Elbow joint prosthesis installation position evaluation method and device, electronic equipment, storage medium and program product

Abstract

The invention provides an elbow joint prosthesis installation position evaluation method and device, electronic equipment, a storage medium and a program product, and the method comprises the steps that an elbow joint biomechanical model of an implanted prosthesis is constructed, and the model comprises a skeleton prosthesis model and a muscle model which are coupled, the skeleton prosthesis model comprises a humerus prosthesis equivalent mass block and an ulna prosthesis equivalent mass block; acquiring a plurality of pieces of to-be-evaluated position data of the prosthesis rotation axis, wherein each piece of to-be-evaluated position data is used for representing a to-be-evaluated position of the prosthesis rotation axis between the two prosthesis equivalent mass blocks; for each piece of to-be-evaluated position data, based on a prosthesis rotation axis corresponding to the to-be-evaluated position data, performing motion simulation calculation on the elbow joint biomechanical model implanted with the prosthesis by using a dynamics method to obtain muscle force data of reference muscles in the muscle model; and determining an evaluation result of each piece of to-be-evaluated position data according to the muscle force data corresponding to each piece of to-be-evaluated position data.

Description

Technical Field

[0001] The present disclosure generally relates to the field of biomechanics technology, and more specifically, to an evaluation method, device, electronic device, storage medium and program product for the installation position of an elbow joint prosthesis. Background Art

[0002] Total elbow replacement (TEA) is an effective means to save elbow function and promote elbow function recovery. If the prosthesis is too long after elbow replacement, the patient's flexion and extension activities will be limited, while if the prosthesis is too short, the muscle strength will be weakened during flexion and extension. Poor prosthesis position will also weaken the elbow function and increase the chance of prosthesis loosening and wear.

[0003] Biomechanical analysis can be used to study the range of motion and mechanical properties of artificial joints, and is an important means of artificial joint design and evaluation of new artificial joints. Existing research methods provide reference and reference for the biomechanical analysis of elbow replacement, but the existing biomechanical analysis model is difficult to analyze the impact of prosthesis installation parameters on muscle force, and cannot effectively guide the planning of prosthesis installation parameters for elbow replacement. Summary of the invention

[0004] The present disclosure provides a method, device, electronic device, storage medium and program product for evaluating the installation position of an elbow joint prosthesis, which are used to solve at least one of the above problems.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for evaluating the installation position of an elbow joint prosthesis is provided, the method comprising: constructing a biomechanical model of the elbow joint of the implanted prosthesis, wherein the biomechanical model of the elbow joint of the implanted prosthesis comprises a coupled skeletal prosthesis model and a muscle model, and the skeletal prosthesis model comprises a humeral equivalent mass block, a humeral prosthesis equivalent mass block, an ulna equivalent mass block, an ulna prosthesis equivalent mass block, and a radius equivalent mass block; obtaining a plurality of position data to be evaluated of the prosthesis rotation axis, wherein each position data to be evaluated is used to represent a position to be evaluated of the prosthesis rotation axis between the humeral prosthesis equivalent mass block and the ulna prosthesis equivalent mass block; for each position data to be evaluated, based on the prosthesis rotation axis corresponding to the position data to be evaluated, using a dynamic method to perform motion simulation calculation on the biomechanical model of the elbow joint of the implanted prosthesis, to obtain muscle force data of the reference muscle in the muscle model; and determining an evaluation result of each position data to be evaluated according to the muscle force data corresponding to each position data to be evaluated.

[0006] Optionally, constructing a biomechanical model of the elbow joint for an implanted prosthesis includes: constructing a biomechanical model of the elbow joint, wherein the biomechanical model of the elbow joint includes a coupled bone model and the muscle model, and the bone model includes a humerus model, an ulna model and a radius model; for the elbow joint biomechanical model, replacing the humerus model with the humerus equivalent mass block and the humeral prosthesis equivalent mass block, replacing the ulna model with the ulna equivalent mass block and the ulna prosthesis equivalent mass block, and replacing the radius model with the radius equivalent mass block, to obtain the biomechanical model of the elbow joint for the implanted prosthesis.

[0007] Optionally, each equivalent mass block is described by at least one of the following variables: mass, posture, center of mass, moment of inertia.

[0008] Optionally, each piece of position data to be evaluated includes an offset of a rotation axis of the prosthesis corresponding to the position data to be evaluated relative to an ideal rotation axis.

[0009] Optionally, determining the evaluation result of each position data to be evaluated based on the muscle force data corresponding to each position data to be evaluated includes: comparing the muscle force data corresponding to each position data to be evaluated with normal muscle force data to obtain a comparison result; when the comparison result meets a preset condition, determining the evaluation result of the corresponding position data to be evaluated as suitable as an installation position for an elbow joint prosthesis, wherein the preset condition indicates that the difference between the muscle force data and the normal muscle force data is within an acceptable range; when the comparison result does not meet the preset condition, determining the evaluation result of the corresponding position data to be evaluated as unsuitable as an installation position for an elbow joint prosthesis.

[0010] Optionally, constructing a biomechanical model of the elbow joint of the implanted prosthesis includes: acquiring a standard biomechanical model of the elbow joint of the implanted prosthesis and body data of a target patient, wherein the standard biomechanical model of the elbow joint of the implanted prosthesis is constructed based on human anatomical data; and adjusting the standard biomechanical model of the elbow joint of the implanted prosthesis according to the body data of the target patient to obtain the biomechanical model of the elbow joint of the implanted prosthesis of the target patient.

[0011] According to a second aspect of an embodiment of the present disclosure, there is provided an evaluation device for an elbow joint prosthesis installation position, the evaluation device comprising: a construction unit, configured to construct a biomechanical model of an elbow joint of an implanted prosthesis, wherein the biomechanical model of the elbow joint of the implanted prosthesis comprises a coupled skeletal prosthesis model and a muscle model, and the skeletal prosthesis model comprises a humeral equivalent mass block, a humeral prosthesis equivalent mass block, an ulna equivalent mass block, an ulna prosthesis equivalent mass block, and a radius equivalent mass block; an acquisition unit, configured to acquire a plurality of position data to be evaluated of a prosthesis rotation axis, wherein each position data to be evaluated is used to represent a position to be evaluated of the prosthesis rotation axis between the humeral prosthesis equivalent mass block and the ulna prosthesis equivalent mass block; a simulation unit, configured to perform motion simulation calculation on the elbow joint biomechanical model of the implanted prosthesis using a dynamic method for each position data to be evaluated based on the prosthesis rotation axis corresponding to the position data to be evaluated, and obtain muscle force data of a reference muscle in the muscle model; an evaluation unit, configured to determine an evaluation result of each position data to be evaluated according to the muscle force data corresponding to each position data to be evaluated.

