Angle measurement method, device and computer equipment based on three-dimensional space of surgical target region

Abstract

The application relates to a three-dimensional space-based angle measurement method, device and computer equipment for a surgical target area, wherein the three-dimensional space-based angle measurement method comprises the following steps: performing at least three times of ray collision detection on a target three-dimensional model to obtain a plurality of feature marker points of the target three-dimensional model, wherein the feature marker points include a start marker point, a center marker point and an end marker point; a first connecting line between the center marker point and the start marker point is constructed, and a second connecting line between the center marker point and the end marker point is constructed; further, based on coordinate information of each feature marker point, the included angle between the first connecting line and the second connecting line is determined. Through the application, the problem that the angle between different markers on a three-dimensional model cannot be accurately calculated is solved, and the angle between different markers on a three-dimensional model is accurately calculated.

Description

Technical Field

[0001] This application relates to the field of three-dimensional measurement technology, and in particular to methods, apparatus and computer equipment for angle measurement based on the three-dimensional space of the surgical target area. Background Technology

[0002] With the continuous integration of modern science and technology and information technology into the medical field, digital healthcare has emerged as a new mode of medical practice, making clinical diagnosis and treatment more precise and minimally invasive, and is widely used in various medical fields such as orthopedics, hepatobiliary surgery, and plastic surgery. In particular, using digital technology for scientific planning before surgery can effectively improve the predictability of the procedure.

[0003] Existing planning methods typically involve constructing a 3D model of the target site and determining the surgical target area based on this model. The distribution of various regions within the target site is then analyzed to further develop the surgical plan. However, these methods cannot accurately calculate the angles between different markers on the 3D model, leading to inaccurate preoperative planning.

[0004] There is currently no effective solution to the problem that related technologies cannot accurately calculate the angles between different markers on a 3D model. Summary of the Invention

[0005] This embodiment provides a method, apparatus, and computer device for measuring angles in the three-dimensional space of the surgical target area, in order to solve the problem in related technologies that it is impossible to accurately calculate the angles between different markers on a three-dimensional model.

[0006] Firstly, this embodiment provides a method for measuring angles based on the three-dimensional space of the surgical target area, the method comprising:

[0007] Perform at least three ray collision detections on the target 3D model to obtain multiple feature markers of the target 3D model; the feature markers include a start marker, a center marker, and an end marker.

[0008] Construct a first connecting line between the center marker point and the start marker point;

[0009] Construct a second connecting line between the center marker point and the end marker point;

[0010] Based on the coordinate information of each of the feature marker points, the angle between the first connecting line and the second connecting line is determined.

[0011] In some embodiments, performing at least three ray collision detections on the target 3D model to obtain multiple feature markers of the target 3D model includes:

[0012] In each ray collision detection, a corresponding camera ray is projected onto the target 3D model;

[0013] When a collision is detected between the camera ray and the target 3D model, the collision point between the camera ray and the target 3D model is determined;

[0014] Convert the three-dimensional world coordinates of the collision point into the corresponding three-dimensional local coordinates;

[0015] At the three-dimensional local coordinates, a marker sphere is generated as the feature marker point.

[0016] In some embodiments, determining the angle between the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points includes:

[0017] Obtain the three-dimensional local coordinates of each of the feature marker points;

[0018] The angle between the first connecting line and the second connecting line is obtained by performing calculations on each of the three-dimensional local coordinates.

[0019] In some embodiments, projecting a corresponding camera ray onto the target 3D model includes:

[0020] In response to user interaction, the screen generates a touch point corresponding to the user's interaction.

[0021] A camera ray perpendicular to the screen is projected from the touch point.

[0022] In some embodiments, after determining the angle between the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points, the method further includes:

[0023] The three-dimensional local coordinates of the feature marker points are adjusted based on the user's real-time touch operation;

[0024] Based on the adjusted three-dimensional local coordinates, update the angle formed by the first connecting line and the second connecting line.

[0025] In some embodiments, after determining the angle between the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points, the method further includes:

[0026] Generate a three-dimensional text component corresponding to the angle measure;

[0027] The three-dimensional text component is suspended above the center marker point.

[0028] In some embodiments, after determining the angle between the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points, the method further includes:

[0029] Based on the angle formed by the first connecting line and the second connecting line, corresponding preoperative planning information is generated.

