prosthesis of each model as the candidate tibial prosthesis model.

[0070] Step b2, aligning the tibial prosthesis base surface of the candidate tibial prosthesis model with the tibial plateau surface, and determining the coverage of the tibial prosthesis of the candidate tibial prosthesis model on the tibial plateau.

[0071] In the present application, please refer to Figure 8 , Figure 8 Schematic diagram of the overlap between the bottom surface of the tibial prosthesis support and the tibial plateau surface in the embodiment of the present application. Figure 8 As shown in the figure, the tibial prosthesis bottom surface is overlapped with the tibial plateau surface, that is, the two front and rear points on the medial plateau surface of the tibial plateau are overlapped with the two front and rear points on the tibial prosthesis bottom surface, so as to determine the coverage of the tibial prosthesis on the tibial plateau.

[0072] Step b3: if the coverage of the tibial prosthesis of the candidate tibial prosthesis model on the tibial plateau is greater than a preset coverage threshold, the candidate tibial prosthesis model is determined as the prosthesis model of the tibial prosthesis.

[0073] In the embodiment of the present application, if the coverage of the tibial prosthesis of the candidate tibial prosthesis model on the tibial platform is greater than the preset coverage threshold, the candidate tibial prosthesis model is determined as the prosthesis model of the tibial prosthesis. The preset coverage threshold can be set according to actual conditions and is not specifically limited here.

[0074] Further, the installation position of the tibial prosthesis in the target knee joint is determined according to the following steps:

[0075] Step c1, according to the tibial varus angle, tibial posterior tilt angle and tibial anterior-posterior axis position of the three-dimensional tibial model, adjust the position of the tibial prosthesis in the three-dimensional tibial model, so that the new tibial varus angle formed by the surface of the tibial prosthesis support and the new tibial varus angle formed by the tibial plateau surface and the tibial mechanical axis is within the preset tibial varus angle range, and the new tibial posterior tilt angle is within the preset tibial posterior tilt angle range; so that the tibial internal rotation angle formed by the vertical wall of the tibial prosthesis support and the tibial anterior-posterior axis is within the preset tibial internal rotation angle range.

[0076] In the embodiment of the present application, the position of the tibial prosthesis in the three-dimensional tibial model is adjusted according to the tibial varus angle, tibial posterior tilt angle and tibial anterior-posterior axis position of the three-dimensional tibial model. Specifically, the normal tibial plateau of the knee joint has a posterior tilt of about 7° and a varus of about 3°, while the tibial varus angle and tibial posterior tilt angle of the target knee joint are often not within the preset tibial varus angle range and the preset tibial posterior tilt angle range due to the pathology. Therefore, it is necessary to perform osteotomy on the tibial plateau so that after the tibial prosthesis is installed on the tibial plateau, the new tibial varus angle formed by the surface of the tibial prosthesis support and the tibial mechanical axis is within the preset tibial varus angle range, and the new tibial posterior tilt angle formed is within the preset tibial posterior tilt angle range. The preset tibial varus angle range and the preset tibial posterior tilt angle range are set according to the actual situation and are not specifically limited here. At the same time, please refer to Fig. 9 , Fig. 9 Schematic diagram of the tibial internal rotation angle in the embodiment of the present application. Fig. 9 As shown, in order to ensure that the tibial prosthesis has a more comprehensive coverage of the tibial plateau, it is also necessary to perform osteotomy on the tibial plateau so that after the tibial prosthesis is installed on the tibial plateau, the tibial internal rotation angle formed by the tibial prosthesis support vertical wall and the tibial anterior-posterior axis is within the preset tibial internal rotation angle range. The preset tibial internal rotation angle is set according to actual conditions and is not specifically limited here.

[0077] Step c2, determining the adjusted position of the tibial prosthesis in the three-dimensional tibial model as the installation position of the tibial prosthesis in the target knee joint.

[0078] In this step, after adjusting various angles, the adjusted position of the tibial prosthesis in the three-dimensional tibial model is determined as the installation position of the tibial prosthesis in the target knee joint.