[0012] Optionally, the construction unit is further configured to: construct a biomechanical model of the elbow joint, wherein the biomechanical model of the elbow joint includes a coupled skeletal model and the muscle model, and the skeletal model includes a humerus model, an ulna model and a radius model; for the biomechanical model of the elbow joint, the humerus model is replaced by the humerus equivalent mass block and the humeral prosthesis equivalent mass block, the ulna model is replaced by the ulna equivalent mass block and the ulna prosthesis equivalent mass block, and the radius model is replaced by the radius equivalent mass block, so as to obtain the biomechanical model of the elbow joint with the implanted prosthesis.

[0013] Optionally, each equivalent mass block is described by at least one of the following variables: mass, posture, center of mass, moment of inertia.

[0014] Optionally, each piece of position data to be evaluated includes an offset of a rotation axis of the prosthesis corresponding to the position data to be evaluated relative to an ideal rotation axis.

[0015] Optionally, the evaluation unit is further configured to: compare the muscle force data corresponding to each position data to be evaluated with normal muscle force data to obtain a comparison result; when the comparison result meets a preset condition, determine the evaluation result of the corresponding position data to be evaluated as suitable as an installation position for an elbow prosthesis, wherein the preset condition indicates that the difference between the muscle force data and the normal muscle force data is within an acceptable range; when the comparison result does not meet the preset condition, determine the evaluation result of the corresponding position data to be evaluated as unsuitable as an installation position for an elbow prosthesis.

[0016] Optionally, the construction unit is further configured to: obtain a standard biomechanical model of the elbow joint of the implanted prosthesis and body data of a target patient, wherein the standard biomechanical model of the elbow joint of the implanted prosthesis is constructed based on human anatomical data; and adjust the standard biomechanical model of the elbow joint of the implanted prosthesis according to the body data of the target patient to obtain the biomechanical model of the elbow joint of the implanted prosthesis of the target patient.

[0017] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device comprising: at least one processor; and at least one memory storing computer executable instructions, wherein the computer executable instructions, when executed by the at least one processor, prompt the at least one processor to execute a method for evaluating the installation position of an elbow prosthesis according to an exemplary embodiment of the present disclosure.

[0018] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided. When instructions in the computer-readable storage medium are executed by at least one processor, the at least one processor is prompted to execute a method for evaluating the installation position of an elbow joint prosthesis according to an exemplary embodiment of the present disclosure.

[0019] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising computer instructions, which, when executed by at least one processor, prompt the at least one processor to execute a method for evaluating an elbow joint prosthesis installation position according to an exemplary embodiment of the present disclosure.

[0020] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects: according to the elbow prosthesis installation position evaluation method and device, electronic device, and storage medium of the present disclosure, by using a biomechanical model of the elbow joint based on the implanted prosthesis, the model includes a coupled skeletal prosthesis model and a muscle model, and using a dynamic method to perform motion simulation calculations on the model under different prosthesis rotation axes, it is possible to effectively analyze and obtain muscle force data, and use the muscle force data to reflect the elbow joint function, thereby achieving quantitative analysis of the impact of the prosthesis rotation axis on muscle force and elbow joint function, which helps to provide a quantitative reference for the evaluation of prosthesis installation parameters. In addition, considering that the calculation target is muscle force, it is sufficient to clearly represent the relationship between bones and muscles during modeling. Based on this, by using the humerus equivalent mass block, humeral prosthesis equivalent mass block, ulna equivalent mass block, ulna prosthesis equivalent mass block, and radius equivalent mass block in the model to represent the humerus, humeral prosthesis, ulna, ulna prosthesis, and radius respectively, there is no need to perform morphological modeling on the models of these bones and prostheses, and the model assembly operations between bones and corresponding prostheses and between prostheses can be simplified without affecting the calculation of muscle force data, thereby improving the calculation efficiency in the evaluation.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0023] Figure 1 is a flow chart of a method for evaluating an installation position of an elbow joint prosthesis according to an exemplary embodiment of the present disclosure.

[0024] Figure 2 is a schematic structural diagram of a muscle model according to an exemplary embodiment of the present disclosure.

[0025] Figure 3 is a schematic diagram of a biomechanical model of an elbow joint according to a specific embodiment of the present disclosure.

[0026] Figure 4 is a schematic diagram of a biomechanical model of an elbow joint with an implanted prosthesis according to a specific embodiment of the present disclosure.

[0027] Figure 5 It is a schematic diagram of a human body center coordinate system according to a specific embodiment of the present disclosure.

[0028] Figure 6 is a block diagram of an apparatus for evaluating an installation position of an elbow joint prosthesis according to an exemplary embodiment of the present disclosure.

[0029] Figure 7 is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The implementation methods described in the following examples do not represent all implementation methods consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the attached claims.

[0032] It should be noted that the phrase "at least one of the items" in the present disclosure includes three types of parallel situations: "any one of the items", "a combination of any number of the items", and "all of the items". For example, "including at least one of A and B" includes the following three parallel situations: (1) including A; (2) including B; (3) including A and B. Another example is "executing at least one of step 1 and step 2" which means the following three parallel situations: (1) executing step 1; (2) executing step 2; (3) executing step 1 and step 2.

[0033] The elbow joint is composed of the distal humerus and the proximal articular surfaces of the radius and ulna, and is one of the most prone parts of the human body to dislocation. Artificial total elbow replacement is an effective means to save elbow function and promote elbow function rehabilitation. It is mainly suitable for patients with rheumatoid arthritis, osteoarthritis, traumatic arthritis, elbow instability caused by elbow bone defects, malformed healing of elbow fractures and other elbow surgery failures. At present, the basic procedure of hinged total elbow replacement surgery is: with the assistance of the prosthesis supporting surgical tools, the doctor removes part of the bone at the distal humerus and the proximal ulna respectively and makes an implantation channel, then implants the prosthesis and connects the prosthesis through a hinge, and finally fixes the prosthesis in the medullary cavity channel with bone cement. In this operation, the position and direction of the prosthesis implantation channel can be guaranteed by surgical auxiliary tools, but the depth of prosthesis implantation and rotation around the axis of the channel are affected by the doctor's individual experience and operating habits. After the humeral prosthesis is connected to the ulna prosthesis, the fixation process of each in the tunnel by bone cement is affected by the muscle force of the human body. These are uncontrollable processes that are difficult to quantify. Any slight deviation in the position of the prosthesis after implantation and fixation will affect the movement of the muscles around the joint, making it impossible to restore the joint function normally.

