Hip joint collision area detection method, electronic equipment and storage medium

Abstract

The invention discloses a hip joint collision area detection method, electronic equipment and a storage medium. The method comprises the following steps: acquiring a pelvis model, a femur model and an angle parameter set corresponding to the femur model; moving the femur model according to the angle parameter set corresponding to the femur model; collision detection is carried out based on the moved thighbone model and pelvic bone model, and when it is determined that the moved thighbone model and pelvic bone model collide, a collision area of the hip joint is determined based on a collision detection result. According to the method, the collision area of the hip joint is determined based on the collision detection result, the collision area of the hip joint can be determined according to various simulated three-dimensional postures of the hip joint, the objectivity and accuracy of detection are improved, and therefore a doctor can more accurately evaluate the movement range of the hip joint according to the collision area of the hip joint; the dependence of the detection method on the experience of doctors and the subjective feeling of patients can be reduced, and meanwhile, the discomfort of the patients during examination is also reduced.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a hip joint collision area detection method, electronic equipment and storage medium. Background Art

[0002] Femoroacetabular Impingement (FAI) is a condition caused by abnormal bone structure within the hip joint, which results in abnormal contact between the femoral head and the acetabulum during daily activities. This condition not only damages the cartilage and labrum of the hip joint, but can also lead to further complications such as hip osteoarthritis. Therefore, accurate diagnosis of FAI is crucial for early treatment and prevention of long-term disability.

[0003] Currently, doctors usually rely on two main methods to assist in the diagnosis of hip impingement syndrome: physical examination and imaging examination. Physical examination involves observing whether the patient has groin pain or hip pain and evaluating the range of motion of the hip joint through a series of joint movement tests, such as flexion, adduction and internal rotation. Imaging examinations include the use of X-rays or 3D CT scans to determine whether there are bone deformities that cause hip impingement.

[0004] However, the results of physical examinations are often affected by the differences in the patient's subjective perception of pain, and their accuracy is highly dependent on the doctor's experience, which often leads to low accuracy. At the same time, physical examinations may cause discomfort to patients. In addition, although traditional static image-based imaging examinations can provide more accurate bone morphology information, it is difficult to reflect the relationship between bony deformity and hip collision in different three-dimensional postures. Therefore, it is impossible to fully understand the specific impact of bony deformity on the range of motion of the hip joint through imaging examinations. Summary of the invention

[0005] In response to the deficiencies in the prior art, the present application provides a hip joint collision area detection method, electronic device and storage medium, which moves the femoral model according to the angle parameter set corresponding to the femoral model, performs collision detection based on the moved femoral model and pelvic model, and when it is determined that the moved femoral model and pelvic model collide, determines the collision area of ​​the hip joint based on the result of the collision detection. The collision area of ​​the hip joint can be determined according to various three-dimensional postures of the simulated hip joint, thereby improving the objectivity and accuracy of the detection, so that the doctor can more accurately evaluate the range of motion of the hip joint according to the collision area of ​​the hip joint, and can also reduce the detection method's dependence on the doctor's experience and the patient's subjective feelings, while also reducing the patient's discomfort during the examination.

[0006] To solve the above problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a hip joint collision area detection method, comprising: acquiring a pelvic model, a femur model, and a set of angle parameters corresponding to the femur model;

[0008] Moving the femur model according to the angle parameter set corresponding to the femur model;

[0009] A collision detection is performed based on the moved femur model and the pelvic model. When it is determined that the moved femur model collides with the pelvic model, a collision area of ​​the hip joint is determined based on the result of the collision detection.

[0010] In some embodiments, the angle parameter set includes at least one set of a first angle parameter, a second angle parameter, and a third angle parameter, wherein the first angle parameter is used to represent the angle of flexion or extension of the femoral model, the second angle parameter is used to represent the angle of external rotation or internal rotation of the femoral model, and the third angle parameter is used to represent the angle of abduction or adduction of the femoral model.

[0011] The step of moving the femur model according to the angle parameter set corresponding to the femur model comprises:

[0012] Calculate a first rotation matrix according to the first angle parameter;

[0013] Calculate a second rotation matrix according to the second angle parameter;

[0014] Calculate a third rotation matrix according to the third angle parameter;

[0015] Calculate a target rotation matrix according to the first rotation matrix, the second rotation matrix and the third rotation matrix;

[0016] The femur model is moved based on the target rotation matrix.

[0017] In some embodiments, the femur model is a mesh model composed of a plurality of vertices, and moving the femur model based on the target rotation matrix includes:

[0018] Multiplying the target rotation matrix by the coordinate vector of each vertex on the femur model, thereby rotating the femur model to a target posture;

[0019] Acquire the coordinates of the hip joint rotation center point of the pelvic model and the coordinates of the femur rotation center point of the femur model;

[0020] Subtract the coordinates of the femur rotation center point of the femur model from the coordinates of the hip joint rotation center point of the pelvic model to obtain a translation vector from the femur rotation center point of the femur model to the hip joint rotation center point of the pelvic model;

[0021] The coordinates of each vertex on the femur model are added to the translation vector, so as to translate the femur model that has been rotated to the target posture to the target position.

[0022] In some embodiments, the angle parameter set includes multiple groups of first angle parameters, second angle parameters and third angle parameters, and one group of the first angle parameters, the second angle parameters and the third angle parameters are used to determine a target posture of the femur model.

[0023] The step of moving the femur model according to the angle parameter set corresponding to the femur model comprises:

[0024] The femoral model is moved once each time according to a set of the first angle parameter, the second angle parameter and the third angle parameter, thereby moving the femoral model multiple times;

[0025] The method of performing collision detection based on the moved femur model and the pelvic model, and determining a collision area of ​​the hip joint based on a result of the collision detection when it is determined that the moved femur model collides with the pelvic model, comprises:

[0026] Each time the femoral model is moved, a collision detection is performed based on the moved femoral model and the pelvic model. When it is determined that the moved femoral model and the pelvic model collide, a collision area of ​​the hip joint is determined based on the result of the collision detection, thereby determining the collision area multiple times.