[0079] For further information, see Fig.10 , Fig.10 FIG. 1 is a schematic diagram of the installation position of the tibial prosthesis in the embodiment of the present application. Fig.10 As shown, after the installation position of the tibial prosthesis is determined, the position information and direction information of the vertical and horizontal osteotomy of the tibia are generated according to the position of the tibial prosthesis along the bottom surface of the tibial prosthesis support and the vertical wall of the tibial prosthesis support, so as to perform osteotomy on the tibia of the target knee joint and install the tibial prosthesis in the corresponding prosthesis position.

[0080] Further, the femoral bone parameters of the target knee joint are determined according to the following steps:

[0081] Step d1, determining the position of the femoral mechanical axis of the three-dimensional femoral model according to the center point coordinates of the femoral head and the midpoint coordinates of the intercondylar fossa in the three-dimensional femoral model.

[0082] In the present application, please refer to Fig.11 , Fig.11 Schematic diagram of the position of the femoral mechanical axis in the embodiment of the present application. Fig.11 As shown, the center point of the femoral head and the midpoint of the intercondylar fossa are found in the three-dimensional femoral model, the line connecting the two points is determined as the femoral mechanical axis of the three-dimensional femoral model, and the position of the femoral mechanical axis of the three-dimensional femoral model is determined based on the coordinates of the center point of the femoral head and the midpoint of the intercondylar fossa.

[0083] Step d2, determining the midpoint position of the distal end of the medial femoral condyle surface according to the left point coordinates and the right point coordinates of the distal end of the medial femoral condyle surface in the three-dimensional femoral model.

[0084] In the present application, please refer to Fig.12 , Fig.12 Schematic diagram of the distal end of the medial femoral condyle surface in the embodiment of the present application. Fig.12 As shown, the midpoint position of the distal end of the medial femoral condyle surface is determined according to the left point coordinates and the right point coordinates of the distal end of the medial femoral condyle surface in the three-dimensional femoral model.

[0085] Step d3, determining the midpoint position of the posterior condyle of the medial femoral condyle according to the left point coordinates and the right point coordinates of the posterior condyle of the medial femoral condyle in the three-dimensional femoral model.

[0086] In the present application, please refer to Fig.13 , Fig.13 Schematic diagram of the posterior condyle of the medial femoral condyle in the embodiment of the present application. Fig.13 As shown, the midpoint position of the posterior condyle of the medial femoral condyle is determined according to the left point coordinates and the right point coordinates of the posterior condyle of the medial femoral condyle in the three-dimensional femoral model.

[0087] Step d4, determining the midpoint position of the posterior edge of the medial femoral condyle according to the left point coordinates and the right point coordinates of the posterior edge of the medial femoral condyle in the three-dimensional femoral model.

[0088] In the present application embodiment, Fig.13 As shown, the midpoint position of the posterior edge of the medial femoral condyle is determined according to the left point coordinates and the right point coordinates of the posterior edge of the medial femoral condyle in the three-dimensional femoral model.

[0089] Further, the prosthesis model of the femoral prosthesis is determined according to the following steps:

[0090] The prosthesis model of the femoral prosthesis is determined based on the distal midpoint position of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, the midpoint position of the posterior edge of the medial femoral condyle of the three-dimensional femoral model, and the positional relationship between the distal midpoint of the femoral prosthesis, the midpoint of the posterior condyle of the femoral prosthesis, and the midpoint of the posterior edge of the femoral condyle of the femoral prosthesis of each prosthesis model.

[0091] In the present application, please refer to Fig.14 , Fig.15 , Fig.14 This is one of the schematic diagrams of the matching of the femoral prosthesis and the medial femoral condyle in the embodiment of the present application; Fig.15 FIG2 is a second schematic diagram of the matching of the femoral prosthesis and the medial femoral condyle in the embodiment of the present application. Fig.14 , Fig.15 As shown, the femoral prosthesis model whose positional relationship between the midpoint of the distal end of the femoral prosthesis, the midpoint of the posterior condyle of the femoral prosthesis, and the midpoint of the posterior edge of the condyle of the femoral prosthesis in each prosthesis model coincides or nearly coincides with the positional relationship between the distal midpoint position of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, and the midpoint position of the posterior edge of the condyle of the medial femoral condyle in the three-dimensional femoral model is determined as the prosthesis model of the femoral prosthesis. Specifically, the posterior condyle edge point can exceed 2mm at most, and the anterior medial side of the femoral prosthesis maintains at least a certain distance from the medial cortex of the femoral condyle.

