Preoperative planning method and planning equipment for hip joint spacer prosthesis

Abstract

The embodiment of the present application is applicable to the field of computer-aided medical technology, and provides a preoperative planning method and planning device for a hip spacer prosthesis, the method comprising: acquiring hip joint image data, and reconstructing a three-dimensional model of the hip bone according to the hip joint image data; acquiring prosthesis parameters of the hip spacer prosthesis to be implanted; establishing a three-dimensional model coordinate system of the hip bone based on the three-dimensional model of the hip bone; simulating and displaying the hip spacer prosthesis in the three-dimensional model of the hip bone according to the prosthesis parameters; and generating preoperative planning information of the hip spacer prosthesis based on the simulated display of the hip spacer prosthesis. The above method can accurately plan the appropriate placement position and angle of the hip spacer prosthesis, improve the accuracy of prosthesis matching, and improve the success rate of the operation.

Description

Technical Field

[0001] The embodiments of the present application belong to the field of computer-aided medical technology, and in particular, relate to a preoperative planning method and planning device for a hip joint spacer prosthesis. Background Art

[0002] In recent years, with the maturity of total hip replacement surgery and the upgrading of prosthetic materials, more and more patients have undergone total hip replacement surgery, and the number of cases of hip revision surgery for various reasons has also increased year by year. In primary hip replacement and hip revision surgery, some patients have acetabular bone defects. The residual volume of complex acetabular bone defects is not enough to provide sufficient initial stability. How to deal with complex acetabular bone defects is a major problem faced by joint surgeons. In this case, the use of hip spacer prosthesis can effectively help patients restore hip joint function and reconstruct the hip rotation center, maximize the preservation of the remaining acetabular bone volume, and improve patient satisfaction.

[0003] In the prior art, the use of hip block prostheses mainly relies on the doctor's personal experience. For example, the position and angle of the prosthesis are determined by the doctor based on the patient's actual situation during the operation. This results in the use of the prosthesis being greatly influenced by the doctor's subjective experience, reducing the accuracy of the prosthesis matching, and thus easily leading to a lower success rate of the operation. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a preoperative planning method and planning device for a hip joint spacer prosthesis, so as to improve the accuracy of prosthesis matching and improve the success rate of surgery.

[0005] A first aspect of an embodiment of the present application provides a preoperative planning method for a hip joint spacer prosthesis, comprising:

[0006] Acquiring hip joint image data, and reconstructing a hip bone three-dimensional model based on the hip joint image data;

[0007] Obtaining prosthesis parameters of a hip joint spacer prosthesis to be implanted;

[0008] Based on the hip bone three-dimensional model, establishing a hip bone three-dimensional model coordinate system;

[0009] According to the prosthesis parameters, simulating and displaying the hip joint spacer prosthesis in the hip bone three-dimensional model;

[0010] Based on the simulated display of the hip joint spacer prosthesis, preoperative planning information of the hip joint spacer prosthesis is generated.

[0011] A second aspect of an embodiment of the present application provides a preoperative planning device for a hip joint spacer prosthesis, comprising:

[0012] A hip bone three-dimensional model reconstruction module is used to obtain hip joint image data and reconstruct a hip bone three-dimensional model based on the hip joint image data;

[0013] A prosthesis parameter acquisition module, used to acquire the prosthesis parameters of the hip joint spacer prosthesis to be implanted;

[0014] A hip bone three-dimensional model coordinate system construction module, used to establish a hip bone three-dimensional model coordinate system based on the hip bone three-dimensional model;

[0015] A hip joint spacer prosthesis simulation display module, used for simulating and displaying the hip joint spacer prosthesis in the hip bone three-dimensional model according to the prosthesis parameters;

[0016] The preoperative planning information generating module is used to generate preoperative planning information of the hip joint spacer prosthesis based on the simulated displayed hip joint spacer prosthesis.

[0017] A third aspect of an embodiment of the present application provides a preoperative planning device for a hip joint spacer prosthesis, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the preoperative planning device implements the method described in the first aspect above.

[0018] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a computer, the method described in the first aspect above is implemented.

[0019] A fifth aspect of the embodiments of the present application provides a computer program product, including a computer program, which, when executed, enables the method described in the first aspect to be executed.

[0020] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0021] In the embodiment of the present application, by acquiring hip joint image data, a hip bone three-dimensional model can be reconstructed according to the image data, so that the hip joint part that needs surgery is presented to the doctor in the three-dimensional view. On this basis, the preoperative planning device can establish a hip bone three-dimensional model coordinate system based on the hip bone three-dimensional model, and by acquiring the prosthesis parameters of the hip joint pad prosthesis to be implanted, the corresponding hip joint pad prosthesis can be simulated and displayed in the hip bone three-dimensional model. In this way, the pad prosthesis to be implanted can also be presented in the three-dimensional view, which is convenient for the doctor to intuitively observe the position and scheduling of the pad prosthesis, and make targeted adjustments according to the actual situation. The preoperative planning device can generate preoperative planning information of the hip joint pad prosthesis based on the simulated display of the hip joint pad prosthesis, which is used to guide the subsequent actual surgical operation. Using the method provided in the embodiment of the present application, the placement position and angle of the hip joint pad prosthesis can be intuitively presented in the three-dimensional view for the doctor to observe before the operation, and it can be convenient for the doctor to make targeted adjustments, determine the best placement position and angle, improve the accuracy of prosthesis matching, and help improve the success rate of subsequent operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a schematic diagram of a preoperative planning method for a hip joint spacer prosthesis provided in an embodiment of the present application;

[0024] Figure 2 It is a schematic diagram of a possible implementation of S103 in a preoperative planning method for a hip joint spacer prosthesis provided in an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a coordinate system established based on a three-dimensional model of a hip bone provided in an embodiment of the present application;

[0026] Figure 4 is a schematic diagram of a possible implementation of S105 in a preoperative planning method for a hip joint spacer prosthesis provided in an embodiment of the present application;