[0034] Taking into account the depth of prosthesis implantation, the rotation of the prosthesis around the channel axis, and the fixation of the prosthesis, what is ultimately affected is the position of the rotation axis of the humeral prosthesis and the ulnar prosthesis after they are articulated (referred to herein as the prosthesis rotation axis). Therefore, according to the elbow prosthesis installation position evaluation method and device, electronic device, and storage medium of the exemplary embodiment of the present disclosure, the installation position of the elbow prosthesis is mainly represented by the position of the prosthesis rotation axis between the humeral prosthesis and the ulnar prosthesis, and specifically the evaluation is of multiple different prosthesis rotation axis positions.

[0035] In addition, in the selection of evaluation indicators, soft tissue tension is an important indicator for measuring elbow joint function. Quantitative analysis of the impact of prosthesis installation parameters on soft tissue tension can effectively guide prosthesis installation planning. However, soft tissue tension is actually a relatively abstract concept, lacking a clear quantitative description and measurement method. Therefore, according to the exemplary embodiment of the present disclosure, the evaluation method and device, electronic device, and storage medium for the installation position of the elbow joint prosthesis can achieve an equivalent quantitative description of soft tissue tension by quantitatively analyzing muscle force.

[0036] Hereinafter, an elbow joint prosthesis installation position assessment method and apparatus, an electronic device, and a storage medium according to exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0037] Figure 1 is a flow chart of a method for evaluating an installation position of an elbow joint prosthesis according to an exemplary embodiment of the present disclosure.

[0038] Reference Figure 1 In step S101, a biomechanical model of the elbow joint with implanted prosthesis is constructed. The biomechanical model of the elbow joint with implanted prosthesis includes a coupled bone prosthesis model and a muscle model, and the bone prosthesis model includes a humeral equivalent mass block, a humeral prosthesis equivalent mass block, an ulna equivalent mass block, an ulna prosthesis equivalent mass block, and a radius equivalent mass block.

[0039] By constructing a biomechanical model of the elbow joint with an implanted prosthesis and coupling the bone prosthesis model and the muscle model in the model, it is possible to perform a holistic analysis of the bones, prosthesis and muscles to improve the accuracy of the analysis.

[0040] Regarding the skeletal prosthesis model, considering that the calculation target is muscle force, it is sufficient to clearly represent the relationship between bones and muscles during modeling. Based on this, by using the humeral equivalent mass block, humeral prosthesis equivalent mass block, ulna equivalent mass block, ulna prosthesis equivalent mass block, and radius equivalent mass block in the model to represent the humerus, humeral prosthesis, ulna, ulna prosthesis, and radius respectively, there is no need to perform morphological modeling on the models of these bones and prostheses, and the model assembly operations between bones and corresponding prostheses and between prostheses can be simplified without affecting the calculation of muscle force data, thereby improving the calculation efficiency in the evaluation.

[0041] Optionally, each equivalent mass block is described by at least one of the following variables: mass, posture, center of mass, moment of inertia. Posture refers to the position and posture of the original bone or original prosthesis corresponding to the corresponding equivalent mass block, and its description can be achieved based on the human body center coordinate system. The human body center coordinate system is a coordinate system constructed with a specified point on the human chest as the origin, with its X-axis pointing to the front of the human body, its Y-axis pointing to the top of the human body, and its Z-axis pointing to the right side of the human body. The center of mass refers to the center of mass of the original bone or original prosthesis corresponding to the corresponding equivalent mass block, and can also be positioned and described based on the human body center coordinate system, which is equivalent to describing the offset of the center of mass relative to the origin of the human body center coordinate system. The moment of inertia is the moment of inertia of the original bone or original prosthesis corresponding to the corresponding equivalent mass block relative to the center of mass, and is a measure of the inertia when the rigid body rotates around the axis. The above variables can reflect the motion performance of the corresponding original bone or original prosthesis. By using the above variables to describe the corresponding equivalent mass block, the needs of dynamic motion simulation calculations can be met.

[0042] It should be understood that the elbow joint biomechanical model of implanted prosthesis can be a unilateral model of the human body, such as the model on the right side, including the right humerus equivalent mass block, the right humerus prosthesis equivalent mass block, the right ulna equivalent mass block, the right ulna prosthesis equivalent mass block, the right radius equivalent mass block, and certainly the model on the left side, which is not limited by the present disclosure. It should also be understood that, according to the needs of subsequent simulation calculations, the skeletal prosthesis model can also include models of other bones in the human body, such as but not limited to clavicle model, scapula model, and hand skeletal model.

[0043] The muscle model includes models of multiple related muscles, such as but not limited to the biceps and triceps, and each muscle involves a certain number of muscle elements. As an example, each muscle model can adopt a Hill-Type muscle model, which is a mass spring damper model with a specific geometric shape and direction, such as Figure 2 As shown in the figure, it includes contractile element (CE), parallel elastic element (PEE) and series elastic element (SEE), which can represent different muscle elements. Contractile element represents muscle fiber that contracts according to the muscle activation state, and this unit can generate active force; parallel elastic element represents passive elastic tissue around muscle fiber, and this unit can generate passive force; series elastic element represents tendon and other elastic tissue connecting muscle and bone, and this unit can generate passive force. CE represents the length of the shrinkable unit, L M represents the total length of the muscle, φ represents the angle between the contractile unit and the parallel elastic unit and the series elastic unit.

[0044] Regarding the execution of step S101, in some embodiments, optionally, step S101 includes: constructing a biomechanical model of the elbow joint, wherein the biomechanical model of the elbow joint includes a coupled bone model and a muscle model, and the bone model includes a humerus model, an ulna model, and a radius model; for the biomechanical model of the elbow joint, the humerus model is replaced with a humerus equivalent mass block and a humeral prosthesis equivalent mass block, the ulna model is replaced with an ulna equivalent mass block and an ulna prosthesis equivalent mass block, and the radius model is replaced with a radius equivalent mass block, to obtain a biomechanical model of the elbow joint with an implanted prosthesis. By first constructing a biomechanical model of the elbow joint when the prosthesis is not implanted, the model includes a coupled bone model and the aforementioned muscle model, and then replacing the humerus model, the ulna model, and the radius model in the bone model with the equivalent mass blocks of the corresponding bones and the related prostheses, respectively, it is possible to conveniently construct a biomechanical model of the elbow joint with an implanted prosthesis based on a conventional bone model and muscle model, thereby improving the efficiency of model construction.