[0027] In some embodiments, the angle parameter set includes multiple angle parameter subsets, each of the angle parameter subsets includes multiple groups of the first angle parameters, the second angle parameters and the third angle parameters, and the multiple groups of the first angle parameters, the second angle parameters and the third angle parameters in one angle parameter subset are used to determine multiple target postures obtained by rotating the femoral model in a rotation manner.

[0028] In some embodiments, the method further comprises:

[0029] Whenever it is determined that the moved femoral model and the pelvic model do not collide, the current set of the first angle parameters, the second angle parameters and the third angle parameters are recorded, thereby obtaining at least one set of the first angle parameters, the second angle parameters and the third angle parameters that prevent the moved femoral model and the pelvic model from colliding.

[0030] In some embodiments, the collision detection is performed based on the moved femur model and the pelvic model, and when it is determined that the moved femur model collides with the pelvic model, the collision area of ​​the hip joint is determined based on the result of the collision detection, including:

[0031] Performing an intersection operation on the moved femur model and the pelvic model, and when an intersection area of ​​the moved femur model and the pelvic model is not empty, determining that the moved femur model and the pelvic model collide, and determining the intersection area as a collision area of ​​the hip joint;

[0032] When the intersection area is empty, it is determined that the moved femur model and the pelvic model do not collide.

[0033] In some embodiments, the method further comprises:

[0034] Performing a difference operation on the moved femur model and the pelvic model to obtain a first difference region of the moved femur model and a second difference region of the pelvic model;

[0035] receiving display instructions;

[0036] When it is determined not to display the pelvic model according to the display instruction, hiding the second difference region, displaying the first difference region using a background color, and displaying the collision region using a preset color, the background color being different from the preset color;

[0037] When it is determined not to display the moved femur model according to the display instruction, the first difference region is hidden, the second difference region is displayed using the background color, and the collision region is displayed using the preset color.

[0038] In a second aspect, an embodiment of the present application provides an electronic device, the electronic device comprising:

[0039] at least one processor; and,

[0040] a memory communicatively connected to the at least one processor; wherein,

[0041] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the hip joint collision area detection method as described in the first aspect.

[0042] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the hip joint collision area detection method as described in the first aspect.

[0043] The present application provides a hip joint collision area detection method, electronic device and storage medium. The present application moves the femoral model according to the angle parameter set corresponding to the femoral model, performs collision detection based on the moved femoral model and the pelvic model, and when it is determined that the moved femoral model and the pelvic model collide, determines the collision area of ​​the hip joint based on the result of the collision detection. The collision area of ​​the hip joint can be determined according to various three-dimensional postures of the simulated hip joint, thereby improving the objectivity and accuracy of the detection, so that the doctor can more accurately evaluate the range of motion of the hip joint according to the collision area of ​​the hip joint, and can also reduce the detection method's dependence on the doctor's experience and the patient's subjective feelings, while also reducing the patient's discomfort during the examination. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a flowchart of the first implementation method of the hip joint collision area detection method provided in the embodiment of the present application.

[0045] Figure 2A It is a schematic diagram of the flexion or extension of the femoral model provided in an embodiment of the present application.

[0046] Figure 2B It is a schematic diagram of the external rotation or internal rotation of the femoral model provided in the embodiment of the present application.

[0047] Figure 2C It is a schematic diagram of the femoral model provided in an embodiment of the present application in abduction or adduction.

[0048] Figure 3 It is a schematic diagram of the pelvic model provided in the embodiment of the present application.

[0049] Figure 4 It is a schematic diagram of the left femur model and the right femur model provided in the embodiments of the present application.

[0050] Figure 5 It is a flow chart of the second implementation mode of the hip joint collision area detection method provided in the embodiment of the present application.

[0051] Figure 6 It is a schematic diagram of the first display method provided in an embodiment of the present application.

[0052] Figure 7 It is a schematic diagram of a second display mode provided in an embodiment of the present application.

[0053] Figure 8 It is a schematic diagram of the structure of the hip joint collision area detection device provided in an embodiment of the present application.

[0054] Fig. 9 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0055] Fig.10 It is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0058] The present application provides a hip joint collision area detection method, electronic device and storage medium. The femoral model is moved according to the angle parameter set corresponding to the femoral model, and collision detection is performed based on the moved femoral model and pelvic model. When it is determined that the moved femoral model and pelvic model collide, the collision area of ​​the hip joint is determined based on the result of the collision detection. The collision area of ​​the hip joint can be determined according to various three-dimensional postures of the simulated hip joint, thereby improving the objectivity and accuracy of the detection, so that the doctor can more accurately evaluate the range of motion of the hip joint according to the collision area of ​​the hip joint, and can also reduce the detection method's dependence on the doctor's experience and the patient's subjective feelings, while also reducing the patient's discomfort during the examination.

[0059] The "left side" or "right side" in the following description refers to the left side or right side of the target object's body, not the left side or right side of the image or model. The left side of the image or model is the right side of the target object's body, and the right side of the image or model is the left side of the target object's body.

[0060] The hip joint collision area detection method provided by the present application will be described in detail below with reference to the accompanying drawings.

[0061] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of the first implementation method of the hip joint collision area detection method provided in the embodiment of the present application. Figure 1 As shown, the hip joint collision area detection method includes: step S100 to step S300.

[0062] Step S100: Acquire a pelvic model, a femoral model, and a set of angle parameters corresponding to the femoral model.

[0063] In some embodiments, the pelvis model and the femur model are both mesh models consisting of multiple vertices.

[0064] In some embodiments, the femur model is a left femur model or a right femur model.

[0065] In some embodiments, a left femur model and a right femur model are obtained, and the hip joint collision area detection method is performed on the left femur model and the right femur model respectively, so that the collision areas on the left femur model and the right femur model can be detected respectively.