[0027] Figure 5 It is a schematic diagram of a preoperative planning process of a hip joint spacer prosthesis provided in an embodiment of the present application;

[0028] Figure 6 is a schematic diagram of establishing a three-dimensional hip bone model coordinate system provided by an embodiment of the present application;

[0029] Figure 7 It is a schematic diagram of a planning process of a standard spacer prosthesis provided in an embodiment of the present application;

[0030] Figure 8 It is a schematic diagram of a planning process of a customized spacer prosthesis provided in an embodiment of the present application;

[0031] Fig. 9 It is a schematic diagram of a registration process provided by an embodiment of the present application;

[0032] Fig.10 It is a schematic diagram of establishing a spacer prosthesis coordinate system provided by an embodiment of the present application;

[0033] Fig.11 is a schematic diagram of a preoperative planning device for a hip joint spacer prosthesis provided in an embodiment of the present application;

[0034] Fig.12 It is a schematic diagram of a preoperative planning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the present application.

[0036] The technical solution of the present application is described below through specific embodiments.

[0037] Reference Figure 1 , shows a schematic diagram of a preoperative planning method for a hip joint spacer prosthesis provided in an embodiment of the present application, which may specifically include the following steps:

[0038] S101, acquiring hip joint image data, and reconstructing a hip bone three-dimensional model according to the hip joint image data.

[0039] It should be noted that the method can be applied to a preoperative planning device, which can be a computer device capable of implementing preoperative planning. Specifically, the preoperative planning device can be applied to execute the various steps of the method provided in the embodiment of the present application to implement preoperative planning of a hip joint pad prosthesis. The above-mentioned preoperative planning device can be a device capable of implementing related functions developed based on various types of computers, and the embodiment of the present application does not limit the type of computer.

[0040] In the embodiment of the present application, the hip joint image data may be image data obtained by scanning with a medical imaging device, such as hip joint CT data obtained by scanning the hip joint with a computed tomography (CT) device. The hip joint image data may be transmitted to a preoperative planning device after scanning, and used when preoperative planning is required; or, when preoperative planning is required, the corresponding hip joint image data may be obtained from the medical imaging device in real time, and the embodiment of the present application does not limit this.

[0041] After acquiring the patient's hip joint imaging data, the preoperative planning device can perform three-dimensional reconstruction based on the acquired data to obtain a three-dimensional model of the patient's hip bone, that is, a three-dimensional model of the hip joint that requires surgery. For example, the preoperative planning device can reconstruct a three-dimensional model of the hip bone based on the hip joint CT data. The specific steps of reconstructing the corresponding three-dimensional model based on CT data are not described in detail in the embodiment of the present application.

[0042] S102, obtaining prosthesis parameters of the hip joint spacer prosthesis to be implanted.

[0043] In the embodiment of the present application, the hip joint spacer prosthesis to be implanted may refer to the spacer prosthesis that needs to be implanted in the corresponding position during surgery.

[0044] In a possible implementation of an embodiment of the present application, a hip block prosthesis may include multiple types of prostheses, such as a first type prosthesis, a second type prosthesis, and the like, and each type of block prosthesis has corresponding prosthesis parameters. Exemplarily, the first type of prosthesis may be a standard block prosthesis, and the second type of prosthesis may be a customized block prosthesis. Among them, a standard block prosthesis may be a block prosthesis made according to uniform rules, and this type of block prosthesis may be suitable for hip joint surgery in most scenarios. A customized block prosthesis may be a block prosthesis that is personalized according to the actual needs of the patient. Usually, the prosthesis parameters of standard block prostheses of the same specification may be the same, while the prosthesis parameters of customized block prostheses are often different.

[0045] S103: Establishing a three-dimensional hip bone model coordinate system based on the three-dimensional hip bone model.

[0046] In an embodiment of the present application, based on the reconstructed three-dimensional model of the hip bone, the preoperative planning device can establish a three-dimensional model coordinate system of the hip bone. When establishing the three-dimensional model coordinate system of the hip bone, it can be implemented based on specific marking points on the three-dimensional model of the hip bone. These marking points can be some position points with specific medical significance, such as anatomical marking points with anatomical significance; or, they can also be position points that can be used to construct a coordinate system determined by the doctor according to actual needs, and the embodiment of the present application does not limit this.

[0047] In a possible implementation of the embodiment of the present application, taking the marker point as an anatomical marker point as an example, Figure 2 As shown, in the above S103, establishing the hip bone three-dimensional model coordinate system based on the hip bone three-dimensional model may specifically include the following steps S1031-S1033:

[0048] S1031. Determine a plurality of marking points on the three-dimensional model of the hip bone.

[0049] In an embodiment of the present application, multiple marker points with anatomical significance can be obtained on the three-dimensional model of the hip bone based on the patient's anatomical information. These marker points can include the patient's left anterior superior iliac spine point, right anterior superior iliac spine point, left anterior pubic point, right anterior pubic point, etc.

[0050] like Figure 3 , which is a schematic diagram of a coordinate system established based on a three-dimensional model of the hip bone provided in an embodiment of the present application, Figure 3 The aforementioned multiple marking points that can be used to establish the coordinate system of the hip bone three-dimensional model are shown in FIG. Figure 3 In FIG. 1 , the left anterior superior iliac spine point P1, the right anterior superior iliac spine point P2, the left anterior pubic point P3, and the right anterior pubic point P4 are shown. Based on these marking points, the origin of the coordinate system of the hip bone three-dimensional model to be established later can be determined, that is, Figure 3 Point P0 in .

[0051] S1032. Determine a first plane normal vector and a third plane normal vector of the coordinate system of the hip bone three-dimensional model according to the position of the affected side, and determine a second plane normal vector according to the first plane normal vector and the third plane normal vector.

[0052] In the embodiment of the present application, in order to establish the coordinate system of the three-dimensional model of the hip bone, it is necessary to determine the three axes in the coordinate system. This process can be performed in different ways depending on the position of the affected side.