[0030] Secondly, this embodiment provides an angle measurement device based on the three-dimensional space of the surgical target area, the device including: a projection module, a construction module and a calculation module;

[0031] The projection module is used to perform at least three ray collision detections on the target 3D model to obtain multiple feature marker points of the target 3D model; the feature marker points include a start marker point, a center marker point, and an end marker point;

[0032] The construction module is used to construct a first connecting line between the center marker point and the start marker point;

[0033] The construction module is also used to construct a second connecting line between the center marker point and the end marker point;

[0034] The calculation module is used to determine the angle formed by the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points.

[0035] Thirdly, this embodiment provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the angle measurement method based on the three-dimensional space of the surgical target area described in the first aspect.

[0036] Fourthly, this embodiment provides a storage medium storing a computer program that, when executed by a processor, implements the angle measurement method based on the three-dimensional space of the surgical target area described in the first aspect.

[0037] Compared with related technologies, the angle measurement method, device, and computer equipment based on the three-dimensional space of the surgical target area provided in this embodiment obtain multiple feature marker points of the target three-dimensional model by performing at least three ray collision detections on the target three-dimensional model. The feature marker points include a start marker point, a center marker point, and an end marker point. A first connecting line is constructed between the center marker point and the start marker point, and a second connecting line is constructed between the center marker point and the end marker point. Furthermore, based on the coordinate information of each feature marker point, the angle formed by the first connecting line and the second connecting line is determined. This solves the problem of not being able to accurately calculate the angles between different markers on the three-dimensional model and realizes the accurate calculation of the angles between different markers on the three-dimensional model.

[0038] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0039] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0040] Figure 1 This is a hardware structure block diagram of a terminal device for an angle measurement method based on the three-dimensional space of the surgical target area provided in an embodiment of this application;

[0041] Figure 2 This is a flowchart of an embodiment of the angle measurement method based on the three-dimensional space of the surgical target area provided in this application;

[0042] Figure 3 This is a flowchart illustrating an embodiment of the angle measurement method based on the three-dimensional space of the surgical target area provided in this application;

[0043] Figure 4 This is a flowchart of a preferred embodiment of the method for measuring angles in the three-dimensional space of the surgical target area provided in this application;

[0044] Figure 5 This is a structural block diagram of an angle measurement device based on the three-dimensional space of the surgical target area provided in an embodiment of this application.

[0045] In the diagram: 102, processor; 104, memory; 106, transmission device; 108, input / output device; 10, projection module; 20, construction module; 30, arithmetic module. Detailed Implementation

[0046] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0047] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these” used in this application do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to these processes, methods, products, or devices. Words such as “connected,” “linked,” and “coupled” used in this application are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. Normally, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," "third," etc., used in this application are merely to distinguish similar objects and do not represent a specific order of objects.

[0048] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. For example, it can run on a terminal. Figure 1 This is a hardware structure block diagram of the terminal for the angle measurement method based on the three-dimensional space of the surgical target area in this embodiment. (See diagram for example.) Figure 1 As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 and a memory 104 for storing data are also included. The processor 102 may be, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA). The terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown are illustrated.

[0049] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the angle measurement method based on the three-dimensional space of the surgical target area in this embodiment. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0050] The transmission device 106 is used to receive or send data via a network. This network includes a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 can be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0051] This embodiment provides a method for measuring angles based on the three-dimensional space of the surgical target area. Figure 2 This is a flowchart of the angle measurement method based on the three-dimensional space of the surgical target area in this embodiment, as shown below. Figure 2 As shown, the process includes the following steps:

[0052] Step S210: Perform at least three ray collision detections on the target 3D model to obtain multiple feature markers of the target 3D model; the feature markers include a start marker, a center marker, and an end marker.

[0053] Specifically, in a 3D space built using the comprehensive development tool Unity, a 3D model of the target object is established, and ray collision detection is performed on the target 3D model according to the measurement requirements of the target object, thereby generating multiple feature marker points on the model.

[0054] It is important to know that when measuring angles on a target 3D model, at least three feature marker points must exist on the model to form the included angle to be measured. Based on this, at least three ray collision detections are performed on the target 3D model to obtain the start marker point, center marker point, and end marker point of the target 3D model.