[0066] In some embodiments, the set of angle parameters includes at least one set of a first angle parameter, a second angle parameter, and a third angle parameter.

[0067] In some embodiments, the values ​​of the first angle parameter, the second angle parameter and the third angle parameter in the angle parameter set are directly input by the user. In this case, step S100 includes: receiving an input instruction, and acquiring an angle parameter set corresponding to the femoral model according to the input instruction.

[0068] In some embodiments, step S100 includes: receiving a movement instruction, determining the femoral model after being moved by the user according to the movement instruction, and then calculating a first angle parameter, a second angle parameter, and a third angle parameter according to the femoral model in the initial position and the femoral model after being moved by the user.

[0069] In some embodiments, before step S200, the method further includes: acquiring a first feature point set of the pelvic model and a second feature point set of the femoral model, and moving the pelvic model to a first initial position according to the first feature point set, and moving the femoral model to a second initial position according to the second feature point set.

[0070] In some implementations, the first feature point set includes a plurality of feature points on the pelvic model.

[0071] See also Figure 3 , Figure 3 Schematic diagram of the pelvic model provided in the embodiment of the present application. Figure 3 As shown, the first feature point set includes the left anterior superior iliac spine point 11, the right anterior superior iliac spine point 12, the left hip joint rotation center point 13, the right hip joint rotation center point 14, the left pubic tubercle point 15, and the right pubic tubercle point 16 on the pelvic model 1.

[0072] In some embodiments, the second feature point set includes a plurality of feature points on the femur model.

[0073] See also Figure 4 , Figure 4Schematic diagram of the left femur model and the right femur model provided in the embodiment of the present application. Figure 4 As shown, in some embodiments, when the femur model is a left femur model 2, the second feature point set includes the left femoral rotation center point 21, the left femoral lesser trochanter point 22, the left femoral shaft axis proximal point 23, the left femoral shaft axis distal point 24, the left medial femoral condyle point 25 and the left lateral femoral condyle point 26.

[0074] like Figure 4 As shown, in some embodiments, when the femur model is a right femur model 3, the third feature point set includes the right femoral rotation center point 31, the right femoral lesser trochanter point 32, the right femoral shaft axis proximal point 33, the right femoral shaft axis distal point 34, the right medial femoral condyle point 35 and the right lateral femoral condyle point 36.

[0075] In some implementations, moving the pelvic model to a first initial position based on a first feature point set includes steps (101.1) to (101.3).

[0076] (101.1) Establish a first local coordinate system of the pelvic model based on the first feature point set.

[0077] In some embodiments, step (101.1) includes steps (101.1.1) to step (101.1.5).

[0078] (101.1.1) The midpoint of the line connecting the left pubic tubercle node and the right pubic tubercle node is taken as the origin of the first local coordinate system.

[0079] (101.1.2) The direction vector from the right anterior superior iliac spine point to the left anterior superior iliac spine point is used as the first X-axis direction vector of the first local coordinate system.

[0080] (101.1.3) The resultant vector of the cross-multiplication of the direction vector from the origin of the first local coordinate system to the right anterior superior iliac spine point and the direction vector from the origin of the first local coordinate system to the left anterior superior iliac spine point is used as the first Y-axis direction vector of the first local coordinate system.

[0081] (101.1.4) The first X-axis direction vector is cross-multiplied with the first Y-axis direction vector to obtain the first Z-axis direction vector of the first local coordinate system.

[0082] (101.1.5) Determine the first local coordinate system based on the origin of the first local coordinate system, the first X-axis direction vector, the first Y-axis direction vector and the first Z-axis direction vector.

[0083] (101.2) Calculate a first transformation matrix based on the first local coordinate system and the world coordinate system.

[0084] The world coordinate system is the default coordinate system in model files.

[0085] In some implementations, the first transformation matrix is ​​calculated based on the coordinates of the origin of the first local coordinate system in the world coordinate system, and expressions of the first X-axis direction vector, the first Y-axis direction vector, and the first Z-axis direction vector in the world coordinate system.

[0086] Optionally, the first transformation matrix is:

[0087] Where T1 represents the first transformation matrix, Represents the first value of the first X-axis direction vector, Represents the first value of the first Y-axis direction vector. p1[1] represents the first value of the first Z-axis direction vector, p1[1] represents the first value of the coordinate of the origin of the first local coordinate system in the world coordinate system, and so on.

[0088] (101.3) Multiply the coordinates of each point on the pelvic model by the inverse matrix of the first transformation matrix to move the pelvic model to a first initial position.

[0089] As described above, all models in this method are mesh models, which are composed of multiple polygonal patches, each of which has multiple vertices.

[0090] Optionally, the coordinates of each vertex and each feature point on the pelvic model are multiplied by the inverse matrix of the first transformation matrix to move the pelvic model to the first initial position.

[0091] Optionally, the first initial position is a position where the first local coordinate system coincides with the world coordinate system.

[0092] In some embodiments, the femur model is moved to a second initial position based on a second feature point set, including steps (101.1) to (101.3).

[0093] (102.1) Establish a second local coordinate system of the femur model based on the updated target feature point set.

[0094] In some embodiments, when the femur model is a left femur model, step (102.1) includes steps (102.1.1) to (102.1.5).

[0095] (102.1.1) The proximal point of the left femoral shaft axis is taken as the origin of the second local coordinate system.

[0096] (102.1.2) The direction vector from the distal point of the left femoral shaft axis to the proximal point of the left femoral shaft axis is used as the second Z-axis direction vector of the second local coordinate system.

[0097] (102.1.3) The inverse vector of the resultant vector of the cross-multiplication of the second Z-axis direction vector with the direction vector from the proximal end point of the left femoral shaft axis to the left femoral rotation center point is taken as the second Y-axis direction vector of the second local coordinate system.

[0098] (102.1.4) The second Y-axis direction vector is cross-multiplied by the second Z-axis direction vector to obtain the second X-axis direction vector.