[0045] In other embodiments, optionally, step S101 includes: obtaining a standard biomechanical model of the elbow joint of the implanted prosthesis and the body data of the target patient, wherein the standard biomechanical model of the elbow joint of the implanted prosthesis is constructed based on human anatomical data; and adjusting the standard biomechanical model of the elbow joint of the implanted prosthesis according to the body data of the target patient to obtain the biomechanical model of the elbow joint of the implanted prosthesis of the target patient. By adjusting the standard biomechanical model of the elbow joint of the implanted prosthesis constructed based on human anatomical data in combination with the body data of the target patient, a personalized model of the target patient can be obtained, thereby more accurately reflecting the physical condition of the target patient and helping to improve the assessment accuracy of the prosthesis installation position.

[0046] It should be noted that the above two types of embodiments regarding step S101 are aimed at different aspects of model construction. The former focuses on obtaining a model by replacing an equivalent mass block, and the latter focuses on building a personalized model of the patient in combination with the physical data of a specific target patient. There is no contradiction, so these two types of embodiments can also be combined. When combining these two types of embodiments, since the standard biomechanical model of the elbow joint of the implanted prosthesis is obtained by combining the standard biomechanical model of the elbow joint (including a bone model and a muscle model constructed based on human anatomical data) and the above-mentioned equivalent mass block, when adjusting the standard biomechanical model of the elbow joint of the implanted prosthesis according to the physical data of the target patient, two aspects of adjustment are involved, namely, adjustment of the standard biomechanical model of the elbow joint and adjustment of the equivalent mass block.

[0047] The former is easy to understand, mainly based on the target patient's body data to adjust the size of the bone model and muscle model in the standard model. For example, OpenSim software (a software for developing, analyzing and visualizing the human musculoskeletal system) can be used to achieve modeling. OpenSim can scale the model. At this time, it is necessary to collect the target patient's motion capture data (specifically, set capture points on the target patient's body, and obtain motion capture data by collecting the spatial coordinates of the capture points in each frame of action). The software's own algorithm will scale the bone shape, muscle length and cross-sectional area according to the kinematic trajectory. In addition, the target patient's specific bone length, muscle length and muscle cross-sectional area can be measured based on the target patient's CT (Computed Tomography) and MRI (Magnetic Resonance Imaging) images, and the degree of muscle activation can be measured based on EMG (Electromyography), so that damaged muscles can be simulated to obtain a more accurate personalized model. In other words, the target patient's body data may include at least one of motion capture data, CT image data, MRI image data, and EMG data.

[0048] For the latter, the equivalent mass block of the bone can be determined based on the target patient's physical data and the parameters of the prosthesis, that is, the remaining part of the original bone after the corresponding prosthesis is removed is equivalent to the mass block; the equivalent mass block of the prosthesis is determined based on the parameters of the prosthesis. For the parameters of the prosthesis, if the surgery uses a prosthesis of a unified standard, the parameters of the prosthesis of the unified standard can be directly used; if the surgery uses a prosthesis customized for the target patient, the parameters of the prosthesis are also determined based on the target patient's physical data. Therefore, it can be considered that the equivalent mass block of the bone and the equivalent mass block of the prosthesis are both determined based on the target patient's physical data.

[0049] On this basis, the adjustment results of the above two aspects are combined to obtain the biomechanical model of the elbow joint of the target patient with implanted prosthesis.

[0050] When combining the above two types of embodiments, the principle of combination is as described above, and the specific operation sequence can be flexibly adjusted. As an example, for the case of using a prosthesis of a unified standard, in the specific operation, two aspects of adjustment can be completed first, that is, firstly adjusting the standard model of elbow joint biomechanics according to the physical data of the target patient, obtaining the elbow joint biomechanics model of the target patient, and determining the equivalent mass block of the bone and the equivalent mass block of the prosthesis according to the physical data of the target patient and the parameters of the prosthesis; then replacing the corresponding bone model in the elbow joint biomechanics model of the target patient with the equivalent mass block of the bone and the equivalent mass block of the prosthesis obtained. It is also possible to complete the integration of the standard model and the standard equivalent mass block first, and then complete the adjustment based on the physical data of the target patient, that is, executing the above first type of embodiment (i.e., some of the above embodiments), using the equivalent mass block of the standard bone and the equivalent mass block of the standard prosthesis to replace the corresponding bone model in the elbow joint biomechanics standard model, obtaining the elbow joint biomechanics standard model of the implanted prosthesis, and then executing the above second type of embodiment (i.e., some of the above embodiments), adjusting the muscle model, the equivalent mass block of the bone, and the model of the remaining bones in the model according to the physical data of the target patient. The present disclosure is not limited to a specific execution order.

[0051] Return to reference Figure 1 In step S102, a plurality of position data to be evaluated of the prosthesis rotation axis are obtained, wherein each position data to be evaluated is used to represent a position to be evaluated of the prosthesis rotation axis between the humeral prosthesis equivalent mass block and the ulnar prosthesis equivalent mass block.

[0052] As mentioned above, in elbow replacement surgery, the prosthesis rotation axis of the hinge between the humeral prosthesis and the ulnar prosthesis may change due to many factors. The purpose of the present invention is to analyze and evaluate the muscle force under multiple different prosthesis rotation axes, so as to understand the impact of different prosthesis rotation axis positions on elbow joint function, which can effectively guide the planning of prosthesis installation parameters.