[0092] Further, the installation position of the femoral prosthesis in the target knee joint is determined according to the following steps:

[0093] Step e1, aligning the distal midpoint of the femoral prosthesis with the distal midpoint of the medial femoral condyle surface of the three-dimensional femoral model, and adjusting the position of the femoral prosthesis in the three-dimensional femoral model so that the extension line of the main column hole of the femoral prosthesis is parallel to the femoral mechanical axis in the coronal plane and forms a preset angle with the femoral mechanical axis in the sagittal plane.

[0094] In the present application, please refer to Fig.16 , Fig.17 , Fig.16 It is a schematic diagram of the extension line of the main column hole of the femoral prosthesis in the coronal plane in the embodiment of the present application; Fig.17FIG. 1 is a schematic diagram of the extended line of the main column hole of the femoral prosthesis in the sagittal plane in the embodiment of the present application. Fig.16 , 17 As shown, the distal midpoint of the femoral prosthesis is aligned with the distal midpoint of the medial femoral condyle surface of the three-dimensional femoral model, and the position of the femoral prosthesis in the three-dimensional femoral model is adjusted so that the extension line of the main column hole of the femoral prosthesis is parallel to the mechanical axis of the femur in the coronal plane and forms a preset angle with the mechanical axis of the femur in the sagittal plane, so that the femoral prosthesis conforms to the laws of human movement, wherein the preset angle is specifically set according to actual conditions and is not limited here.

[0095] Step e2, determining the adjusted position of the femoral prosthesis in the three-dimensional femoral model as the installation position of the femoral prosthesis in the target knee joint.

[0096] In the embodiment of the present application, the adjusted position of the femoral prosthesis in the three-dimensional femoral model is determined as the installation position of the femoral prosthesis in the target knee joint.

[0097] Furthermore, the method further comprises:

[0098] After determining the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint, fine-tune the internal and external rotation of the femoral prosthesis and / or the tibial prosthesis so that the inner edge of the femoral prosthesis and the vertical wall of the tibial prosthesis support remain parallel in the cross section.

[0099] Specifically, see Fig.18 , Fig.18 FIG. 1 is a schematic diagram of a cross-section of a femoral prosthesis and a tibial prosthesis in an embodiment of the present application. Fig.18 As shown, in order to avoid the inner edge of the femoral prosthesis from colliding with the tibial prosthesis, after determining the installation position of the tibial prosthesis and the femoral prosthesis in the target knee joint, the internal and external rotation of the femoral prosthesis and / or the tibial prosthesis is fine-tuned to keep the inner edge of the femoral prosthesis parallel to the vertical wall of the tibial prosthesis support in the cross section, thereby obtaining the final installation position of the tibial prosthesis and the femoral prosthesis in the target knee joint. For details, please refer to Fig.19 , Fig.19 FIG. 1 is a schematic diagram of the final installation position of the tibial prosthesis and the femoral prosthesis in the target knee joint in the embodiment of the present application. Fig.19 Shown are the coronal view on the left and the sagittal view on the right.

[0100] An embodiment of the present application provides a method for determining the position of a knee joint prosthesis, comprising: determining a three-dimensional bone model of the target knee joint based on thin-layer CT scan data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model; determining the tibial bone parameters of the target knee joint based on the three-dimensional tibia model; the tibial bone parameters include the tibial mechanical axis position, the tibial plateau surface position, the tibial varus angle, the tibial posterior tilt angle and the tibial anterior-posterior axis position; determining the femoral bone parameters of the target knee joint based on the three-dimensional femoral model; the femoral bone parameters include the femoral mechanical axis position, the distal midpoint position of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle and the midpoint position of the posterior edge of the condyle of the medial femoral condyle; determining the prosthesis models of the tibial prosthesis and the femoral prosthesis based on the tibial bone parameters and the femoral bone parameters, and determining the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint based on the prosthesis models of the tibial prosthesis and the femoral prosthesis. In this way, the present application can improve the accuracy of determining the position of the knee prosthesis by constructing a three-dimensional skeletal model of the target knee joint and determining the knee prosthesis model and the installation position in the target knee joint according to various parameters of the three-dimensional skeletal model.