[0053] Specifically, the affected side position may include the left side or the right side, that is, the hip joint that needs to be operated is the left hip joint or the right hip joint. According to the different affected side positions, the normal vectors of each plane used to establish the coordinate system can be determined respectively.

[0054] In a possible implementation of an embodiment of the present application, if the affected side is on the left side, the first plane normal vector can be determined to be (1,0,0) and the third plane normal vector can be determined to be (0,-1,0). At this time, the second plane normal vector can be the cross product of the third plane normal vector and the first plane normal vector.

[0055] In another possible implementation of the embodiment of the present application, if the affected side is on the right side, the first plane normal vector can be determined to be (-1, 0, 0) and the third plane normal vector can be determined to be (0, 1, 0). Similarly, the second plane normal vector can be the cross product of the third plane normal vector and the first plane normal vector.

[0056] In the above two examples, the first plane normal vector can be the YZ plane normal vector v1 of the hip bone three-dimensional coordinate system, that is, when the affected side is the left side, v1=(1,0,0), and when the affected side is the right side, v1=(-1,0,0); the third plane normal vector can be the XY plane normal vector v3, that is, when the affected side is the left side, v3=(0,-1,0), and when the affected side is the right side, v3=(0,1,0); the second plane normal vector is the XZ plane normal vector v2, that is, v2=v3×v1.

[0057] S1033. Establish a three-dimensional model coordinate system of the hip bone based on the first plane normal vector, the second plane normal vector and the third plane normal vector.

[0058] After determining the normal vectors of each plane, a three-dimensional model coordinate system of the hip bone can be established based on each normal vector. The origin of the coordinate system can be Figure 3 Point P0 in .

[0059] In a specific implementation, for each determined plane normal vector, the preoperative planning device can calculate whether the normal vectors are orthogonal to each other, that is, calculate whether the first plane normal vector v1, the second plane normal vector v2, and the third plane normal vector v3 are orthogonal to each other. If the first plane normal vector v1, the second plane normal vector v2, and the third plane normal vector v3 are not orthogonal to each other, it is necessary to correct one of the normal vectors, for example, to correct the first plane normal vector v1 to the cross product of the second plane normal vector v2 and the third plane normal vector v3, that is, let v1 = v2 × v3, and then use the corrected first plane normal vector v1, the second plane normal vector v2, and the third plane normal vector v3 as the X-axis, Y-axis, and Z-axis, respectively, to establish the three-dimensional model coordinate system of the hip bone.

[0060] During this process, if the first plane normal vector v1, the second plane normal vector v2 and the third plane normal vector v3 are orthogonal to each other, the three-dimensional model coordinate system of the hip bone can be established directly with the first plane normal vector v1, the second plane normal vector v2 and the third plane normal vector v3 as the X-axis, Y-axis and Z-axis respectively.

[0061] like Figure 3 As shown, a three-dimensional hip bone model coordinate system C1 is established with P0 as the origin, and the X-axis, Y-axis and Z-axis of the coordinate system C1 are respectively the first plane normal vector v1, the second plane normal vector v2 and the third plane normal vector v3 determined according to the above steps.

[0062] S104. Simulate and display the hip joint spacer prosthesis in the three-dimensional hip bone model according to the prosthesis parameters.

[0063] In the embodiment of the present application, based on the prosthesis parameters of the spacer prosthesis obtained, the preoperative planning device can simulate and display the spacer prosthesis in the three-dimensional model of the hip bone. This process is the process in which the preoperative planning device performs modeling according to the prosthesis parameters, thereby displaying the corresponding spacer prosthesis in the three-dimensional model of the hip bone. By simulating and displaying the spacer prosthesis in the three-dimensional model of the hip bone, the doctor can intuitively understand the specific situation when the spacer prosthesis is implanted in the surgical site, which helps the doctor plan the surgical plan.

[0064] Since different types of spacer prostheses have different prosthetic parameters, the specific processing steps adopted by the preoperative planning device when simulating and displaying different types of spacer prostheses are also different.

[0065] In a possible implementation of the embodiment of the present application, if the hip joint spacer prosthesis is a first type of prosthesis, that is, a standard spacer prosthesis, the preoperative planning device can determine the initial position and initial angle of the first type of prosthesis based on the pre-planned prosthesis parameters of the first type of prosthesis, and simulate and display the first type of prosthesis in the hip bone three-dimensional model based on the initial position and initial angle of the first type of prosthesis. The pre-planned prosthesis parameters of the above-mentioned first type of prosthesis can be determined by the specific specifications of the standard spacer prosthesis.

[0066] In another possible implementation of the embodiment of the present application, if the hip joint spacer prosthesis is a second type of prosthesis, that is, a customized spacer prosthesis, the preoperative planning device first needs to align the hip bone model corresponding to the second type of prosthesis with the hip bone three-dimensional model according to the model parameters of the second type of prosthesis to obtain the initial position of the second type of prosthesis. The above alignment process can be implemented using an iterative closest points algorithm (ICP).

[0067] The ICP algorithm is an iterative process. In each iteration, the nearest point in the target point set Q can be found for the source data point P, and then the current transformation matrix T is solved by the least squares principle. By continuously iterating until convergence, the point set registration is completed. Specifically, assuming that two three-dimensional point sets X1 and X2 are given, the registration steps of the ICP algorithm can be simply described as follows:

[0068] Step 1: Calculate the nearest point in point set X1 for each point in point set X2.

[0069] Step 2, find the rigid body transformation that minimizes the average distance between the corresponding nearest points, and obtain the corresponding translation parameters and rotation parameters.

[0070] Step 3, using the translation parameters and rotation parameters obtained in step 2 on the point set X2 to obtain a new transformed point set;

[0071] Step 4: If the average distance between the new transformed point set and the reference point set is less than a given threshold, the iterative calculation is stopped; otherwise, the new transformed point set can be used as the new point set X2 to continue iterating until the convergence requirement of the objective function is met.