[0055] Typically, the feature markers generated in each ray collision detection process are recorded sequentially as the start marker, center marker, and end marker, with the center marker representing the vertex of the angle to be measured. However, depending on the actual measurement requirements, any feature marker on the 3D model can be used as the center marker for angle measurement.

[0056] Step S220: Construct the first connecting line between the center marker point and the start marker point.

[0057] Specifically, in each ray collision detection, a camera ray is projected onto the target 3D model. If a collision is detected between the camera ray and the target 3D model, the 3D local coordinates of the collision point are obtained, and a marker sphere is generated at the 3D local coordinates.

[0058] Further, it is determined whether feature markers have been generated before this ray collision detection. If no feature markers have been generated, the current marker sphere is used as the starting marker point, and ray collision detection continues to be initiated on the target 3D model; if only the starting marker point exists, the current marker sphere is used as the center marker point, and the center marker point and the starting marker point are connected to obtain the first connecting line.

[0059] Step S230: Construct a second connecting line between the center marker point and the end marker point.

[0060] Specifically, after generating the marker sphere, if a start marker point and a center marker point already exist, the current marker sphere is set as the end marker point, and the center marker point and the end marker point are connected to obtain the second connecting line.

[0061] Step S240: Based on the coordinate information of each feature marker point, determine the angle between the first connecting line and the second connecting line.

[0062] Specifically, the three-dimensional local coordinates of the start marker point, center marker point, and end marker point on the target three-dimensional model are obtained, and the angle between the first connecting line and the second connecting line is calculated by performing calculations on each three-dimensional local coordinate.

[0063] It should be noted that the angle measurement method on the target 3D model in this embodiment can be applied to various mobile platforms.

[0064] Current preoperative planning methods typically involve constructing a 3D model of the target site and determining the surgical target area based on this model. The distribution of various regions within the target site is also analyzed to further develop the surgical plan. However, these methods cannot accurately calculate the angles between different markers on the 3D model, leading to inaccurate preoperative planning.

[0065] Compared to existing technologies, this application performs at least three ray collision detections on the target 3D model to obtain multiple feature markers, including a start marker, a center marker, and an end marker. A first connecting line is constructed between the center marker and the start marker, and a second connecting line is constructed between the center marker and the end marker. Furthermore, based on the coordinate information of each feature marker, the angle formed by the first and second connecting lines is determined. Therefore, during the ray collision detection process of the target 3D model, multiple feature markers on the target 3D model are generated using the collision points between camera rays and the target 3D model. The angle between the markers is calculated based on the coordinate information of each feature marker, thus solving the problem of inaccurately calculating the angles between different markers on the 3D model and achieving accurate calculation of the angles between different markers on the 3D model.

[0066] In some embodiments, at least three ray collision detections are performed on the target 3D model to obtain multiple feature markers of the target 3D model, including the following steps:

[0067] Step S211: In each ray collision detection, project the corresponding camera ray onto the target 3D model;

[0068] Step S212: When a collision is detected between the camera ray and the target 3D model, determine the collision point between the camera ray and the target 3D model.

[0069] Step S213: Convert the three-dimensional world coordinates of the collision point into the corresponding three-dimensional local coordinates;

[0070] Step S214: Generate a marker sphere as a feature marker point at the three-dimensional local coordinates.

[0071] In this embodiment, it is necessary to ensure that there are at least three feature marker points on the target 3D model, namely the start marker point, the center marker point, and the end marker point, and the center marker point represents the vertex of the included angle to be measured.

[0072] Specifically, at least three ray collision detections are performed on the target 3D model. In each ray collision detection, a corresponding camera ray is projected onto the target 3D model. If a collision is detected between the camera ray and the target 3D model, the collision point between the camera ray and the target 3D model is obtained.

[0073] Furthermore, the coordinate information of the collision point is spatially transformed, that is, transformed from the world coordinate system to the local coordinate system to obtain the three-dimensional local coordinates of the collision point, and a marker sphere is generated at the three-dimensional local coordinates of the collision point.

[0074] Next, it is determined whether a start marker point has been generated before this ray collision detection. If no start marker point has been generated before, the current marker sphere is set as the start marker point, and ray collision detection continues to be initiated on the target 3D model; if a start marker point has been generated before, it is determined whether a center marker point exists.