[0099] (102.1.5) Determine the second local coordinate system based on the origin of the second local coordinate system, the second X-axis direction vector, the second Y-axis direction vector, and the second Z-axis direction vector.

[0100] In some embodiments, when the femur model is a right femur model, step (102.1) includes steps (102.1.6) to (102.1.10).

[0101] (102.1.6) The proximal point of the right femoral shaft axis is taken as the origin of the second local coordinate system.

[0102] (102.1.7) The direction vector from the distal point of the right femoral shaft axis to the proximal point of the right femoral shaft axis is used as the second Z-axis direction vector of the second local coordinate system.

[0103] (102.1.8) The resultant vector of the cross-multiplication of the second Z-axis direction vector and the direction vector from the proximal end point of the right femoral shaft axis to the right femoral rotation center point is used as the second Y-axis direction vector of the second local coordinate system.

[0104] (102.1.9) The second Y-axis direction vector is cross-multiplied by the second Z-axis direction vector to obtain the second X-axis direction vector.

[0105] (102.1.10) Determine the second local coordinate system based on the origin of the second local coordinate system, the second X-axis direction vector, the second Y-axis direction vector, and the second Z-axis direction vector.

[0106] (102.2) Calculate a second transformation matrix based on the second local coordinate system and the world coordinate system.

[0107] In some implementations, the second transformation matrix is ​​calculated based on the coordinates of the origin of the second local coordinate system in the world coordinate system, and expressions of the second X-axis direction vector, the second Y-axis direction vector, and the second Z-axis direction vector in the world coordinate system.

[0108] Optionally, the second transformation matrix is:

[0109] Where T2 represents the second transformation matrix, Represents the first value of the second X-axis direction vector, Represents the first value of the second Y-axis direction vector. p2[1] represents the first value of the second Z-axis direction vector, p2[1] represents the first value of the coordinate of the origin of the second local coordinate system in the world coordinate system, and so on.

[0110] (102.3) Multiply the coordinates of each point on the femur model by the inverse matrix of the second transformation matrix to move the femur model to the second initial position.

[0111] As described above, in some embodiments, all models in the present method are grid models.

[0112] Optionally, the coordinates of each vertex and each feature point on the femur model are multiplied by the inverse matrix of the second transformation matrix to move the femur model to the second initial position.

[0113] Optionally, the second initial position is a position where the second local coordinate system coincides with the world coordinate system.

[0114] In some implementations, the positions of all models may not be initialized first, but the positions of all models may be adjusted manually.

[0115] In some embodiments, when the pelvic model and the femoral model are acquired, the pelvic model and the femoral model are already located at corresponding initial positions, and there is no need to initialize the positions of all the models.

[0116] In the process of moving the femoral model, the local coordinate system of the femoral model is moved synchronously, so that the relative position relationship between the local coordinate system of the femoral model and the femoral model remains unchanged.

[0117] In some embodiments, a set of first angle parameters, second angle parameters, and third angle parameters are used to determine a target posture of the femur model.

[0118] Optionally, the first angle parameter is used to represent the angle of flexion or extension of the femoral model, the second angle parameter is used to represent the angle of external rotation or internal rotation of the femoral model, and the third angle parameter is used to represent the angle of abduction or adduction of the femoral model.

[0119] The three-dimensional posture of the hip joint is used to describe the relative positional relationship between the pelvis and the femur. The three-dimensional posture of the hip joint includes the flexion or extension posture of the hip joint, the external rotation or internal rotation posture of the hip joint, and the abduction or adduction posture of the hip joint. In the medical field, the movement of the human body can be divided into movements on three planes, namely the coronal plane, the sagittal plane and the horizontal plane. The flexion or extension posture of the hip joint refers to the posture of the hip joint rotating around the coronal axis on the sagittal plane. The external rotation or internal rotation posture of the hip joint refers to the posture of the hip joint rotating around the axis of the femoral shaft. The abduction or adduction posture of the hip joint refers to the posture of the hip joint rotating around the sagittal axis on the coronal plane. In the present application, the relative positional relationship between the pelvic model and the femoral model can be changed by only changing the position of the femoral model, thereby simulating the change of the three-dimensional posture of the hip joint. Therefore, the flexion or extension of the femoral model corresponds to the flexion or extension of the hip joint, the external rotation or internal rotation of the femoral model corresponds to the external rotation or internal rotation of the hip joint, and the abduction or adduction of the femoral model corresponds to the abduction or adduction of the hip joint.

[0120] In some embodiments, the femoral model is rotated in a first rotation mode to achieve flexion or extension of the femoral model. The first rotation mode refers to a mode in which the femoral model is rotated on a YOZ plane of the second local coordinate system.

[0121] In some embodiments, the femoral model is rotated according to a second rotation mode to achieve external rotation or internal rotation of the femoral model. The second rotation mode refers to a mode in which the femoral model rotates around the Z axis of the second local coordinate system.

[0122] In some embodiments, the femoral model is rotated according to a third rotation mode to achieve abduction or adduction of the femoral model. The third rotation mode refers to a mode in which the femoral model is rotated on the XOZ plane of the second local coordinate system.

[0123] See also FIG. 2A to FIG. 2C , Figure 2A is a schematic diagram of the flexion or extension of the femur model provided in the embodiment of the present application, Figure 2B is a schematic diagram of external rotation or internal rotation of the femur model provided in an embodiment of the present application, Figure 2C It is a schematic diagram of the femoral model provided in an embodiment of the present application in abduction or adduction. FIG. 2A to FIG. 2C The femur model is taken as the right femur model 3 as an example. Figure 2A As shown, the right femur model 3 rotates on the YOZ plane of the second local coordinate system of the right femur model 3 according to the first rotation mode to achieve flexion or extension. Figure 2B As shown, the right femur model 3 rotates around the Z axis of the second local coordinate system according to the second rotation mode to achieve external rotation or internal rotation. Figure 2C As shown, the right femur model 3 rotates on the XOZ plane of the second local coordinate system according to the third rotation method to achieve abduction or adduction.