[0101] Based on the same application concept, the embodiments of the present application also provide a device for determining the position of a knee prosthesis corresponding to the method for determining the position of a knee prosthesis provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the method for determining the position of a knee prosthesis in the above embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0102] See also Fig. 20 , Fig. 20 This is one of the functional module diagrams of a device for determining the position of a knee joint prosthesis provided in an embodiment of the present application. Fig. 20 As shown, the device 2000 for determining the position of a knee joint prosthesis comprises:

[0103] The bone model determination module 2010 is used to determine the three-dimensional bone model of the target knee joint based on the thin-layer CT scanning data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model.

[0104] The first parameter determination module 2020 is used to determine the tibial bone parameters of the target knee joint based on the three-dimensional tibial model; the tibial bone parameters include the tibial mechanical axis position, tibial plateau surface position, tibial varus angle, tibial posterior tilt angle and tibial anterior-posterior axis position.

[0105] The second parameter determination module 2030 is used to determine the femoral bone parameters of the target knee joint based on the three-dimensional femoral model; the femoral bone parameters include the position of the femoral mechanical axis, the distal midpoint of the medial femoral condyle surface, the midpoint of the posterior condyle of the medial femoral condyle, and the midpoint of the posterior edge of the medial femoral condyle.

[0106] The prosthesis position determination module 2040 is used to determine the prosthesis models of the tibial prosthesis and the femoral prosthesis based on the tibial bone parameters and the femoral bone parameters, and to determine the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint based on the prosthesis models of the tibial prosthesis and the femoral prosthesis.

[0107] Further, the first parameter determination module 2020 determines the tibia bone parameters of the target knee joint according to the following steps:

[0108] Determine the position of the tibia mechanical axis of the three-dimensional tibia model according to the coordinates of the proximal tibia center point and the distal tibia center point of the three-dimensional tibia model;

[0109] Determine the position of the tibial plateau surface of the three-dimensional tibial model according to the coordinates of two points on the inner side of the tibial plateau surface and the coordinates of the middle point on the outer side of the tibial plateau surface;

[0110] According to the position of the tibial mechanical axis and the position of the tibial plateau surface, the angle between the tibial mechanical axis and the tibial plateau surface in the coronal plane of the three-dimensional tibial model is determined as the tibial varus angle;

[0111] According to the position of the tibial mechanical axis and the position of the tibial plateau surface, the angle between the tibial mechanical axis and the tibial plateau surface in the sagittal plane of the three-dimensional tibial model is determined as the tibial posterior tilt angle;

[0112] The position of the anterior-posterior axis of the tibia of the three-dimensional tibia model is determined according to the midpoint coordinates of the medial edge of the patellar tendon insertion point and the midpoint coordinates of the posterior cruciate ligament of the three-dimensional tibia model.

[0113] Further, the prosthesis position determination module 2040 determines the prosthesis model of the tibial prosthesis according to the following steps:

[0114] Determine a corresponding candidate tibial prosthesis model according to the distance between the front and rear points on the medial platform surface of the tibial plateau of the three-dimensional tibial model;

[0115] Overlapping the tibial prosthesis support bottom surface of the candidate tibial prosthesis model with the tibial plateau surface, and determining the coverage degree of the tibial prosthesis of the candidate tibial prosthesis model on the tibial plateau;

[0116] If the coverage degree of the tibial prosthesis of the candidate tibial prosthesis model on the tibial plateau is greater than a preset coverage degree threshold, the candidate tibial prosthesis model is determined as the prosthesis model of the tibial prosthesis.

[0117] Furthermore, the prosthesis position determination module 2040 determines the installation position of the tibial prosthesis in the target knee joint according to the following steps:

[0118] According to the tibial varus angle, tibial posterior tilt angle and tibial anterior-posterior axis position of the three-dimensional tibial model, the position of the tibial prosthesis in the three-dimensional tibial model is adjusted so that the new tibial varus angle formed by the surface of the tibial prosthesis support and the new tibial varus angle formed by the tibial plateau surface and the tibial mechanical axis is within the preset tibial varus angle range, and the new tibial posterior tilt angle formed is within the preset tibial posterior tilt angle range; so that the tibial internal rotation angle formed by the vertical wall of the tibial prosthesis support and the tibial anterior-posterior axis is within the preset tibial internal rotation angle range;

[0119] The adjusted position of the tibial prosthesis in the three-dimensional tibial model is determined as the installation position of the tibial prosthesis in the target knee joint.