[0075] If no center marker is detected on the target 3D model, the current marker sphere is set as the center marker, and a first connecting line is constructed between the center marker and the starting marker. Then, the next ray collision detection is initiated on the target 3D model. Furthermore, if a center marker is detected on the target 3D model, the current marker sphere is set as the ending marker, and a second connecting line is constructed between the center marker and the ending marker.

[0076] In this embodiment, in each ray collision detection, a corresponding camera ray is projected onto the target 3D model. If a collision is detected between the camera ray and the target 3D model, a marker sphere is generated based on the collision point between the camera ray and the target 3D model, and this marker sphere is set as a feature marker point, thereby accurately obtaining the 3D coordinate information of the feature marker point.

[0077] In some embodiments, the angle between the first connecting line and the second connecting line is determined based on the coordinate information of each feature marker point, including the following steps:

[0078] Step S241: Obtain the three-dimensional local coordinates of each feature marker point;

[0079] Step S242: Calculate the angle between the first connecting line and the second connecting line by performing calculations on each three-dimensional local coordinate.

[0080] It is important to know that each time a collision is detected between the camera ray and the target 3D model, the collision point between the camera ray and the target 3D model is obtained, the coordinates of the collision point are transformed from the world coordinate system to the local coordinate system, and the transformed 3D local coordinates are recorded as the coordinate information of the feature marker point at that location.

[0081] Specifically, the three-dimensional local coordinates of the start marker, center marker, and end marker are obtained respectively. The cosine value is then used to calculate the angle between the first and second connecting lines. The expression for the above calculation process is as follows:

[0082] ;

[0083] in, This indicates the angle formed by the first connecting line and the second connecting line; ( ) indicates the calculation of the arccosine value; This represents the distance between the starting marker point and the center marker point along the X-axis. This represents the distance between the starting marker point and the center marker point along the Y-axis. This represents the distance between the starting marker point and the center marker point along the Z-axis. This represents the distance between the starting marker point and the center marker point along the X-axis. This represents the distance between the starting marker point and the center marker point along the Y-axis. This represents the distance between the starting marker point and the center marker point along the Z-axis.

[0084] In this embodiment, the three-dimensional local coordinates of each feature marker point are obtained, and the angle formed by the first connecting line and the second connecting line is calculated. In this way, the target angle formed by each feature marker point is accurately calculated, and the angle measurement on the target three-dimensional model is realized.

[0085] In some embodiments, projecting a corresponding camera ray onto the target 3D model includes the following steps:

[0086] The screen generates touch points corresponding to user actions in response to user input.

[0087] A camera ray is projected perpendicular to the screen from the touch point.

[0088] Specifically, each time a user interacts with the device screen, a gesture detection scheme based on the LeanTouch touchscreen plugin generates a touch point corresponding to the user's action, and projects a camera ray perpendicular to the device screen from the touch point. This camera ray extends infinitely, and when it collides with a target 3D model in 3D space, that is, when the camera ray collides with the target 3D model, it indicates that the ray collision detection is effective, and corresponding feature markers can be generated.

[0089] It's important to understand that the LeanTouch gesture detection scheme described above is used to detect and recognize user gestures. This embodiment captures user gestures when operating the screen using the gesture detection scheme. When a user's finger presses the screen and then leaves, the screen coordinates of the touch point are converted into a camera ray for vertical projection, and the collision between the ray and the target 3D model is detected.

[0090] In this embodiment, a touch point corresponding to the user's operation is generated in response to the user's operation screen, and a camera ray perpendicular to the device screen is projected from the touch point. In this way, the device is controlled to emit an accurate camera ray based on the user's touch operation on the screen.

[0091] In some embodiments, after determining the angle between the first connecting line and the second connecting line based on the coordinate information of each feature marker point, the following steps are also included:

[0092] Step S251: Adjust the three-dimensional local coordinates of the feature marker points based on the user's real-time touch operation;

[0093] Step S252: Update the angle between the first connecting line and the second connecting line based on the adjusted local three-dimensional coordinates.

[0094] Specifically, after completing the angle measurement operation on the target 3D model, the 3D local coordinates of each feature marker point are adjusted based on the real-time touch operation input by the user using the device screen. The real-time touch operation includes pressing any marker sphere on the target 3D model to activate the marker point modification function, and then dragging the marker sphere with a finger to adjust the position of the corresponding marker point.