[0072] In an embodiment of the present application, the second type of prosthesis is a customized pad prosthesis, or also referred to as a personalized pad prosthesis. The prosthesis parameters of the personalized pad prosthesis include a hip bone model that matches the pad, and the hip bone model that matches the pad is usually provided by the pad manufacturer. Before customizing the personalized pad prosthesis, a corresponding three-dimensional hip bone model can be obtained by performing a CT scan on the patient's hip bone, and then a personalized pad prosthesis is made based on the three-dimensional hip bone model obtained by the scan. Therefore, the above-mentioned registration process requires the use of the hip bone model corresponding to the pad to be registered with the hip bone model generated by the system.

[0073] Through registration, the initial position of the customized spacer prosthesis can be obtained. Then, the preoperative planning device can obtain the initial angle of the second type of prosthesis by mapping the acetabular cup spherical center coordinates and normal vector corresponding to the second type of prosthesis to the coordinate system where the hip bone three-dimensional model is located. The above-mentioned acetabular cup spherical center coordinates can be determined based on the patient's anatomical information.

[0074] In this way, after obtaining the initial position and initial angle of the second type of prosthesis, the preoperative planning device can simulate and display the second type of prosthesis in the three-dimensional model of the hip bone according to the initial position and initial angle of the second type of prosthesis, thereby intuitively presenting the view after implantation of the second type of prosthesis in the three-dimensional model of the hip bone, making it convenient for the doctor to evaluate or adjust the planning plan.

[0075] S105. Generate preoperative planning information of the hip joint spacer prosthesis based on the simulated display of the hip joint spacer prosthesis.

[0076] In an embodiment of the present application, based on the hip joint spacer prosthesis simulated and displayed in the three-dimensional model of the hip bone, the preoperative planning device can generate preoperative planning information of the hip joint spacer prosthesis according to the specific display situation.

[0077] In one case, if the spacer prosthesis displayed based on the determined initial position and initial angle can meet the surgical requirements, the preoperative planning information can be directly generated based on the initial position and initial angle of the spacer prosthesis, so that when the subsequent operation is performed, the corresponding spacer prosthesis can be placed according to the initial position and initial angle determined above.

[0078] In another case, if the spacer prosthesis displayed based on the determined initial position and initial angle does not meet the surgical requirements, for example, the spacer prosthesis does not match the acetabulum well, the position and angle of the spacer prosthesis need to be adjusted according to the actual situation to bring it to the optimal position and angle.

[0079] In a possible implementation of the embodiment of the present application, as Figure 4 As shown, in S105, generating preoperative planning information of the hip joint spacer prosthesis based on the simulated displayed hip joint spacer prosthesis may specifically include the following steps S1051-S1053:

[0080] S1051. Establish a spacer prosthesis coordinate system, wherein the spacer prosthesis coordinate system is used to provide orientation information of the hip joint spacer prosthesis performing multi-directional rotational motion around the spacer prosthesis coordinate system and circular motion around the center position of the acetabulum cup.

[0081] In the embodiment of the present application, the adjustment of the hip joint spacer prosthesis can be performed based on the spacer prosthesis coordinate system. Therefore, in order to achieve the adjustment of the spacer prosthesis, the spacer prosthesis coordinate system should first be established in the hip bone three-dimensional model.

[0082] In a possible implementation of the embodiment of the present application, the prosthesis center and the acetabular cup center of the hip joint pad prosthesis can be determined first, and then a first vector can be determined based on the prosthesis center and the acetabular cup center. The first vector can be a vector pointing from the prosthesis center to the acetabular cup center.

[0083] Exemplarily, assuming that the center of the prosthesis is g1 and the center of the acetabular cup is b1, the first vector V1 can be expressed as V1=g1-b1.

[0084] On this basis, the cross product between the first vector and the Y axis of the acetabular cup model can be calculated to obtain the second vector, and the cross product between the first vector and the second vector can be calculated to obtain the third vector.

[0085] Exemplarily, the second vector V2 may be expressed as V2=V1×Y axis of the acetabular cup model; and the third vector V3 may be expressed as V3=V1×V2.

[0086] In this way, after calculating the first vector V1, the second vector V2 and the third vector V3, the spacer prosthesis coordinate system can be established with the prosthesis center g1 as the origin, the first vector V1, the second vector V2 and the third vector V3 as the X axis, the Y axis and the Z axis respectively. That is, the X axis, the Y axis and the Z axis of the established spacer prosthesis coordinate system are the first vector V1, the second vector V2 and the third vector V3 calculated according to the above steps respectively.

[0087] See also Figure 3As shown, a spacer prosthesis coordinate system C2 is established with the prosthesis center g1 as the origin, and the X axis, Y axis and Z axis of the coordinate system C2 are respectively the first vector V1, the second vector V2 and the third vector V3 determined according to the above steps.

[0088] S1052, determining the target position and target angle of the hip joint block prosthesis based on the orientation information of the multi-directional rotational motion of the hip joint block prosthesis around the block prosthesis coordinate system and the circular motion around the center position of the acetabular cup.

[0089] After establishing the block prosthesis coordinate system, the doctor can control the block prosthesis to perform multi-directional rotation around the block prosthesis coordinate system and circular motion around the center of the acetabular cup in a three-dimensional view. In this process, the corresponding orientation information can be obtained, that is, the position and angle information of the block prosthesis during multi-directional rotation and circular motion. These position information may include information on the up and down movement, left and right movement, and front and back movement of the block prosthesis, and the angle information may include the angle of rotation of the block prosthesis in the three directions of the XYZ axis. In this process, the doctor can observe the appropriate placement position and angle of the prosthesis and predict the postoperative effect, determine the best surgical plan, and thus determine the target position and target angle of the hip joint block prosthesis. The target position and target angle are also the most suitable position and angle for placing the block prosthesis.