[0120] Further, the second parameter determination module 2030 determines the femoral bone parameters of the target knee joint according to the following steps:

[0121] Determining the position of the femoral mechanical axis of the three-dimensional femoral model according to the coordinates of the center point of the femoral head and the midpoint coordinates of the intercondylar fossa in the three-dimensional femoral model;

[0122] Determine the midpoint position of the distal end of the medial femoral condyle surface according to the left point coordinates and the right point coordinates of the distal end of the medial femoral condyle surface in the three-dimensional femoral model;

[0123] Determine the midpoint position of the posterior condyle of the medial femoral condyle according to the left point coordinates and the right point coordinates of the posterior condyle of the medial femoral condyle in the three-dimensional femoral model;

[0124] The midpoint position of the posterior edge of the medial femoral condyle is determined according to the left point coordinates and the right point coordinates of the posterior edge of the medial femoral condyle in the three-dimensional femoral model.

[0125] Further, the prosthesis position determination module 2040 determines the prosthesis model of the femoral prosthesis according to the following steps:

[0126] The prosthesis model of the femoral prosthesis is determined based on the distal midpoint position of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, the midpoint position of the posterior edge of the medial femoral condyle of the three-dimensional femoral model, and the positional relationship between the distal midpoint of the femoral prosthesis, the midpoint of the posterior condyle of the femoral prosthesis, and the midpoint of the posterior condyle edge of the femoral prosthesis of each prosthesis model.

[0127] Furthermore, the prosthesis position determination module 2040 determines the installation position of the femoral prosthesis in the target knee joint according to the following steps:

[0128] The distal midpoint of the femoral prosthesis is aligned with the distal midpoint of the surface of the medial femoral condyle of the three-dimensional femoral model, and the position of the femoral prosthesis in the three-dimensional femoral model is adjusted so that the extension line of the main column hole of the femoral prosthesis is parallel to the mechanical axis of the femur in the coronal plane and forms a preset angle with the mechanical axis of the femur in the sagittal plane;

[0129] The adjusted position of the femoral prosthesis in the three-dimensional femoral model is determined as the installation position of the femoral prosthesis in the target knee joint.

[0130] For further information, see Fig.21 , Fig.21 This is a second functional module diagram of a device for determining the position of a knee joint prosthesis provided in an embodiment of the present application. Fig.21 As shown, the knee joint prosthesis position determination device 2000 further includes:

[0131] The prosthesis position adjustment module 2050 is used to fine-tune the internal and external rotation of the femoral prosthesis and / or the tibial prosthesis after determining the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint, so that the inner edge of the femoral prosthesis remains parallel to the vertical wall of the tibial prosthesis support in the cross section.

[0132] The embodiment of the present application provides a device for determining the position of a knee joint prosthesis, including a bone model determination module, which is used to determine a three-dimensional bone model of a target knee joint based on thin-layer CT scanning data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model; a first parameter determination module is used to determine tibial bone parameters of the target knee joint based on the three-dimensional tibia model; the tibial bone parameters include the position of the tibial mechanical axis, the position of the tibial plateau surface, the tibial varus angle, the tibial posterior tilt angle and the position of the tibial anterior-posterior axis; The second parameter determination module is used to determine the femoral bone parameters of the target knee joint based on the three-dimensional femoral model; the femoral bone parameters include the position of the femoral mechanical axis, the midpoint position of the distal end of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, and the midpoint position of the posterior edge of the condyle of the medial femoral condyle; the prosthesis position determination module is used to determine the prosthesis model of the tibial prosthesis and the femoral prosthesis based on the tibial bone parameters and the femoral bone parameters, and determine the installation position of the tibial prosthesis and the femoral prosthesis in the target knee joint based on the prosthesis model of the tibial prosthesis and the femoral prosthesis. In this way, the present application can improve the accuracy of the knee prosthesis position determination by constructing a three-dimensional bone model of the target knee joint, and determining the knee prosthesis model and the installation position in the target knee joint according to the various parameters of the three-dimensional bone model.