[0053] Optionally, each position data to be evaluated includes the offset of the prosthesis rotation axis corresponding to the position data to be evaluated relative to the ideal rotation axis. The ideal prosthesis installation position is that the hinge axis coincides with the rotation axis of the human elbow joint, so the ideal rotation axis is the rotation axis of the human elbow joint. If the prosthesis rotation axis is at the position of the ideal rotation axis, the replaced prosthesis can better imitate the human elbow joint, which is also the goal of elbow replacement. Based on this, by using the offset of each prosthesis rotation axis to be evaluated relative to the ideal rotation axis in the position data to be evaluated, it is possible to conveniently characterize each prosthesis rotation axis to be evaluated, and intuitively guide the prosthesis installation parameter planning of elbow replacement, thereby improving the evaluation and planning efficiency. As an example, it is possible to combine previous surgical experience to determine several offset directions and offset distances that are prone to occur during the operation, and offset the ideal rotation axis according to the corresponding offset directions and offset distances, and use the rotation axis obtained after the offset as the prosthesis rotation axis, and the positions of these prosthesis rotation axes as the positions to be evaluated, so as to achieve targeted evaluation and planning. The description of the offset direction and offset distance can be performed in the human body center coordinate system mentioned above as an example, and the intersection of the prosthesis rotation axis and the XOY plane in the human body center coordinate system (i.e., the sagittal plane in the middle of the human body) can be further determined, which is recorded as the prosthesis rotation center point. The prosthesis rotation center point is used to represent the prosthesis rotation axis. At this time, each position data to be evaluated can specifically include the offset of the prosthesis rotation center point corresponding to the position data to be evaluated relative to the ideal rotation center point (i.e., the intersection of the ideal rotation axis and the XOY plane in the human body center coordinate system), and since the prosthesis rotation center point to be evaluated and the ideal rotation center point are both points in the XOY plane, the coordinate difference between the two points can be calculated, and the coordinate difference (Δx, Δy) is used to represent the offset of the prosthesis rotation center point corresponding to the corresponding position data to be evaluated relative to the ideal rotation center point.

[0054] In step S103, for each position data to be evaluated, based on the prosthesis rotation axis corresponding to the position data to be evaluated, a dynamic method is used to perform motion simulation calculation on the elbow joint biomechanical model of the implanted prosthesis to obtain muscle force data of the reference muscle in the muscle model.

[0055] The motion process of the muscle-bone-prosthesis coupling model (i.e., the elbow joint biomechanical model of the implanted prosthesis) can be expressed according to the multi-rigid body dynamics equation. This technology belongs to the existing technology in this field. In order to save space, it will not be introduced in detail here. As an example, the models of the bones of the head, trunk, clavicle, scapula and hand can be included in the coupling model. In the motion simulation calculation, different motion conditions can be provided, such as adding a certain weight of weight to the hand bones, and making the arm perform elbow flexion at different angles, and then the muscle force data of the reference muscle under these different motion conditions can be subjected to motion simulation calculation. Of course, other reasonable motion conditions can also be provided to perform motion simulation calculation, and the present disclosure does not limit this.

[0056] In step S104, the evaluation result of each position data to be evaluated is determined according to the muscle force data corresponding to each position data to be evaluated.

[0057] By using the dynamic method to perform motion simulation calculations on the model under different prosthesis rotation axes based on the elbow joint biomechanical model of the implanted prosthesis, the muscle force data can be effectively analyzed and reflected to reflect the elbow joint function, thereby realizing the quantitative analysis of the influence of the prosthesis rotation axis on the muscle force and elbow joint function, which helps to provide a quantitative reference for the evaluation of the prosthesis installation parameters. The prosthesis installation parameters include, but are not limited to, the depth of prosthesis implantation and the rotation angle of the prosthesis around the channel axis.

[0058] Optionally, step S104 includes: comparing the muscle force data corresponding to each position data to be evaluated with the normal muscle force data to obtain a comparison result; when the comparison result meets the preset condition, determining the evaluation result of the corresponding position data to be evaluated as suitable as the installation position of the elbow prosthesis, wherein the preset condition indicates that the difference between the muscle force data and the normal muscle force data is within an acceptable range; when the comparison result does not meet the preset condition, determining the evaluation result of the corresponding position data to be evaluated as unsuitable as the installation position of the elbow prosthesis. By comparing the muscle force data obtained by motion simulation calculation with the normal muscle force data, the difference between the two can be used to intuitively reflect the changes in muscle force caused by different prosthesis rotation axes. If the difference is large, it means that the rotation axis will have a greater adverse effect on muscle force, and the prosthesis rotation axis should be avoided as much as possible during surgery; on the contrary, if the difference is small and meets the preset condition, it means that the influence of the prosthesis rotation axis on muscle force is within an acceptable range, and there is no need to deliberately avoid it during surgery, thereby realizing the quantitative and standardized evaluation of multiple prosthesis rotation axes, which helps to improve the evaluation efficiency and provide a reliable reference for prosthesis installation position planning for elbow replacement.

[0059] As an example, step S103 can calculate the values ​​of muscle force of multiple reference muscles (for example, including but not limited to biceps brachii, triceps brachii, brachialis, brachioradialis) under different motion conditions as muscle force data. When step S104 is evaluated, the muscle force curves of different reference muscles can be drawn first, and then compared with the normal muscle force values ​​of the corresponding reference muscles under these motion conditions. For example, a curve of muscle force value changing with elbow flexion angle can be drawn for each reference muscle, and a muscle force curve is drawn for each position data to be evaluated, and a reference curve of normal muscle force changing with elbow flexion angle is added, so that the muscle force curves of different position data to be evaluated can be compared with the reference curve for each reference muscle, and a comparison result can be obtained. For example, the similarity between the curves can be calculated as the comparison result, so as to realize the detailed evaluation for different reference muscles. Accordingly, the preset condition can be set to a similarity less than a similarity threshold, and the similarity threshold used by different reference muscles can be the same or different. When step S104 is evaluated, it is also possible to calculate the maximum joint force of the elbow joint by synthesizing the muscle force values ​​of multiple reference muscles corresponding to each position data to be evaluated under different motion conditions, and to calculate the normal maximum joint force of the elbow joint by synthesizing the normal muscle force values ​​of multiple reference muscles under different motion conditions. A single value, i.e., the maximum joint force, can be used to compare the deviation (which can be an absolute difference or a relative deviation percentage) of the maximum joint force of different position data to be evaluated relative to the normal maximum joint force, so as to achieve an overall comprehensive comparison. Specifically, the maximum joint force refers to the maximum force that the joint structure can withstand during the joint movement. The maximum joint force is an important indicator of joint stability and functionality. If the maximum joint force exceeds the bearing capacity of the joint structure, it may cause joint injury, pain and inflammation. If the maximum joint force is too small, it will lead to insufficient joint stability or weakened muscle strength, which will affect the normal movement and function of the joint. The maximum joint force is not the larger the better, nor the smaller the better, but needs to be kept within an appropriate range to ensure the health and function of the joint. Accordingly, the preset condition can be set to a deviation less than the deviation threshold. It should be understood that these two evaluation methods can be used either or simultaneously to achieve multi-dimensional evaluation, and other reasonable evaluation methods can also be used, which is not limited by the present disclosure.