[0090] S1053. Generate preoperative planning information of the hip joint spacer prosthesis according to the target position and the target angle.

[0091] The determined target position and target angle can be saved by the preoperative planning device under the doctor's instruction, thereby obtaining preoperative planning information for the hip spacer prosthesis.

[0092] In the embodiment of the present application, by acquiring the hip joint image data, the hip bone three-dimensional model can be reconstructed according to the image data, so that the hip joint part that needs to be operated on is presented to the doctor in the three-dimensional view. On this basis, the preoperative planning device can establish a hip bone three-dimensional model coordinate system based on the hip bone three-dimensional model, and by acquiring the prosthesis parameters of the hip joint pad prosthesis to be implanted, the corresponding hip joint pad prosthesis can be simulated and displayed in the hip bone three-dimensional model. In this way, the pad prosthesis to be implanted can also be presented in the three-dimensional view, which is convenient for the doctor to intuitively observe the position and scheduling of the pad prosthesis, and make targeted adjustments according to the actual situation. The preoperative planning device can generate preoperative planning information of the hip joint pad prosthesis based on the simulated display of the hip joint pad prosthesis, which is used to guide the subsequent actual surgical operation. Using the method provided in the embodiment of the present application, the placement position and angle of the hip joint pad prosthesis can be intuitively presented in the three-dimensional view for the doctor to observe before the operation, and it can be convenient for the doctor to make targeted adjustments, determine the best placement position and angle, improve the accuracy of prosthesis matching, and help improve the success rate of subsequent operations.

[0093] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0094] For ease of understanding, the following introduces a preoperative planning method for a hip joint spacer prosthesis provided in an embodiment of the present application in conjunction with a complete example.

[0095] like Figure 5 FIG. 1 is a schematic diagram of a preoperative planning process of a hip joint spacer prosthesis provided in an embodiment of the present application. Figure 5 The process shown is an introduction to the preoperative planning method of the hip pad prosthesis provided in the embodiment of the present application through the data input and output process of each module. The modules required to be involved in the entire preoperative planning process include a data acquisition module, a three-dimensional reconstruction module, a preoperative planning module, etc.

[0096] Reference Figure 5 As shown, the information input by the data acquisition module may include CT image data and information such as the patient's indications, wherein the patient's indications may include the patient's specific symptoms and related information of the part requiring surgery, and the CT image data may include local image data of the part requiring surgery, or may be the patient's whole-body image data.

[0097] The information or data input by the data acquisition module can be processed by the 3D reconstruction module, and the 3D model of the hip bone can be reconstructed through interactive segmentation and other processing methods. In addition, the anatomical landmarks on the 3D model of the hip bone can be determined based on the anatomical structure information, such as Figure 3The left anterior superior iliac spine point P1, the right anterior superior iliac spine point P2, the left anterior pubic point P3, the right anterior pubic point P4, etc. Therefore, the information output by the three-dimensional reconstruction module may include a three-dimensional model of the hip bone and corresponding anatomical landmarks on the model.

[0098] The information output by the 3D reconstruction module can be used as input information for the preoperative planning module. The preoperative planning module can process the input 3D hip bone model and the corresponding anatomical landmarks to establish a 3D hip bone model coordinate system.

[0099] like Figure 6 FIG. 1 is a schematic diagram of establishing a three-dimensional hip model coordinate system according to an embodiment of the present application. The three-dimensional reconstruction module can obtain the positions of anatomically significant markers on the three-dimensional hip model in the world coordinate system according to the patient's anatomical information, for example Figure 3 The positions of the left anterior superior iliac spine point P1, the right anterior superior iliac spine point P2, the left anterior pubic point P3, and the right anterior pubic point P4 in the world coordinate system are shown in . Then, according to whether the specific affected side is on the left or right side, the first plane normal vector v1 and the third plane normal vector v3 are determined respectively.

[0100] like Figure 6 As shown, if the affected side is on the left side, the first plane normal vector v1 can be determined to be (1,0,0) and the third plane normal vector v3 can be determined to be (0,-1,0); if the affected side is on the right side, the first plane normal vector v1 can be determined to be (-1,0,0) and the third plane normal vector v3 can be determined to be (0,1,0).

[0101] The second plane normal vector v2 may be a cross product of the third plane normal vector v3 and the first plane normal vector v1, that is, v2=v3×v1.

[0102] like Figure 6 As shown, for each determined plane normal vector, the preoperative planning module can calculate whether the normal vectors are orthogonal to each other, that is, calculate whether the first plane normal vector v1, the second plane normal vector v2 and the third plane normal vector v3 are orthogonal to each other. Figure 6 The expression (v1*v2!=0)||(v1*v3!=0)||(v2*v3!=0) shown in is the expression for judging whether any two plane normal vectors are orthogonal. If any two plane normal vectors are not orthogonal, v1= v2×v3 can be set, so that v1, v2 and v3 are output as the X-axis, Y-axis and Z-axis of the hip bone three-dimensional model coordinate system.

[0103] In addition, if Figure 5 As shown, the information input to the preoperative planning module also includes the prosthesis parameters of the hip joint spacer prosthesis. For the input prosthesis parameters, the preoperative planning module can process them separately according to different types of spacer prostheses.

[0104] See also Figure 7 and Figure 8 , which are respectively a schematic diagram of the planning process of a standard spacer prosthesis and a schematic diagram of the planning process of a customized spacer prosthesis provided in an embodiment of the present application.

[0105] like Figure 7 As shown, for a standard pad prosthesis, the preoperative planning module can establish a three-dimensional model coordinate system of the hip bone in combination with the obtained anatomical landmarks after obtaining the corresponding prosthesis parameters, and complete the preoperative planning process of the standard pad prosthesis by calculating and adjusting the initial planning value of the standard pad prosthesis. The above-mentioned initial planning value may include the initial position and initial angle of the standard pad prosthesis introduced in the above-mentioned embodiment.