[0095] Furthermore, the three-dimensional local coordinates of each feature marker point at its latest position are obtained, and the adjusted three-dimensional local coordinates are calculated to obtain the real-time measurement result of the angle formed by the first connecting line and the second connecting line.

[0096] In this embodiment, the three-dimensional local coordinates of the feature marker points are adjusted based on the user's real-time touch operation. The angle between the first connecting line and the second connecting line is updated according to the adjusted three-dimensional local coordinates. This allows the associated angle to be updated synchronously when the three-dimensional local coordinates of the feature marker points change, improving the real-time performance and flexibility of angle measurement.

[0097] In some embodiments, after determining the angle between the first connecting line and the second connecting line based on the coordinate information of each feature marker point, the following steps are also included:

[0098] Generate a 3D text component corresponding to the angle measure;

[0099] The 3D text component is hovered above the center marker.

[0100] Specifically, after obtaining the degree of the angle formed by the first connecting line and the second connecting line, a three-dimensional text component corresponding to the angle is generated, and the three-dimensional text component is floated above the center marker point to intuitively display the angle measurement result.

[0101] It's important to understand that each time the angle formed by the first and second connecting lines is updated, the angle measurement result displayed by the corresponding 3D text component is updated simultaneously. Furthermore, after the angle measurement operation is complete, the user can freely rotate the current target 3D model. This embodiment will adjust the orientation of the 3D text component in real time, always ensuring that the front of the 3D text component faces the user's viewing direction, guaranteeing that the user can accurately observe the specific angle value from any direction.

[0102] In this embodiment, a three-dimensional text component corresponding to the angle is generated and floated above the center marker point to display the angle measurement results of the target three-dimensional model in real time, allowing users to obtain measurement information more intuitively.

[0103] In some embodiments, after determining the angle between the first connecting line and the second connecting line based on the coordinate information of each feature marker point, the following steps are also included:

[0104] Based on the angle formed by the first connecting line and the second connecting line, corresponding preoperative planning information is generated.

[0105] Specifically, preoperative planning is performed based on the angle measurements of the target 3D model to obtain corresponding preoperative planning information. This information includes surgical cutting angles, surgical incision locations, and assessment data on joint angles and range of motion.

[0106] For example, in orthopedic surgery, angle measurements are used to assess bone deviation, twisting, or deformity to determine the surgical incision angle and location. In addition, in surgical procedures involving organs such as the heart, angle measurements on a three-dimensional model of the organ provide information on the organ's morphology and structure to help determine the optimal surgical incision location and avoid unnecessary damage to surrounding tissues and blood vessels.

[0107] In this embodiment, preoperative planning information is generated based on the angle formed by the first connecting line and the second connecting line, thereby improving the accuracy and predictability of preoperative planning.

[0108] Figure 3 This is a flowchart illustrating the angle measurement method based on the three-dimensional space of the surgical target area in this embodiment. Figure 3 As shown, the specific process of this method includes the following steps:

[0109] In response to a user's screen interaction with the target 3D model, a ray collision detection is initiated (S301). The touch point corresponding to the user's interaction is identified, and a camera ray perpendicular to the device screen is projected from the touch point. The system then determines whether the camera ray collides with the target 3D model (S302). If no collision occurs, the ray collision detection ends. If a collision is detected, the collision point is determined, and the 3D local coordinates of the collision point are obtained (S303).

[0110] Next, a marker sphere S304 is generated at the 3D local coordinates of the collision point, and it is determined whether a starting marker point S305 has been generated previously. If no starting marker point has been generated, the current marker sphere is set as the starting marker point S306, and ray collision detection continues to be initiated on the target 3D model; if a starting marker point has been generated previously, it is further determined whether a center marker point S307 exists.

[0111] If no center marker is detected on the target 3D model, the current marker sphere is set as the center marker, and a first connecting line S308 is constructed between the center marker and the starting marker. Then, the next ray collision detection is initiated on the target 3D model. Furthermore, if a center marker is detected on the target 3D model, the current marker sphere is set as the ending marker, and a second connecting line S309 is constructed between the center marker and the ending marker. Based on this, the 3D local coordinates of each feature marker are obtained, and calculations are performed on these coordinates to obtain the angle S310 formed by the first and second connecting lines.

[0112] The present embodiment will now be described and illustrated through preferred embodiments.