[0133] Based on the same application idea, please refer to Fig. 22 , Fig. 22 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 22 As shown, the electronic device 2200 includes: a processor 2210 , a memory 2220 and a bus 2230 .

[0134] The memory 2220 stores machine-readable instructions executable by the processor 2210. When the electronic device 2200 is running, the processor 2210 communicates with the memory 2220 through the bus 2230. When the processor 2210 is running, the machine-readable instructions execute the steps of the method for determining the position of the knee prosthesis as described above. The specific implementation method can be found in the method embodiment, which will not be repeated here.

[0135] Based on the same application concept, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the method for determining the position of a knee prosthesis as described above are executed. The specific implementation method can be found in the method embodiment, which will not be repeated here.

[0136] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0137] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0139] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0140] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0141] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for determining the position of a knee joint prosthesis, characterized in that: The method comprises: Determine a three-dimensional bone model of the target knee joint based on thin-layer CT scan data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model; Based on the three-dimensional tibia model, determining the tibia bone parameters of the target knee joint; the tibia bone parameters include the tibia mechanical axis position, the tibial plateau surface position, the tibial varus angle, the tibial posterior tilt angle and the tibial anterior-posterior axis position; Based on the three-dimensional femoral model, the femoral bone parameters of the target knee joint are determined; the femoral bone parameters include the position of the femoral mechanical axis, the midpoint position of the distal end of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, and the midpoint position of the posterior edge of the condyle of the medial femoral condyle; Based on the tibial bone parameters and the femoral bone parameters, the prosthesis models of the tibial prosthesis and the femoral prosthesis are determined, and based on the prosthesis models of the tibial prosthesis and the femoral prosthesis, the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint are determined.

2. The method for determining the position of a knee joint prosthesis according to claim 1, characterized in that: The tibia bone parameters of the target knee joint are determined according to the following steps: Determine the position of the tibia mechanical axis of the three-dimensional tibia model according to the coordinates of the proximal tibia center point and the distal tibia center point of the three-dimensional tibia model; Determine the position of the tibial plateau surface of the three-dimensional tibial model according to the coordinates of two points on the inner side of the tibial plateau surface and the coordinates of the middle point on the outer side of the tibial plateau surface; According to the position of the tibial mechanical axis and the position of the tibial plateau surface, the angle between the tibial mechanical axis and the tibial plateau surface in the coronal plane of the three-dimensional tibial model is determined as the tibial varus angle; According to the position of the tibial mechanical axis and the position of the tibial plateau surface, the angle between the tibial mechanical axis and the tibial plateau surface in the sagittal plane of the three-dimensional tibial model is determined as the tibial posterior tilt angle; The position of the anterior-posterior axis of the tibia of the three-dimensional tibia model is determined according to the midpoint coordinates of the medial edge of the patellar tendon insertion point and the midpoint coordinates of the posterior cruciate ligament of the three-dimensional tibia model.

3. The method for determining the position of a knee joint prosthesis according to claim 2, characterized in that: Determine the size of the tibial prosthesis by following these steps: Determine a corresponding candidate tibial prosthesis model according to the distance between the front and rear points on the medial platform surface of the tibial plateau of the three-dimensional tibial model; Overlapping the tibial prosthesis support bottom surface of the candidate tibial prosthesis model with the tibial plateau surface, and determining the coverage degree of the tibial prosthesis of the candidate tibial prosthesis model on the tibial plateau; If the coverage degree of the tibial prosthesis of the candidate tibial prosthesis model on the tibial plateau is greater than a preset coverage degree threshold, the candidate tibial prosthesis model is determined as the prosthesis model of the tibial prosthesis.