[0106] like Figure 8 As shown, for a customized pad prosthesis, the preoperative planning module can obtain relevant prosthesis parameters and model information and use the ICP registration algorithm for registration. Among them, the prosthesis parameters of the customized pad prosthesis, i.e., the personalized pad prosthesis, include a hip bone model that matches the pad, and the hip bone model that matches the pad is usually provided by the pad manufacturer. Before customizing the personalized pad prosthesis, the corresponding hip bone three-dimensional model can be obtained by performing a CT scan on the patient's hip bone, and then the positioning pad prosthesis is made according to the scanned hip bone three-dimensional model. Therefore, in the actual operation process, it is necessary to use the hip bone model corresponding to the pad to align with the hip bone model generated by the system. Then, by establishing the hip bone three-dimensional model coordinate system and the pad prosthesis coordinate system, the initial planning value of the customized pad prosthesis is calculated and adjusted to complete the preoperative planning process of the customized pad prosthesis. The above-mentioned initial planning value may include the initial position and initial angle of the customized pad prosthesis introduced in the aforementioned embodiment, and the adjusted planning value may include the target position and target angle in the aforementioned embodiment.

[0107] like Fig. 9 FIG. 1 is a schematic diagram of a registration process provided by an embodiment of the present application. Fig. 9 The registration process shown is implemented using the ICP algorithm. Fig. 9 , the registration steps using the ICP algorithm can be simply described as: first, calculate the nearest point corresponding to each point in the point set X2 in the point set X1, and obtain the rigid body transformation that minimizes the average distance between the corresponding nearest points, and obtain the corresponding translation parameters and rotation parameters. Then, by using the obtained translation parameters and rotation parameters on the point set X2, a new transformed point set is obtained. If the new transformed point set and the reference point set satisfy that the average distance between the two point sets is less than a given threshold, the iterative calculation is stopped, otherwise the new transformed point set can be used as the new point set X2 to continue iterating until the convergence requirement of the objective function is met and the registration is completed.

[0108] like Fig.10 FIG. 1 is a schematic diagram of establishing a spacer prosthesis coordinate system provided by an embodiment of the present application. Fig.10 , the preoperative planning module can determine the first vector V1 according to the input prosthesis center and acetabular cup center. Exemplarily, assuming that the prosthesis center is g1 and the acetabular cup center is b1, the first vector V1 can be expressed as V1=g1-b1. On this basis, the second vector V2 can be expressed as V2=V1×Y axis of the acetabular cup model; the third vector V3 can be expressed as V3=V1×V2. In this way, after calculating the first vector V1, the second vector V2 and the third vector V3, the block prosthesis coordinate system can be established with the prosthesis center g1 as the origin, the first vector V1, the second vector V2 and the third vector V3 as the X-axis, the Y-axis and the Z-axis respectively. That is, the X-axis, the Y-axis and the Z-axis of the established block prosthesis coordinate system are the first vector V1, the second vector V2 and the third vector V3 calculated according to the above steps respectively.

[0109] The preoperative planning module processes the hip bone 3D model output by the 3D reconstruction module, the corresponding anatomical landmarks on the model, and the prosthesis parameters of the related pad prosthesis, and can output the appropriate placement position and angle of the pad prosthesis, obtain the appropriate preoperative planning plan and save it. At this point, the entire planning process ends.

[0110] Reference Fig.11 , shows a schematic diagram of a preoperative planning device for a hip joint spacer prosthesis provided in an embodiment of the present application, which may specifically include a hip bone three-dimensional model reconstruction module 1101, a prosthesis parameter acquisition module 1102, a hip bone three-dimensional model coordinate system construction module 1103, a hip joint spacer prosthesis simulation display module 1104 and a preoperative planning information generation module 1105, wherein:

[0111] A hip bone three-dimensional model reconstruction module 1101 is used to obtain hip joint image data and reconstruct a hip bone three-dimensional model according to the hip joint image data;

[0112] A prosthesis parameter acquisition module 1102 is used to acquire the prosthesis parameters of the hip joint spacer prosthesis to be implanted;

[0113] A hip bone three-dimensional model coordinate system building module 1103 is used to build a hip bone three-dimensional model coordinate system based on the hip bone three-dimensional model;

[0114] A hip joint spacer prosthesis simulation display module 1104 is used to simulate and display the hip joint spacer prosthesis in the hip bone three-dimensional model according to the prosthesis parameters;

[0115] The preoperative planning information generating module 1105 is used to generate preoperative planning information of the hip joint spacer prosthesis based on the simulated displayed hip joint spacer prosthesis.

[0116] In the embodiment of the present application, the hip bone three-dimensional model coordinate system construction module 1103 can be specifically used for:

[0117] Determining a plurality of marker points on the three-dimensional model of the hip bone;

[0118] Determine a first plane normal vector and a third plane normal vector of the hip bone three-dimensional model coordinate system according to the position of the affected side, and determine a second plane normal vector according to the first plane normal vector and the third plane normal vector, wherein the position of the affected side includes the left side or the right side;

[0119] A three-dimensional model coordinate system of the hip bone is established based on the first plane normal vector, the second plane normal vector and the third plane normal vector.

[0120] In a possible implementation of the embodiment of the present application, the hip bone three-dimensional model coordinate system construction module 1103 may also be used to:

[0121] If the affected side is on the left side, the first plane normal vector is determined to be (1, 0, 0), the third plane normal vector is determined to be (0, -1, 0), and the second plane normal vector is the cross product of the third plane normal vector and the first plane normal vector;

[0122] If the affected side is on the right side, the first plane normal vector is determined to be (-1, 0, 0), the third plane normal vector is determined to be (0, 1, 0), and the second plane normal vector is the cross product of the third plane normal vector and the first plane normal vector.