[0060] Next, combine Figures 2 to 5 A method for evaluating the installation position of an elbow joint prosthesis according to a specific embodiment of the present disclosure is introduced. The evaluation is implemented based on a standard biomechanical model of the elbow joint with an implanted prosthesis, that is, the personalized model is not constructed using the body data of the target patient. Since the body data of the target patient is not involved in this specific embodiment, the word "standard" is no longer specifically emphasized for each model below.

[0061] Step 1: Establishment of the biomechanical model of the human arm joint before surgery, which corresponds to the operation of constructing the biomechanical model of the elbow joint in step S101.

[0062] The human body model used in this specific embodiment was established by Blana et al. using the cadaver dissection data (57-year-old male, estimated height 168 cm) obtained by Klein-Breteler et al. in SIMM (Software for Interactive Musculoskeletal Modeling). Figure 3 As shown in FIG, the model includes 8 rigid parts, namely, head, trunk, right clavicle, right scapula, right humerus, right ulna, right radius and right hand, including 29 muscle groups and 138 muscle elements. These muscles are modeled as mass spring damper models with specific geometric shapes and directions. The muscle forces are modeled and calculated according to the Hill-Type muscle model. The muscle model is shown in FIG. Figure 2 As shown, it includes a contractile unit CE, a parallel elastic unit PEE and a series elastic unit SEE. The model has 11 degrees of freedom, including three ball joints, sternoclavicular, acromioclavicular and glenohumeral joints (a total of 3×3=9 degrees of freedom), as well as flexion and extension of the elbow joint (1 degree of freedom) and upward rotation of the forearm (1 degree of freedom).

[0063] Step 2: Establishment of a biomechanical model of the elbow joint with implanted prosthesis, which corresponds to the operation of replacing the equivalent mass block in step S101.

[0064] The elbow joint biomechanical model established in step 1 includes three ball joints, such as the sternoclavicular joint, in addition to the elbow joint. For the elbow joint, it can be approximately regarded as a single-degree-of-freedom joint, so when calculating the elbow joint movement, its movement can be directly described by the rotation angle. However, for other ball joints, they have multiple degrees of freedom, so the movement of these ball joints cannot be described by a single rotation angle. In this regard, the model can be inversely kinematically calculated based on the motion capture data of the human body, so as to accurately fit the actual motion trajectory. The motion capture data is obtained by capturing the motion of the subject, and the bone size of the subject is often different from the bone size in the elbow joint biomechanical model constructed in step 1. Therefore, in order to better apply the motion capture data to the model, the subject's motion capture data can be used to determine its bone size, and the model established in step 1 can be scaled accordingly. The scaling method is the same as the scaling when the target patient constructs a personalized model, which will not be repeated here.

[0065] For the scaled biomechanical model, equivalent mass blocks are used to replace bones and prostheses. The humerus model is replaced by the humerus equivalent mass block and the humeral prosthesis equivalent mass block, the ulna model is replaced by the ulna equivalent mass block and the ulna prosthesis equivalent mass block, and the radius model is replaced by the radius equivalent mass block to obtain the biomechanical model of the elbow joint with implanted prosthesis for dynamic calculation in subsequent steps.

[0066] Regarding these equivalent mass blocks, since in elbow replacement surgery, the implanted part of the prosthesis is tightly connected to the humerus or ulna through bone cement in the implantation channel, the connection between the humeral prosthesis equivalent mass block and the humeral equivalent mass block, and the connection between the ulnar prosthesis equivalent mass block and the ulna equivalent mass block are defined as fixed connections, and the motion relationship between the humeral prosthesis equivalent mass block and the ulnar prosthesis equivalent mass block is consistent with the motion relationship between the original humerus and ulna.

[0067] For the description of each equivalent mass block, the variables of mass, posture, center of mass, and moment of inertia are specifically used. The model in the OpenSim software is written in XML language, and currently there is no function of visual assembly model. In order to accurately realize the visualization of the prosthesis model, the angle of the model needs to be adjusted multiple times. This adjustment process has no effect on the calculation results. Based on this, dynamic calculations can be performed based on these variables, and the shape of the bone model established in step one is only for the convenience of visualization. By using equivalent mass blocks to equivalently replace the bones in the original model (referring to the scaled model), the model assembly process can be simplified without affecting the muscle force calculation, specifically the assembly between the prosthesis and the bone and the matching assembly between the prostheses. Regarding these variables, the mass of the humerus and humeral prosthesis, ulna, ulnar prosthesis, radius and the moment of inertia relative to the center of mass can be calculated in Solid Works software (a 3D design software). For example Figure 4 As shown in the figure, the two equivalent mass blocks at the shoulder represent the humerus and the humeral prosthesis, and the three equivalent mass blocks at the upper end of the ulna represent the ulna, the ulnar prosthesis, and the radius. A human body center coordinate system is established on the chest of the model, as shown in Figure 5 As shown, the X-axis points to the front of the human body, the Y-axis points to the top of the human body, and the Z-axis points to the right of the human body. The position and posture of the equivalent mass block is described as the position and posture of the original bone or original prosthesis corresponding to the equivalent mass block in the human body center coordinate system, and the position of the center of mass is described as the offset of the center of mass relative to the origin of the human body center coordinate system.

[0068] The above data were then input into OpenSim software for inverse dynamics calculation.

[0069] Step 3: Implanting the prosthetic elbow joint and simulating motion simulation, corresponding to steps S102 to S104.

[0070] The movement of the elbow joint can be simplified to one rotational degree of freedom. The position of the rotation axis of the prosthesis in elbow replacement greatly affects the quality of elbow replacement. In the biomechanical model of the elbow joint with implanted prosthesis, the different installation parameters of the prosthesis are described by the position of the prosthesis rotation axis of the prosthesis joint and the relative posture between the humeral prosthesis and the ulnar prosthesis and the prosthesis rotation axis.