[0124] Optionally, when the first angle parameter is a positive value, it indicates the angle of flexion of the femoral model, and when the first angle parameter is a negative value, it indicates the angle of extension of the femoral model. When the second angle parameter is a positive value, it indicates the angle of external rotation of the femoral model, and when the second angle parameter is a negative value, it indicates the angle of internal rotation of the femoral model. When the third angle parameter is a positive value, it indicates the angle of abduction of the femoral model, and when the third angle parameter is a negative value, it indicates the angle of adduction of the femoral model.

[0125] Optionally, when the first angle parameter is a negative value, it indicates the angle of flexion of the femoral model, and when the first angle parameter is a positive value, it indicates the angle of extension of the femoral model. When the second angle parameter is a negative value, it indicates the angle of external rotation of the femoral model, and when the second angle parameter is a positive value, it indicates the angle of internal rotation of the femoral model. When the third angle parameter is a negative value, it indicates the angle of abduction of the femoral model, and when the third angle parameter is a positive value, it indicates the angle of adduction of the femoral model.

[0126] In some embodiments, the angle parameter set includes multiple groups of first angle parameters, second angle parameters and third angle parameters. One group of first angle parameters, second angle parameters and third angle parameters are used to determine a target posture of the femur model. One group of first angle parameters, second angle parameters and third angle parameters includes a first angle parameter, a second angle parameter and a third angle parameter.

[0127] In some embodiments, the angle parameter set includes multiple angle parameter subsets, each angle parameter subset includes multiple groups of first angle parameters, second angle parameters and third angle parameters, and the multiple groups of first angle parameters, second angle parameters and third angle parameters in an angle parameter subset are used to determine multiple target postures obtained by rotating the femoral model in a rotation manner.

[0128] In some implementations, among the multiple groups of first angle parameters, second angle parameters, and third angle parameters in one angle parameter subset, only one angle parameter is different from each other, and the other two angle parameters are correspondingly the same.

[0129] Optionally, when the angle parameter subset is used to determine multiple target postures obtained by rotating the femoral model according to the first rotation mode (i.e., the posture of flexion or extension of the femoral model), only multiple groups of first angle parameters are different from each other. When the angle parameter subset is used to determine multiple target postures obtained by rotating the femoral model according to the second rotation mode (i.e., the posture of external rotation or internal rotation of the femoral model), only multiple groups of second angle parameters are different from each other. When the angle parameter subset is used to determine multiple target postures obtained by rotating the femoral model according to the third rotation mode (i.e., the posture of abduction or adduction of the femoral model), only multiple groups of third angle parameters are different from each other.

[0130] Exemplarily, when the angle parameter subset is used to determine multiple target postures (i.e., the postures of the femoral model being abducted or adducted) obtained by rotating the femoral model in a third rotation mode, among the multiple groups of first angle parameters, second angle parameters, and third angle parameters in the angle parameter subset, only the third angle parameters are different from each other. For example, the first angle parameters are all 20°, the second angle parameters are all 10°, and the third angle parameters are 10°, 15°, 20°, 25°, or 30°, respectively.

[0131] In some embodiments, the femoral axis passing through the proximal end point of the femoral axis and the distal end point of the femoral axis is determined based on the coordinates of the proximal end point of the femoral axis and the distal end point of the femoral axis on the femoral model. When the femoral axis is parallel to the vertical coordinate axis of the world coordinate system, and the first plane determined based on the femoral axis and the femoral rotation center point is parallel to the second plane determined based on the left anterior superior iliac spine point, the right anterior superior iliac spine point, the left pubic tubercle node and the right pubic tubercle node of the pelvis (at this time, the second local coordinate system of the femoral model is in the same direction as the axes of the first local coordinate system of the pelvic model, and the femoral rotation center point coincides with the hip joint rotation center point of the corresponding side), it is specified that the first angle parameter, the second angle parameter and the second angle parameter at this time are all 0°.

[0132] Step S200: moving the femoral model according to the angle parameter set corresponding to the femoral model.

[0133] In some implementations, step S200 includes steps S210 to S240.

[0134] Step S210: Calculate a first rotation matrix according to a first angle parameter.

[0135] In some embodiments, the calculation formula of the first rotation matrix is:

[0136]

[0137] Wherein, Tflex represents the first rotation matrix, and a represents the first angle parameter.

[0138] Step S220: Calculate a second rotation matrix according to the second angle parameter.

[0139] In some embodiments, the calculation formula of the second rotation matrix is:

[0140]

[0141] Wherein, Trot represents the second rotation matrix, b represents the second angle parameter, and k is a constant. When the femur model is a left femur model, the value of k is 1. When the femur model is a right femur model, the value of k is -1.

[0142] Step S230: Calculate a third rotation matrix according to the third angle parameter.

[0143] In some embodiments, the calculation formula of the third rotation matrix is:

[0144]

[0145] Among them, Tabduct represents the third rotation matrix, and c represents the third angle parameter.

[0146] Step S240: Calculate a target rotation matrix according to the first rotation matrix, the second rotation matrix and the third rotation matrix.

[0147] In some implementations, the target rotation matrix is ​​calculated as:

[0148] Tcombine=TabductTflexTrot,

[0149] Among them, Tcombine represents the target rotation matrix.

[0150] Step S250: Move the femur model based on the target rotation matrix.

[0151] In some embodiments, the femur model is a mesh model composed of a plurality of vertices.

[0152] In some embodiments, step S250 includes steps S251 to S254.

[0153] Step S251: multiply the target rotation matrix by the coordinate vector of each vertex on the femur model, thereby rotating the femur model to the target posture.

[0154] Step S252: Obtain the coordinates of the hip joint rotation center point of the pelvic model and the coordinates of the femur rotation center point of the femur model.

[0155] Optionally, a selection instruction is received, and the coordinates of the hip joint rotation center point of the pelvic model and the coordinates of the femur rotation center point of the femur model are acquired according to the selection instruction.