[0123] In another possible implementation of the embodiment of the present application, the hip bone three-dimensional model coordinate system construction module 1103 may also be used to:

[0124] respectively calculating whether the first plane normal vector, the second plane normal vector and the third plane normal vector are orthogonal to each other;

[0125] If the first plane normal vector, the second plane normal vector and the third plane normal vector are not orthogonal to each other, after correcting the first plane normal vector to be the cross product of the second plane normal vector and the third plane normal vector, the three-dimensional model coordinate system of the hip bone is established with the first plane normal vector, the second plane normal vector and the third plane normal vector as the X-axis, Y-axis and Z-axis respectively.

[0126] In a possible implementation of the embodiment of the present application, the hip joint spacer prosthesis may include a first type of prosthesis, and the hip joint spacer prosthesis simulation display module 1104 may be specifically used for:

[0127] determining an initial position and an initial angle of the first type of prosthesis according to the pre-planned prosthesis parameters of the first type of prosthesis;

[0128] The first type of prosthesis is simulated and displayed in the three-dimensional hip model according to the initial position and initial angle of the first type of prosthesis.

[0129] In another possible implementation of the embodiment of the present application, the hip joint spacer prosthesis may further include a second type of prosthesis, and the hip joint spacer prosthesis simulation display module 1104 may further be used for:

[0130] According to the model parameters of the second type of prosthesis, registering the hip bone model corresponding to the second type of prosthesis with the hip bone three-dimensional model to obtain an initial position of the second type of prosthesis;

[0131] Mapping the acetabular cup center coordinates and normal vector corresponding to the second type of prosthesis to the coordinate system of the hip bone three-dimensional model to obtain an initial angle of the second type of prosthesis;

[0132] According to the initial position and initial angle of the second type prosthesis, the second type prosthesis is simulated and displayed in the three-dimensional hip model.

[0133] In the embodiment of the present application, the preoperative planning information generating module 1105 can be specifically used for:

[0134] Establishing a block prosthesis coordinate system, the block prosthesis coordinate system is used to provide the position information of the hip joint block prosthesis performing multi-directional rotational motion around the block prosthesis coordinate system and circular motion around the center position of the acetabular cup;

[0135] Determine the target position and target angle of the hip joint block prosthesis based on the position information of the hip joint block prosthesis performing multi-directional rotational motion around the block prosthesis coordinate system and circular motion around the center position of the acetabular cup;

[0136] Preoperative planning information of the hip joint spacer prosthesis is generated according to the target position and the target angle.

[0137] In another possible implementation of the embodiment of the present application, the preoperative planning information generating module 1105 may also be used to:

[0138] Determining the prosthesis center of the hip joint spacer prosthesis and the acetabular cup spherical center;

[0139] Determine a first vector according to the prosthesis center and the acetabular cup spherical center, wherein the first vector points from the prosthesis center to the acetabular cup spherical center;

[0140] Calculate the cross product between the first vector and the Y axis of the acetabular cup model to obtain a second vector, and calculate the cross product between the first vector and the second vector to obtain a third vector;

[0141] The spacer prosthesis coordinate system is established with the center of the prosthesis as the origin, the first vector, the second vector and the third vector as the X-axis, the Y-axis and the Z-axis respectively.

[0142] The present application provides a preoperative planning device for a hip joint spacer prosthesis, which can be the preoperative planning device in the above embodiments or a device composed of one or more modules or units in the preoperative planning device. The device can be used to implement the steps in the above method embodiments.

[0143] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0144] Reference Fig.12 , shows a schematic diagram of a preoperative planning device provided in an embodiment of the present application, which may be a device capable of implementing the functions related to each step in the aforementioned method embodiments, such as a preoperative planning device for a hip joint spacer prosthesis. Fig.12 As shown, the preoperative planning device 1200 in the embodiment of the present application includes: a processor 1210, a memory 1220, and a computer program 1221 stored in the memory 1220 and executable on the processor 1210. When the processor 1210 executes the computer program 1221, the steps in each embodiment of the preoperative planning method for the hip joint spacer prosthesis are implemented, such as Figure 1 Alternatively, when the processor 1210 executes the computer program 1221, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Fig.11 Functions of modules 1101 to 1105 are shown.

[0145] Exemplarily, the computer program 1221 can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 1220 and executed by the processor 1210 to complete the present application. The one or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments can be used to describe the execution process of the computer program 1221 in the preoperative planning device 1200. For example, the computer program 1221 can be divided into a hip three-dimensional model reconstruction module, a prosthesis parameter acquisition module, a hip three-dimensional model coordinate system construction module, a hip joint pad prosthesis simulation display module and a preoperative planning information generation module. The specific functions of each module are as follows:

[0146] A hip bone three-dimensional model reconstruction module is used to obtain hip joint image data and reconstruct a hip bone three-dimensional model based on the hip joint image data;

[0147] A prosthesis parameter acquisition module, used to acquire the prosthesis parameters of the hip joint spacer prosthesis to be implanted;

[0148] A hip bone three-dimensional model coordinate system construction module, used to establish a hip bone three-dimensional model coordinate system based on the hip bone three-dimensional model;

[0149] A hip joint spacer prosthesis simulation display module, used for simulating and displaying the hip joint spacer prosthesis in the hip bone three-dimensional model according to the prosthesis parameters;

[0150] The preoperative planning information generating module is used to generate preoperative planning information of the hip joint spacer prosthesis based on the simulated displayed hip joint spacer prosthesis.

[0151] The preoperative planning device 1200 may be a computer device capable of implementing the functions of the relevant steps in the above-mentioned various method embodiments, and the computer device may be a desktop computer, a cloud server, etc. The preoperative planning device 1200 may include, but is not limited to, a processor 1210 and a memory 1220. Those skilled in the art will understand that Fig.12 It is only an example of the preoperative planning device 1200 and does not constitute a limitation of the preoperative planning device 1200. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the preoperative planning device 1200 may also include input and output devices, network access devices, buses, etc.