[0113] Figure 4 This is a flowchart of the preferred embodiment of the angle measurement method based on the three-dimensional space of the surgical target area, as shown below. Figure 4 As shown, the angle measurement method based on the three-dimensional space of the surgical target area includes the following steps:

[0114] Step S410: Perform at least three ray collision detections on the target 3D model to obtain multiple feature markers of the target 3D model; the feature markers include a start marker, a center marker, and an end marker.

[0115] Step S420: Construct the first connecting line between the center marker point and the start marker point;

[0116] Step S430: Construct a second connecting line between the center marker point and the end marker point;

[0117] Step S440: Obtain the three-dimensional local coordinates of each feature marker point;

[0118] Step S450: Calculate each three-dimensional local coordinate to obtain the angle between the first connecting line and the second connecting line;

[0119] Step S460: Adjust the three-dimensional local coordinates of the feature marker points based on the user's real-time touch operation;

[0120] Step S470: Update the angle between the first connecting line and the second connecting line based on the adjusted local three-dimensional coordinates.

[0121] In this embodiment, at least three ray collision detections are performed on the target 3D model to obtain multiple feature markers, including a start marker, a center marker, and an end marker. Based on this, a first connecting line between the center marker and the start marker, and a second connecting line between the center marker and the end marker, are constructed. Then, based on the coordinate information of each feature marker, the angle formed by the first and second connecting lines is determined, enabling accurate calculation of the angles between different markers on the 3D model.

[0122] Furthermore, based on the user's real-time touch operation, the three-dimensional local coordinates of the feature marker points are adjusted, and the angle between the first connecting line and the second connecting line is updated according to the adjusted three-dimensional local coordinates, thereby synchronously updating the angle measurement results and improving the real-time performance and flexibility of angle measurement.

[0123] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0124] This embodiment also provides an angle measurement device based on the three-dimensional space of the surgical target area. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that achieve a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0125] Figure 5 This is a structural block diagram of the angle measurement device based on the three-dimensional space of the surgical target area in this embodiment, as shown below. Figure 5 As shown, the device includes: a projection module 10, a construction module 20, and a calculation module 30;

[0126] The projection module 10 is used to perform at least three ray collision detections on the target 3D model to obtain multiple feature marker points of the target 3D model; the feature marker points include a start marker point, a center marker point, and an end marker point;

[0127] Module 20 is used to construct the first connecting line between the center marker point and the start marker point;

[0128] Module 20 is also used to construct a second connecting line between the center marker point and the end marker point;

[0129] The calculation module 30 is used to determine the angle between the first connecting line and the second connecting line based on the coordinate information of each feature marker point.

[0130] The apparatus provided in this embodiment obtains multiple feature markers of the target 3D model by performing at least three ray collision detections on the target 3D model. The feature markers include a start marker, a center marker, and an end marker. A first connecting line is constructed between the center marker and the start marker, and a second connecting line is constructed between the center marker and the end marker. Furthermore, based on the coordinate information of each feature marker, the angle formed by the first connecting line and the second connecting line is determined. This solves the problem of not being able to accurately calculate the angles between different markers on the 3D model and achieves accurate calculation of the angles between different markers on the 3D model.

[0131] In some of these embodiments, Figure 5 Based on this, the device also includes a collision module, which is used to project the corresponding camera ray onto the target 3D model in each ray collision detection; when a collision is detected between the camera ray and the target 3D model, the collision point between the camera ray and the target 3D model is determined; the 3D world coordinates of the collision point are converted into the corresponding 3D local coordinates; and a marker sphere is generated at the 3D local coordinates as a feature marker point.

[0132] In some of these embodiments, Figure 5 Based on this, the device also includes a calculation module for obtaining the three-dimensional local coordinates of each feature marker point; and for performing calculations on each three-dimensional local coordinate to obtain the angle between the first connecting line and the second connecting line.

[0133] In some of these embodiments, in Figure 5 In addition to the above, the device also includes a transmitting module for generating touch points corresponding to user operations in response to user operation screens; and projecting camera rays perpendicular to the screen from the touch points.

[0134] In some of these embodiments, Figure 5 Based on this, the device also includes an update module, which is used to adjust the three-dimensional local coordinates of the feature marker points based on the user's real-time touch operation; and update the angle between the first connecting line and the second connecting line according to the adjusted three-dimensional local coordinates.