[0156] In some embodiments, the acquired coordinates of the femoral rotation center point of the femoral model have been determined based on the target posture of the femoral model.

[0157] In some embodiments, the initial rotation center point of the femoral model is obtained, and the target rotation matrix is ​​multiplied by the coordinate vector of the initial rotation center point of the femoral model, so that the femoral rotation center point is also rotated to a position determined according to the target posture of the femoral model.

[0158] Step S253: Subtract the coordinates of the femur rotation center point of the femur model from the coordinates of the hip joint rotation center point of the pelvic model to obtain a translation vector from the femur rotation center point of the femur model to the hip joint rotation center point of the pelvic model.

[0159] In some embodiments, when the femur model is a left femur model, the coordinates of the left hip joint rotation center point are subtracted from the coordinates of the left femur rotation center point.

[0160] In some embodiments, when the femur model is a right femur model, the coordinates of the right hip joint rotation center point are subtracted from the coordinates of the right femur rotation center point.

[0161] Step S254: Add the coordinates of each vertex on the femur model to the translation vector, so as to translate the femur model that has been rotated to the target posture to the target position.

[0162] By translating the femur model that has been rotated to the target posture to the target position, the femur rotation center point of the femur model can be coincident with the hip joint rotation center point of the pelvic model, thereby more accurately simulating the actual hip joint movement through the movement of the model, which can improve the accuracy of subsequent detection of the collision area.

[0163] In some embodiments, when the angle parameter set includes multiple groups of first angle parameters, second angle parameters, and third angle parameters, step S200 includes: moving the femoral model once according to one group of first angle parameters, second angle parameters, and third angle parameters each time, thereby moving the femoral model multiple times. The method for moving the femoral model once is as described above.

[0164] Step S300: performing collision detection based on the moved femur model and pelvic model, and when it is determined that the moved femur model and pelvic model collide, determining the collision area of ​​the hip joint based on the result of the collision detection.

[0165] In some implementations, step S300 includes steps S310 to S320.

[0166] Step S310: performing intersection operation on the moved femur model and pelvic model. When the intersection area of ​​the moved femur model and pelvic model is not empty, it is determined that the moved femur model and pelvic model collide, and the intersection area is determined as the collision area of ​​the hip joint.

[0167] In some implementations, functions in computer graphics and geometry processing libraries such as vtkBool, MeshLib, and CGAL may be called to perform intersection operations on the moved femur model and pelvis model.

[0168] In some embodiments, when the angle parameter set includes multiple sets of first angle parameters, second angle parameters, and third angle parameters, each time the femur model is moved, a collision detection is performed based on the femur model and the pelvic model after the movement, and when it is determined that the femur model and the pelvic model after the movement collide, a collision area of ​​the hip joint is determined based on the result of the collision detection, thereby determining the collision area multiple times. The method for determining the collision area is as described above.

[0169] Step S320: When the intersection area is empty, determine that the moved femur model and pelvis model do not collide.

[0170] In some embodiments, the method also includes: whenever it is determined that the femoral model and the pelvic model do not collide after moving, recording a current set of first angle parameters, second angle parameters and third angle parameters, thereby obtaining at least one set of first angle parameters, second angle parameters and third angle parameters that prevent the femoral model and the pelvic model from colliding after moving.

[0171] In some embodiments, when the femoral model is moved multiple times according to multiple sets of first angle parameters, second angle parameters, and third angle parameters, multiple sets of first angle parameters, second angle parameters, and third angle parameters that prevent the femoral model and the pelvic model from colliding after the movement can be recorded. In this way, the range of motion of the hip joint can be accurately determined by multiple sets of first angle parameters, second angle parameters, and third angle parameters, thereby improving the objectivity and accuracy of the detection and reducing the reliance of the detection method on the doctor's experience and the patient's subjective feelings.

[0172] Furthermore, based on multiple sets of first angle parameters, second angle parameters and third angle parameters that prevent the moved femoral model and pelvic model from colliding, the numerical ranges of the first angle parameters, second angle parameters and third angle parameters that prevent the moved femoral model and pelvic model from colliding can be determined.

[0173] Optionally, for an angle parameter of a fixed value, the value ranges of the other two angle parameters that prevent the femur model and the pelvic model from colliding after the movement can be determined. For example, when the first angle parameter is 20°, the range of the second angle parameter that prevents the femur model and the pelvic model from colliding after the movement can be determined to be 10° to 20°, and the range of the third angle parameter is 20° to 30°.

[0174] Optionally, for two fixed-value angle parameters, the value range of the remaining angle parameter that prevents the femoral model and the pelvic model from colliding after movement can be determined. For example, when the first angle parameter is 20° and the second angle parameter is 10°, the range of the third angle parameter that prevents the femoral model and the pelvic model from colliding after movement can be determined to be 20° to 25°.

[0175] In some embodiments, the method further includes: after determining the collision area, displaying the collision area. Figure 5 , Figure 5 FIG. 2 is a flow chart of the second implementation method of the hip joint collision area detection method provided in the embodiment of the present application. Figure 5 As shown, in some embodiments, the method further includes steps S400 to S600.

[0176] Step S400: performing a difference operation on the moved femur model and the pelvic model to obtain a first difference region of the moved femur model and a second difference region of the pelvic model.

[0177] In some implementations, functions in computer graphics and geometry processing libraries such as vtkBool, MeshLib, and CGAL may be called to perform a difference operation on the moved femur model and pelvis model.

[0178] Step S500: receiving a display instruction.

[0179] Step S600: displaying the collision area according to the display instruction, the first difference area and the second difference area.

[0180] See also Figure 6 and Figure 7 , Figure 6 is a schematic diagram of a first display mode provided in an embodiment of the present application, Figure 7 is a schematic diagram of a second display mode provided in an embodiment of the present application. Figure 6 As shown, in some embodiments, when it is determined not to display the pelvic model according to the display instruction, the second difference region D2 is hidden, the first difference region D1 is displayed using a background color, and the collision region A is displayed using a preset color, wherein the background color is different from the preset color.