[0152] The processor 1210 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0153] The memory 1220 may be an internal storage unit of the preoperative planning device 1200, such as a hard disk or memory of the preoperative planning device 1200. The memory 1220 may also be an external storage device of the preoperative planning device 1200, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the preoperative planning device 1200. Further, the memory 1220 may also include both an internal storage unit and an external storage device of the preoperative planning device 1200. The memory 1220 is used to store the computer program 1221 and other programs and data required by the preoperative planning device 1200. The memory 1220 may also be used to temporarily store data that has been output or is to be output.

[0154] An embodiment of the present application also discloses a preoperative planning device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the methods described in the aforementioned embodiments are implemented.

[0155] The embodiments of the present application further disclose a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a computer, the methods described in the above embodiments are implemented.

[0156] The embodiments of the present application further disclose a computer program product, including a computer program. When the computer program is run on a computer, the computer is enabled to execute the methods described in the aforementioned embodiments.

[0157] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications 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, and should be included in the protection scope of the present application.

Claims

1. A method for preoperative planning of a hip joint spacer prosthesis, characterized in that: include: Acquiring hip joint image data, and reconstructing a hip bone three-dimensional model based on the hip joint image data; Obtaining prosthesis parameters of a hip joint spacer prosthesis to be implanted; Determining a plurality of marker points on the three-dimensional model of the hip bone; Determine a first plane normal vector and a third plane normal vector of a coordinate system of a hip bone three-dimensional model to be established according to the position of the affected side, and determine a second plane normal vector according to the first plane normal vector and the third plane normal vector, wherein the position of the affected side includes a left side or a right side; Establishing a three-dimensional model coordinate system of the hip bone based on the first plane normal vector, the second plane normal vector and the third plane normal vector; According to the prosthesis parameters, simulating and displaying the hip joint spacer prosthesis in the hip bone three-dimensional model; Based on the simulated display of the hip joint spacer prosthesis, generating preoperative planning information of the hip joint spacer prosthesis; The method of determining a first plane normal vector and a third plane normal vector of a coordinate system of a hip bone three-dimensional model to be established according to the position of the affected side, and determining a second plane normal vector according to the first plane normal vector and the third plane normal vector, comprises: If the affected side is on the left side, the first plane normal vector is determined to be (1, 0, 0), the third plane normal vector is determined to be (0, -1, 0), and the second plane normal vector is the cross product of the third plane normal vector and the first plane normal vector; If the affected side is on the right side, the first plane normal vector is determined to be (-1, 0, 0), the third plane normal vector is determined to be (0, 1, 0), and the second plane normal vector is the cross product of the third plane normal vector and the first plane normal vector; The step of establishing a three-dimensional model coordinate system of the hip bone based on the first plane normal vector, the second plane normal vector and the third plane normal vector comprises: respectively calculating whether the first plane normal vector, the second plane normal vector and the third plane normal vector are orthogonal to each other; If the first plane normal vector, the second plane normal vector and the third plane normal vector are not orthogonal to each other, after correcting the first plane normal vector to be the cross product of the second plane normal vector and the third plane normal vector, the three-dimensional model coordinate system of the hip bone is established with the first plane normal vector, the second plane normal vector and the third plane normal vector as the X-axis, Y-axis and Z-axis respectively.

2. The method according to claim 1, characterized in that The hip joint spacer prosthesis includes a first type of prosthesis, and the simulating and displaying the hip joint spacer prosthesis in the hip bone three-dimensional model according to the prosthesis parameters includes: determining an initial position and an initial angle of the first type of prosthesis according to the pre-planned prosthesis parameters of the first type of prosthesis; The first type of prosthesis is simulated and displayed in the three-dimensional hip model according to the initial position and initial angle of the first type of prosthesis.

3. The method according to claim 1, characterized in that The hip joint spacer prosthesis includes a second type of prosthesis, and the simulating and displaying the hip joint spacer prosthesis in the hip bone three-dimensional model according to the prosthesis parameters includes: According to the model parameters of the second type of prosthesis, registering the hip bone model corresponding to the second type of prosthesis with the hip bone three-dimensional model to obtain an initial position of the second type of prosthesis; Mapping the acetabular cup center coordinates and normal vector corresponding to the second type of prosthesis to the coordinate system of the hip bone three-dimensional model to obtain an initial angle of the second type of prosthesis; According to the initial position and initial angle of the second type prosthesis, the second type prosthesis is simulated and displayed in the three-dimensional hip model.

4. The method according to any one of claims 1 to 3, characterized in that: The generating of preoperative planning information of the hip joint spacer prosthesis based on the simulated display of the hip joint spacer prosthesis comprises: Establishing a block prosthesis coordinate system, the block prosthesis coordinate system is used to provide the position information of the hip joint block prosthesis performing multi-directional rotational motion around the block prosthesis coordinate system and circular motion around the center position of the acetabular cup; Determine the target position and target angle of the hip joint block prosthesis based on the position information of the hip joint block prosthesis performing multi-directional rotational motion around the block prosthesis coordinate system and circular motion around the center position of the acetabular cup; Preoperative planning information of the hip joint spacer prosthesis is generated according to the target position and the target angle.

5. The method according to claim 4, characterized in that The step of establishing a spacer prosthesis coordinate system comprises: Determining the prosthesis center of the hip joint spacer prosthesis and the acetabular cup spherical center; Determine a first vector according to the prosthesis center and the acetabular cup spherical center, wherein the first vector points from the prosthesis center to the acetabular cup spherical center; Calculate the cross product between the first vector and the Y axis of the acetabular cup model to obtain a second vector, and calculate the cross product between the first vector and the second vector to obtain a third vector; The spacer prosthesis coordinate system is established with the center of the prosthesis as the origin, the first vector, the second vector and the third vector as the X-axis, the Y-axis and the Z-axis respectively.

6. A preoperative planning device for a hip joint spacer prosthesis, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the planning device is caused to implement the method according to any one of claims 1 to 5.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed, the method according to any one of claims 1 to 5 is executed.

Images