[0135] In some of these embodiments, Figure 5 Based on this, the device also includes a display module for generating a three-dimensional text component corresponding to the angle; the three-dimensional text component is then suspended above the center marker point.

[0136] In some of these embodiments, Figure 5Based on this, the device also includes a generation module for generating corresponding preoperative planning information based on the angle formed by the first connecting line and the second connecting line.

[0137] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0138] This embodiment also provides a computer device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0139] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0140] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0141] Furthermore, in conjunction with the angle measurement method based on the three-dimensional space of the surgical target area provided in the above embodiments, this embodiment can also provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the angle measurement methods based on the three-dimensional space of the surgical target area in the above embodiments.

[0142] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0143] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0144] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0145] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A method for measuring angles in three-dimensional space of a surgical target area, characterized in that, The method includes: At least three ray collision detections are performed on the three-dimensional model of the surgical target area to obtain multiple feature markers of the three-dimensional model of the surgical target area; the feature markers include a start marker, a center marker, and an end marker; in each ray collision detection, in response to the user operation screen generating a touch point corresponding to the user operation, a camera ray perpendicular to the screen is projected from the touch point; Construct a first connecting line between the center marker point and the start marker point; Construct a second connecting line between the center marker point and the end marker point; Based on the coordinate information of each of the feature marker points, the angle between the first connecting line and the second connecting line is determined; Based on the angle formed by the first connecting line and the second connecting line, corresponding preoperative planning information is generated; the preoperative planning information includes assessment data of surgical cutting angle, surgical incision location, joint angle, and range of motion.

2. The angle measurement method based on the three-dimensional space of the surgical target area according to claim 1, characterized in that, The process involves performing at least three ray collision detections on the three-dimensional model of the surgical target region to obtain multiple feature markers of the three-dimensional model of the surgical target region, including: In each of the aforementioned ray collision detections, a corresponding camera ray is projected onto the three-dimensional model of the surgical target area; When a collision is detected between the camera ray and the three-dimensional model of the surgical target area, the collision point between the camera ray and the three-dimensional model of the surgical target area is determined. Convert the three-dimensional world coordinates of the collision point into the corresponding three-dimensional local coordinates; At the three-dimensional local coordinates, a marker sphere is generated as the feature marker point.

3. The angle measurement method based on the three-dimensional space of the surgical target area according to claim 2, characterized in that, Determining the angle between the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points includes: Obtain the three-dimensional local coordinates of each of the feature marker points; The angle between the first connecting line and the second connecting line is obtained by performing calculations on each of the three-dimensional local coordinates.

4. The angle measurement method based on the three-dimensional space of the surgical target area according to claim 1, characterized in that, After determining the angle between the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points, the method further includes: The three-dimensional local coordinates of the feature marker points are adjusted based on the user's real-time touch operation; Based on the adjusted three-dimensional local coordinates, update the angle formed by the first connecting line and the second connecting line.

5. The angle measurement method based on the three-dimensional space of the surgical target area according to claim 1, characterized in that, After determining the angle between the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points, the method further includes: Generate a three-dimensional text component corresponding to the angle measure; The three-dimensional text component is suspended above the center marker point.

6. An angle measuring device based on the three-dimensional space of a surgical target area, characterized in that, The device includes: a projection module, a construction module, a calculation module, and a generation module; The projection module is used to perform at least three ray collision detections on the three-dimensional model of the surgical target area to obtain multiple feature markers of the three-dimensional model of the surgical target area; the feature markers include a start marker, a center marker, and an end marker; in each ray collision detection, in response to the user operation screen generating a touch point corresponding to the user operation, a camera ray perpendicular to the screen is projected from the touch point; The construction module is used to construct a first connecting line between the center marker point and the start marker point; The construction module is also used to construct a second connecting line between the center marker point and the end marker point; The calculation module is used to determine the angle formed by the first connecting line and the second connecting line based on the coordinate information of each of the feature marker points. The generation module is used to generate corresponding preoperative planning information based on the angle formed by the first connecting line and the second connecting line; the preoperative planning information includes evaluation data of surgical cutting angle, surgical incision location, joint angle and range of motion.

7. A computer device, comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the steps of the angle measurement method based on the three-dimensional space of the surgical target area as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the angle measurement method based on the three-dimensional space of the surgical target area as described in any one of claims 1 to 5.

Images