[0071] In elbow replacement surgery, the ideal prosthesis installation position is when the hinge axis coincides with the rotation axis of the human elbow joint. The position of the rotation axis of the human elbow joint (recorded as the ideal rotation center point) is moved on the XOY plane of the model human body center coordinate system to describe the position of the prosthesis rotation axis (recorded as the prosthesis rotation center point). On this basis, the influence of the prosthesis rotation center point position on the muscle force during elbow joint movement is analyzed. When the offset of the prosthesis rotation center point relative to the ideal rotation center point is 0, it is recorded as (0mm, 0mm). According to the error range that may occur in the actual operation of the doctor, five groups of offsets are designed: (-5mm, 0mm), (-5mm, -5mm), (0mm, -5mm), (1mm, -1mm), (-1mm, -1mm). Among these five groups of offsets, (-5mm, -5mm) and (-1mm, -1mm) describe the offsets caused by aseptic loosening; (-5mm, 0mm) and (0mm, -5mm) describe the offsets along the X and Y coordinate axes; (1mm, -1mm) describes the offset caused by the upward movement of the humerus due to the sinking of the prosthesis. The above are common offsets and are universal, but other offsets can also be used. Elbow flexion is a common movement used by human upper limbs and is a common detection method for detecting whether the prosthesis is installed correctly. Therefore, the captured data of elbow flexion can be used to simulate and analyze the biomechanics of joint movement. Elbow flexion is mainly related to three muscles, namely the biceps brachii, brachialis and brachioradialis. These three muscles are analyzed separately under elbow flexion, the changes in muscle force under different prosthesis installation positions are observed, and the maximum joint force is analyzed to measure the impact of the prosthesis installation position on the joint movement and obtain the evaluation results.

[0072] The evaluation method of this specific embodiment provides a reference for doctors to plan surgeries. By reasonably adjusting the prosthesis installation position, it is possible to balance the relationship between muscle force changes and prosthesis installation conditions in actual surgical scenarios, thereby achieving a more ideal prosthesis installation position planning.

[0073] Figure 6 is a block diagram of an apparatus for evaluating an installation position of an elbow joint prosthesis according to an exemplary embodiment of the present disclosure. Figure 6 The elbow joint prosthesis installation position evaluation device 600 includes a construction unit 601, an acquisition unit 602, a simulation unit 603, and an evaluation unit 604.

[0074] The construction unit 601 can construct a biomechanical model of the elbow joint with an implanted prosthesis, wherein the biomechanical model of the elbow joint with the implanted prosthesis includes a coupled bone prosthesis model and a muscle model, and the bone prosthesis model includes a humeral equivalent mass block, a humeral prosthesis equivalent mass block, an ulna equivalent mass block, an ulna prosthesis equivalent mass block, and a radius equivalent mass block.

[0075] The acquisition unit 602 may acquire a plurality of position data to be evaluated of the prosthesis rotation axis, wherein each position data to be evaluated is used to represent a position to be evaluated of the prosthesis rotation axis between the humeral prosthesis equivalent mass block and the ulnar prosthesis equivalent mass block.

[0076] The simulation unit 603 can use a dynamic method to perform motion simulation calculations on the elbow joint biomechanical model of the implanted prosthesis for each position data to be evaluated based on the prosthesis rotation axis corresponding to the position data to be evaluated, and obtain muscle force data of the reference muscle in the muscle model.

[0077] The evaluation unit 604 may determine an evaluation result of each position data to be evaluated according to the muscle force data corresponding to each position data to be evaluated.

[0078] Optionally, the construction unit 601 can also: construct a biomechanical model of the elbow joint, wherein the biomechanical model of the elbow joint includes a coupled bone model and a muscle model, and the bone model includes a humerus model, an ulna model and a radius model; for the biomechanical model of the elbow joint, the humerus model is replaced with a humerus equivalent mass block and a humeral prosthesis equivalent mass block, the ulna model is replaced with an ulna equivalent mass block and an ulna prosthesis equivalent mass block, and the radius model is replaced with a radius equivalent mass block to obtain a biomechanical model of the elbow joint with an implanted prosthesis.

[0079] Optionally, each equivalent mass block is described by at least one of the following variables: mass, posture, center of mass, moment of inertia.

[0080] Optionally, each piece of position data to be evaluated includes an offset of the prosthesis rotation axis corresponding to the position data to be evaluated relative to the ideal rotation axis.

[0081] Optionally, the evaluation unit 604 may also: compare the muscle force data corresponding to each position data to be evaluated with the normal muscle force data to obtain a comparison result; when the comparison result meets a preset condition, determine the evaluation result of the corresponding position data to be evaluated as suitable as an installation position for an elbow prosthesis, wherein the preset condition indicates that the difference between the muscle force data and the normal muscle force data is within an acceptable range; when the comparison result does not meet the preset condition, determine the evaluation result of the corresponding position data to be evaluated as unsuitable as an installation position for an elbow prosthesis.

[0082] Optionally, the construction unit 601 can also: obtain a standard biomechanical model of the elbow joint of the implanted prosthesis and the body data of the target patient, wherein the standard biomechanical model of the elbow joint of the implanted prosthesis is constructed based on human anatomical data; adjust the standard biomechanical model of the elbow joint of the implanted prosthesis according to the body data of the target patient to obtain the biomechanical model of the elbow joint of the implanted prosthesis of the target patient.

[0083] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0084] Figure 7 A structural block diagram of an electronic device according to an exemplary embodiment of the present disclosure is shown.

[0085] Reference Figure 7 The electronic device 700 includes: at least one memory 701 and at least one processor 702, wherein the at least one memory 701 stores computer executable instructions, and when the computer executable instructions are executed by the at least one processor 702, the at least one processor is prompted to execute the target corresponding method as described in the above exemplary embodiment.

[0086] As an example, the electronic device 700 may be a PC, a tablet device, a personal digital assistant, a smart phone, or other device capable of executing the above-mentioned instruction set. Here, the electronic device 700 is not necessarily a single electronic device 700, but may also be any device or circuit capable of executing the above-mentioned instructions (or instruction sets) individually or in combination. The electronic device 700 may also be part of an integrated control system or a system manager, or may be configured as a portable electronic device 700 that is interconnected with a local or remote (e.g., via wireless transmission) interface.

[0087] In the electronic device 700, the processor 702 may include a central processing unit (CPU), a graphics processing unit (GPU), a programmable logic device, a dedicated processor system, a microcontroller or a microprocessor. As an example and not limitation, the processor 702 may also include an analog processor, a digital processor, a microprocessor, a multi-core processor, a processor array, a network processor, etc.

[0088] The processor 702 may execute instructions or codes stored in the memory 701, which may also store data. Instructions and data may also be sent and received over a network via a network interface device, which may employ any known transmission protocol.

[0089] The memory 701 may be integrated with the processor 702, for example, by placing RAM or flash memory within an integrated circuit microprocessor or the like. In addition, the memory 701 may include a separate device, such as an external disk drive, a storage array, or any other storage device that can be used by a database system. The memory 701 and the processor 702 may be operatively coupled, or may communicate with each other, such as through an I / O port, a network connection, etc., so that the processor 702 can read files stored in the memory.