4. The method for determining the position of a knee joint prosthesis according to claim 3, characterized in that: The installation position of the tibial prosthesis in the target knee joint is determined according to the following steps: According to the tibial varus angle, tibial posterior tilt angle and tibial anterior-posterior axis position of the three-dimensional tibial model, the position of the tibial prosthesis in the three-dimensional tibial model is adjusted so that the new tibial varus angle formed by the surface of the tibial prosthesis support and the new tibial varus angle formed by the tibial plateau surface and the tibial mechanical axis is within the preset tibial varus angle range, and the new tibial posterior tilt angle formed is within the preset tibial posterior tilt angle range; so that the tibial internal rotation angle formed by the vertical wall of the tibial prosthesis support and the tibial anterior-posterior axis is within the preset tibial internal rotation angle range; The adjusted position of the tibial prosthesis in the three-dimensional tibial model is determined as the installation position of the tibial prosthesis in the target knee joint.

5. The method for determining the position of a knee joint prosthesis according to claim 1, characterized in that: Determine the femur bone parameters of the target knee joint according to the following steps: Determining the position of the femoral mechanical axis of the three-dimensional femoral model according to the coordinates of the center point of the femoral head and the midpoint coordinates of the intercondylar fossa in the three-dimensional femoral model; Determine the midpoint position of the distal end of the medial femoral condyle surface according to the left point coordinates and the right point coordinates of the distal end of the medial femoral condyle surface in the three-dimensional femoral model; Determine the midpoint position of the posterior condyle of the medial femoral condyle according to the left point coordinates and the right point coordinates of the posterior condyle of the medial femoral condyle in the three-dimensional femoral model; The midpoint position of the posterior edge of the medial femoral condyle is determined according to the left point coordinates and the right point coordinates of the posterior edge of the medial femoral condyle in the three-dimensional femoral model.

6. The method for determining the position of a knee joint prosthesis according to claim 5, characterized in that: Determine the size of the femoral prosthesis as follows: The prosthesis model of the femoral prosthesis is determined based on the distal midpoint position of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, the midpoint position of the posterior edge of the medial femoral condyle of the three-dimensional femoral model, and the positional relationship between the distal midpoint of the femoral prosthesis, the midpoint of the posterior condyle of the femoral prosthesis, and the midpoint of the posterior edge of the femoral condyle of the femoral prosthesis of each prosthesis model.

7. The method for determining the position of a knee joint prosthesis according to claim 6, characterized in that: Determine the installation position of the femoral prosthesis in the target knee joint according to the following steps: The distal midpoint of the femoral prosthesis is aligned with the distal midpoint of the surface of the medial femoral condyle of the three-dimensional femoral model, and the position of the femoral prosthesis in the three-dimensional femoral model is adjusted so that the extension line of the main column hole of the femoral prosthesis is parallel to the mechanical axis of the femur in the coronal plane and forms a preset angle with the mechanical axis of the femur in the sagittal plane; The adjusted position of the femoral prosthesis in the three-dimensional femoral model is determined as the installation position of the femoral prosthesis in the target knee joint.

8. A device for determining the position of a knee joint prosthesis, characterized in that: The device for determining the position of the knee joint prosthesis comprises: A bone model determination module, used to determine a three-dimensional bone model of the target knee joint based on thin-layer CT scanning data of the target knee joint; the three-dimensional bone model includes a three-dimensional tibia model and a three-dimensional femur model; A first parameter determination module is used to determine the tibial bone parameters of the target knee joint based on the three-dimensional tibial model; the tibial bone parameters include the tibial mechanical axis position, the tibial plateau surface position, the tibial varus angle, the tibial posterior tilt angle and the tibial anterior-posterior axis position; A second parameter determination module is used to determine the femoral bone parameters of the target knee joint based on the three-dimensional femoral model; the femoral bone parameters include the position of the femoral mechanical axis, the midpoint position of the distal end of the medial femoral condyle surface, the midpoint position of the posterior condyle of the medial femoral condyle, and the midpoint position of the posterior edge of the condyle of the medial femoral condyle; The prosthesis position determination module is used to determine the prosthesis models of the tibial prosthesis and the femoral prosthesis based on the tibial bone parameters and the femoral bone parameters, and to determine the installation positions of the tibial prosthesis and the femoral prosthesis in the target knee joint based on the prosthesis models of the tibial prosthesis and the femoral prosthesis.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for determining the position of a knee prosthesis as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining the position of a knee joint prosthesis according to any one of claims 1 to 7 are executed.

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