[0181] Optionally, the background color is gray and the preset color is red.

[0182] like Figure 7 As shown, in some embodiments, when it is determined not to display the moved femoral model according to the display instruction, the first difference area D1 is hidden, the second difference area D2 is displayed using the background color, and the collision area A is displayed using a preset color.

[0183] In some embodiments, when it is determined to display the pelvic model and the femoral model according to the display instruction, the first difference region D1 and the second difference region D2 are displayed using the background color, and the collision region A is displayed using a preset color.

[0184] In some embodiments, when the femur model is moved multiple times according to multiple sets of first angle parameters, second angle parameters, and third angle parameters, a result animation can be generated based on the result of each collision detection, and the result animation can be displayed. In this way, the results of multiple collision detections can be vividly displayed by displaying animations, which is convenient for doctors to intuitively evaluate the range of motion of the hip joint according to the display animations.

[0185] Optionally, the values ​​of the first angle parameter, the second angle parameter and the third angle parameter are displayed while the animation is displayed. In this way, it is convenient for doctors to accurately evaluate the range of motion of the hip joint based on the displayed animation and the angle parameters.

[0186] In summary, the hip joint collision area detection method provided by the embodiment of the present application has the following advantages:

[0187] 1. By moving the femoral model according to the angle parameter set corresponding to the femoral model, collision detection is performed based on the moved femoral model and the pelvic model. When it is determined that the moved femoral model and the pelvic model collide, the collision area of ​​the hip joint is determined based on the result of the collision detection. The collision area of ​​the hip joint can be determined according to various three-dimensional postures of the simulated hip joint, which improves the objectivity and accuracy of the detection, so that the doctor can more accurately evaluate the range of motion of the hip joint according to the collision area of ​​the hip joint, and can also reduce the dependence of the detection method on the doctor's experience and the patient's subjective feelings, while also reducing the patient's discomfort during the examination.

[0188] 2. By translating the femur model that has been rotated to the target posture to the target position, the femur rotation center point of the femur model can be coincident with the hip joint rotation center point of the pelvic model, thereby more accurately simulating the actual hip joint movement through the movement of the model, which can improve the accuracy of subsequent detection of the collision area.

[0189] 3. By recording multiple sets of first angle parameters, second angle parameters and third angle parameters that prevent the moved femoral model and pelvic model from colliding, the range of motion of the hip joint can be accurately determined through multiple sets of first angle parameters, second angle parameters and third angle parameters, thereby improving the objectivity and accuracy of the detection and reducing the detection method's dependence on the doctor's experience and the patient's subjective feelings.

[0190] 4. By displaying the result animation, the results of multiple collision tests can be vividly displayed through the display animation, which is convenient for doctors to intuitively evaluate the range of motion of the hip joint based on the display animation.

[0191] See also Figure 8 , Figure 8 Schematic diagram of the structure of the hip joint collision area detection device provided in the embodiment of the present application. Figure 8As shown, the hip joint collision area detection device 300 includes an acquisition module 310 and a processing module 320 .

[0192] In some embodiments, the acquisition module 310 is used to acquire the pelvic model, the femoral model, and a set of angle parameters corresponding to the femoral model.

[0193] In some embodiments, the processing module 320 is used to move the femoral model according to a set of angle parameters corresponding to the femoral model; perform collision detection based on the moved femoral model and the pelvic model, and when it is determined that the moved femoral model and the pelvic model collide, determine the collision area of ​​the hip joint based on the result of the collision detection.

[0194] See also Fig. 9 , Fig. 9 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 9 As shown, the electronic device 400 includes: one or more processors 410 and a memory 420, Fig. 9 A processor 410 is taken as an example.

[0195] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Fig. 9 The example of connecting through bus is taken in the following.

[0196] In some embodiments, the processor 410 is used to obtain a pelvic model, a femoral model, and an angle parameter set corresponding to the femoral model; move the femoral model according to the angle parameter set corresponding to the femoral model; perform collision detection based on the moved femoral model and pelvic model, and when it is determined that the moved femoral model and pelvic model collide, determine the collision area of ​​the hip joint based on the result of the collision detection.

[0197] In some embodiments, the memory 420, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules of the hip joint collision area detection method in the embodiment of the present application. The processor 410 executes various functional applications and data processing of the electronic device 400 by running the non-volatile software programs, instructions and modules stored in the memory 420, that is, the hip joint collision area detection method of the above method embodiment is implemented.

[0198] In some embodiments, the memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device 400, etc. In addition, the memory 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0199] In some embodiments, one or more modules are stored in the memory 420, and when executed by one or more processors 410, the hip joint collision area detection method in any of the above method embodiments is executed, for example, the hip joint collision area detection method described above is executed. Figure 1 The method comprises steps S100 to S300.

[0200] In some embodiments, the electronic device may be a chip, such as a data processor (DPU) chip used in a data center, or the electronic device may be a network interface card including a chip and multiple interfaces (such as a PCI / PCIE interface, a UART interface, a USB interface, etc.), or the electronic device may be a traditional server, or a server including a network interface card or a chip, wherein the server includes a host and a data processor, wherein the data processor is used to dispatch messages to the host or the data processor itself for processing, and the host is used to process messages dispatched by the data processor.

[0201] Please refer to Fig.10 , Fig.10 The computer-readable storage medium 500 stores a program code 510, which can be called by a processor to execute the hip joint collision area detection method described in the above method embodiment.

[0202] The computer readable storage medium 500 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. Optionally, the computer readable storage medium includes a non-volatile computer readable medium (non transitory computer readable storage medium). The computer readable storage medium 500 has a storage space for program codes that execute any method steps in the above-mentioned hip joint collision area detection method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0203] In some implementations, the embodiments of the present application further provide a computer program product, including a computer program, which implements the above-mentioned hip joint collision area detection method when executed by a processor.

[0204] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium 500. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited thereto.