[0090] In addition, the electronic device 700 may further include a video display (such as a liquid crystal display) and a user interaction interface (such as a keyboard, a mouse, a touch input device, etc.) All components of the electronic device 700 may be connected to each other via a bus and / or a network.

[0091] According to an exemplary embodiment of the present disclosure, a computer-readable storage medium storing instructions may also be provided, wherein the instructions, when executed by at least one processor, cause the at least one processor to execute the target corresponding method as described in the above exemplary embodiment. Examples of computer-readable storage media here include: read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disk storage, hard disk drive (HDD), solid state drive (SSD), card storage (such as, multimedia card, secure digital (SD) card or extreme digital (XD) card), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk and any other device, any other device is configured to store computer programs and any associated data, data files and data structures in a non-transitory manner and provide the computer programs and any associated data, data files and data structures to a processor or computer so that the processor or computer can execute the computer program. The computer program in the above-mentioned computer-readable storage medium can be run in an environment deployed in a computer device such as a client, a host, an agent device, a server, etc. In addition, in one example, the computer program and any associated data, data files and data structures are distributed on a networked computer system, so that the computer program and any associated data, data files and data structures are stored, accessed and executed in a distributed manner by one or more processors or computers.

[0092] According to an exemplary embodiment of the present disclosure, a computer program product may also be provided, including computer instructions, which, when executed by at least one processor, execute the target corresponding method as described in the above exemplary embodiment.

[0093] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0094] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for evaluating the installation position of an elbow joint prosthesis, characterized in that: The evaluation methods include: Constructing a biomechanical model of an elbow joint with an implanted prosthesis, wherein the biomechanical model of the elbow joint with an implanted prosthesis comprises a coupled bone prosthesis model and a muscle model, and the bone prosthesis model comprises a humeral equivalent mass block, a humeral prosthesis equivalent mass block, an ulna equivalent mass block, an ulna prosthesis equivalent mass block, and a radius equivalent mass block; Acquire a plurality of position data to be evaluated of the prosthesis rotation axis, wherein each piece of position data to be evaluated is used to represent a position to be evaluated of the prosthesis rotation axis between the humeral prosthesis equivalent mass block and the ulnar prosthesis equivalent mass block; For each position data to be evaluated, based on the prosthesis rotation axis corresponding to the position data to be evaluated, a dynamic method is used to perform motion simulation calculation on the elbow joint biomechanical model of the implanted prosthesis to obtain muscle force data of the reference muscle in the muscle model; An evaluation result of each position data to be evaluated is determined according to the muscle force data corresponding to each position data to be evaluated.

2. The evaluation method according to claim 1, characterized in that: The method of constructing a biomechanical model of an elbow joint with an implanted prosthesis comprises: Constructing an elbow joint biomechanical model, wherein the elbow joint biomechanical model comprises a coupled bone model and the muscle model, and the bone model comprises a humerus model, an ulna model, and a radius model; For the elbow joint biomechanical model, the humerus model is replaced by the humerus equivalent mass block and the humeral prosthesis equivalent mass block, the ulna model is replaced by the ulna equivalent mass block and the ulna prosthesis equivalent mass block, and the radius model is replaced by the radius equivalent mass block to obtain the elbow joint biomechanical model with the implanted prosthesis.

3. The evaluation method according to claim 1, characterized in that: Each equivalent mass block is described by at least one of the following variables: mass, position, center of mass, moment of inertia.

4. The evaluation method according to claim 1, characterized in that: Each piece of position data to be evaluated includes an offset of the rotation axis of the prosthesis corresponding to the position data to be evaluated relative to the ideal rotation axis.

5. The evaluation method according to claim 1, characterized in that: Determining the evaluation result of each position data to be evaluated according to the muscle force data corresponding to each position data to be evaluated includes: Compare the muscle force data corresponding to each position data to be evaluated with the normal muscle force data to obtain a comparison result; In the case where the comparison result meets a preset condition, determining the evaluation result of the corresponding position data to be evaluated as suitable as the installation position of the elbow joint prosthesis, wherein the preset condition indicates that the difference between the muscle force data and the normal muscle force data is within an acceptable range; When the comparison result does not satisfy the preset condition, the evaluation result of the corresponding position data to be evaluated is determined to be unsuitable as an installation position for the elbow joint prosthesis.

6. The evaluation method according to any one of claims 1 to 5, characterized in that: The method of constructing a biomechanical model of an elbow joint with an implanted prosthesis comprises: Acquire a standard biomechanical model of an elbow joint of an implanted prosthesis and body data of a target patient, wherein the standard biomechanical model of an elbow joint of an implanted prosthesis is constructed based on human anatomical data; According to the physical data of the target patient, the standard biomechanical model of the elbow joint of the implanted prosthesis is adjusted to obtain the biomechanical model of the elbow joint of the implanted prosthesis of the target patient.

7. An evaluation device for the installation position of an elbow joint prosthesis, characterized in that: The evaluation device comprises: A construction unit is configured to construct a biomechanical model of an elbow joint of an implanted prosthesis, wherein the biomechanical model of the elbow joint of the implanted prosthesis comprises a coupled bone prosthesis model and a muscle model, and the bone prosthesis model comprises a humeral equivalent mass block, a humeral prosthesis equivalent mass block, an ulna equivalent mass block, an ulna prosthesis equivalent mass block, and a radius equivalent mass block; An acquisition unit is configured to acquire a plurality of position data to be evaluated of the prosthesis rotation axis, wherein each position data to be evaluated is used to represent a position to be evaluated of the prosthesis rotation axis between the humeral prosthesis equivalent mass block and the ulnar prosthesis equivalent mass block; A simulation unit is configured to perform motion simulation calculation on the elbow joint biomechanical model of the implanted prosthesis using a dynamic method for each position data to be evaluated based on the prosthesis rotation axis corresponding to the position data to be evaluated, so as to obtain muscle force data of the reference muscle in the muscle model; The evaluation unit is configured to determine an evaluation result of each position data to be evaluated according to the muscle force data corresponding to each position data to be evaluated.

8. An electronic device, characterized in that: include: at least one processor; at least one memory storing computer executable instructions, Wherein, when the computer executable instructions are executed by the at least one processor, the at least one processor is prompted to execute the method for evaluating the installation position of an elbow joint prosthesis according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by at least one processor, the at least one processor is prompted to perform the method for evaluating the installation position of an elbow joint prosthesis according to any one of claims 1 to 6.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by at least one processor, the at least one processor is prompted to perform the method for evaluating the installation position of an elbow joint prosthesis according to any one of claims 1 to 6.

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