[0205] In summary, the present application provides a hip joint collision area detection method, electronic device and storage medium, the hip joint collision area detection method comprising: obtaining a pelvic model, a femoral model, and an angle parameter set corresponding to the femoral model; moving the femoral model according to the angle parameter set corresponding to the femoral model; performing collision detection based on the moved femoral model and the pelvic model, and when it is determined that the moved femoral model and the pelvic model collide, determining the collision area of ​​the hip joint based on the result of the collision detection. The present application moves the femoral model according to the angle parameter set corresponding to the femoral model, performs collision detection based on the moved femoral model and the pelvic model, and when it is determined that the moved femoral model and the pelvic model collide, determining the collision area of ​​the hip joint based on the result of the collision detection, and can determine the collision area of ​​the hip joint according to various three-dimensional postures of the simulated hip joint, thereby improving the objectivity and accuracy of the detection, so that the doctor can more accurately evaluate the range of motion of the hip joint according to the collision area of ​​the hip joint, and can also reduce the detection method's dependence on the doctor's experience and the patient's subjective feelings, while also reducing the patient's discomfort during the examination.

[0206] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A hip joint collision area detection method, characterized in that: include: Acquire a pelvic model, a femoral model, and a set of angle parameters corresponding to the femoral model; Moving the femur model according to the angle parameter set corresponding to the femur model; A collision detection is performed based on the moved femur model and the pelvic model. When it is determined that the moved femur model collides with the pelvic model, a collision area of ​​the hip joint is determined based on the result of the collision detection.

2. The hip joint collision area detection method according to claim 1, characterized in that: The angle parameter set includes at least one set of first angle parameters, second angle parameters and third angle parameters, wherein the first angle parameters are used to represent the angle of flexion or extension of the femoral model, the second angle parameters are used to represent the angle of external rotation or internal rotation of the femoral model, and the third angle parameters are used to represent the angle of abduction or adduction of the femoral model. The step of moving the femur model according to the angle parameter set corresponding to the femur model comprises: Calculate a first rotation matrix according to the first angle parameter; Calculate a second rotation matrix according to the second angle parameter; Calculate a third rotation matrix according to the third angle parameter; Calculate a target rotation matrix according to the first rotation matrix, the second rotation matrix and the third rotation matrix; The femur model is moved based on the target rotation matrix.

3. The hip joint collision area detection method according to claim 2, characterized in that: The femur model is a mesh model composed of a plurality of vertices, and the moving the femur model based on the target rotation matrix includes: Multiplying the target rotation matrix by the coordinate vector of each vertex on the femur model, thereby rotating the femur model to a target posture; Acquire the coordinates of the hip joint rotation center point of the pelvic model and the coordinates of the femur rotation center point of the femur model; Subtract the coordinates of the femur rotation center point of the femur model from the coordinates of the hip joint rotation center point of the pelvic model to obtain a translation vector from the femur rotation center point of the femur model to the hip joint rotation center point of the pelvic model; The coordinates of each vertex on the femur model are added to the translation vector, so as to translate the femur model that has been rotated to the target posture to the target position.

4. The hip joint collision area detection method according to claim 1, characterized in that: The angle parameter set includes multiple groups of first angle parameters, second angle parameters and third angle parameters, and a group of the first angle parameters, the second angle parameters and the third angle parameters are used to determine a target posture of the femur model. The step of moving the femur model according to the angle parameter set corresponding to the femur model comprises: The femoral model is moved once each time according to a set of the first angle parameter, the second angle parameter and the third angle parameter, thereby moving the femoral model multiple times; The method of performing collision detection based on the moved femur model and the pelvic model, and determining a collision area of ​​the hip joint based on a result of the collision detection when it is determined that the moved femur model collides with the pelvic model, comprises: Each time the femoral model is moved, a collision detection is performed based on the moved femoral model and the pelvic model. When it is determined that the moved femoral model and the pelvic model collide, a collision area of ​​the hip joint is determined based on the result of the collision detection, thereby determining the collision area multiple times.

5. The hip joint collision area detection method according to claim 4, characterized in that: The angle parameter set includes multiple angle parameter subsets, each of which includes multiple groups of the first angle parameters, the second angle parameters and the third angle parameters. The multiple groups of the first angle parameters, the second angle parameters and the third angle parameters in one angle parameter subset are used to determine multiple target postures obtained by rotating the femoral model in a rotation manner.

6. The hip joint collision area detection method according to claim 1, characterized in that: The method further comprises: Whenever it is determined that the moved femoral model and the pelvic model do not collide, the current set of the first angle parameters, the second angle parameters and the third angle parameters are recorded, thereby obtaining at least one set of the first angle parameters, the second angle parameters and the third angle parameters that prevent the moved femoral model and the pelvic model from colliding.

7. The hip joint collision area detection method according to claim 1, characterized in that: The method of performing collision detection based on the moved femur model and the pelvic model, and determining a collision area of ​​the hip joint based on a result of the collision detection when it is determined that the moved femur model collides with the pelvic model, comprises: Performing an intersection operation on the moved femur model and the pelvic model, and when an intersection area of ​​the moved femur model and the pelvic model is not empty, determining that the moved femur model and the pelvic model collide, and determining the intersection area as a collision area of ​​the hip joint; When the intersection area is empty, it is determined that the moved femur model and the pelvic model do not collide.

8. The hip joint collision area detection method according to claim 1, characterized in that: The method further comprises: Performing a difference operation on the moved femur model and the pelvic model to obtain a first difference region of the moved femur model and a second difference region of the pelvic model; receiving display instructions; When it is determined not to display the pelvic model according to the display instruction, hiding the second difference region, displaying the first difference region using a background color, and displaying the collision region using a preset color, the background color being different from the preset color; When it is determined not to display the moved femur model according to the display instruction, the first difference region is hidden, the second difference region is displayed using the background color, and the collision region is displayed using the preset color.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the hip joint collision area detection method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the hip joint collision area detection method according to any one of claims 1 to 8.

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