Design method and device of orthopedic operation guide plate, orthopedic operation guide plate and equipment

Abstract

The invention relates to a design method and device of an orthopedic surgery guide plate, the orthopedic surgery guide plate and equipment. The method comprises the following steps: acquiring a joint model of a target joint, wherein the target joint comprises a target skeleton; performing cartilage compensation on a target skeleton in the joint model to obtain a cartilage compensation joint model of the target joint; and based on the cartilage compensation joint model, generating an orthopedic surgery guide plate model of a target skeleton in the target joint. By adopting the method, the orthopedic surgery guide plate can be accurately obtained.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a design method, device, orthopedic surgical guide, and orthopedic surgical guide and equipment. Background Art

[0002] An orthopedic surgical guide is an orthopedic operating instrument used to locate a target bone in a target joint before osteotomy or drilling operations so as to accurately perform osteotomy or drilling operations on the target bone.

[0003] Taking the target joint as an example, in the related art, during the unicompartmental knee replacement operation, it is usually necessary to first make an orthopedic surgical guide corresponding to the knee joint, and then perform osteotomy or drilling on the target bone in the knee joint based on the orthopedic surgical guide to complete the replacement operation.

[0004] However, the orthopedic surgical guide obtained by the method of making the orthopedic surgical guide in the related art is inaccurate. Summary of the invention

[0005] Based on this, it is necessary to provide an orthopedic surgical guide design method, device, orthopedic surgical guide and equipment to address the above technical problems, so as to accurately obtain an orthopedic surgical guide.

[0006] In a first aspect, the present application provides a method for designing an orthopedic surgical guide. The method comprises:

[0007] Obtain a joint model of a target joint, where the target joint includes a target bone;

[0008] Cartilage compensation is performed on the target bone in the joint model to obtain a cartilage compensated joint model of the target joint;

[0009] Based on the cartilage-compensated joint model, an orthopedic surgical guide model of a target bone in a target joint is generated.

[0010] In one embodiment, performing cartilage compensation on a target bone in a joint model to obtain a cartilage compensated joint model of the target joint includes:

[0011] Obtain the cartilage attachment area and cartilage thickness of the target bone in the joint model;

[0012] Based on the cartilage attachment area and cartilage thickness, cartilage thickness compensation is performed on the target bone to obtain a cartilage compensated joint model.

[0013] In one of the embodiments, the cartilage thickness of the target bone is obtained by parsing the cartilage thickness compensation instruction of the target bone sent by the user; or, it is obtained based on the tomography image; or, it is obtained based on the X-ray image.

[0014] In one embodiment, performing cartilage thickness compensation on a target bone includes:

[0015] In the joint model, the cartilage thickness of the target bone's cartilage attachment area is increased toward the bone.

[0016] In one embodiment, an orthopedic surgical guide model of a target bone in a target joint is generated based on a cartilage-compensated joint model, comprising:

[0017] Obtaining planning parameters and instrument parameters of the target bone;

[0018] An orthopedic surgical guide model of a target bone in a target joint is generated based on the planning parameters, instrument parameters, and the cartilage-compensated joint model.

[0019] In one embodiment, an orthopedic surgical guide model of a target bone in a target joint is generated based on planning parameters, instrument parameters, and a cartilage-compensated joint model, including:

[0020] Generate a fitting guide plate entity model, a guide entity model, a guide groove, a positioning guide entity model and a guide hole of the target bone based on the planning parameters, the instrument parameters and the cartilage compensation joint model;

[0021] The fitting guide plate entity model, the guide entity model and the positioning guide entity model are combined to obtain an orthopedic surgery guide plate entity model;

[0022] Based on the guide grooves and guide holes, slotting and hole opening operations are performed on the orthopedic surgical guide physical model to obtain the orthopedic surgical guide model.

[0023] In one embodiment, a guide entity model and a guide groove of a target bone are generated based on planning parameters, instrument parameters and a cartilage compensation joint model, including:

[0024] Based on the planning parameters and the instrument parameters, the surgical operation position and the surgical operation direction of the target bone are determined in the cartilage compensation joint model;

[0025] Based on the surgical operation positions and directions, the standard surgical operation guide groove model is stretched in the direction of the surgical operation in the cartilage compensation joint model to generate a guide entity model of the target bone; and the standard guide groove in the stretched standard surgical operation guide groove model is used as the guide groove of the target bone.

[0026] In one embodiment, based on planning parameters, instrument parameters and cartilage compensation joint model, a positioning guide entity model and guide holes of the target bone are generated, including:

[0027] Determine the hole positions and hole directions of multiple positioning guide holes in the cartilage compensation joint model based on planning parameters, instrument parameters and preset safety distance constraints;

[0028] Based on the position and direction of each hole, the standard guide hole model is stretched in the direction of each hole in the cartilage compensation joint model to generate a positioning guide solid model of the target bone; and the standard guide holes in the stretched standard guide hole model are used as guide holes of the target bone.

[0029] In a second aspect, the present application also provides a design device for an orthopedic surgical guide, the device comprising:

[0030] An acquisition module, used for acquiring a joint model of a target joint, where the target joint includes a target bone;

[0031] A compensation module, used for performing cartilage compensation on a target bone in a joint model to obtain a cartilage compensated joint model of the target joint;

[0032] The model generation module is used to generate an orthopedic surgical guide model of a target bone in a target joint based on a cartilage-compensated joint model.

[0033] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, any one of the contents of the method for designing an orthopedic surgical guide in the first aspect is implemented.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements any one of the contents of the method for designing an orthopedic surgical guide in the first aspect when executed by a processor.

[0035] In a fifth aspect, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements any one of the contents of the method for designing an orthopedic surgical guide in the first aspect.

[0036] The above-mentioned orthopedic surgical guide design method, device, orthopedic surgical guide and equipment obtain a joint model of a target joint, wherein the target joint includes a target bone; the target bone in the joint model is cartilage compensated to obtain a cartilage compensated joint model of the target joint; based on the cartilage compensated joint model, an orthopedic surgical guide model of the target bone in the target joint is generated. This method performs cartilage compensation on the target bone in the joint model so that the cartilage compensated joint model is closer to the real target joint. In this way, the orthopedic surgical guide model generated based on the cartilage compensated joint model is more suitable for the target bone, and the orthopedic surgical guide made based on the orthopedic surgical guide model is also more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1is an application environment diagram of a method for designing an orthopedic surgical guide in one embodiment;

[0038] Figure 2 is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0039] Figure 3 is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0040] Figure 4 is a schematic diagram of a cartilage compensation joint model in one embodiment;

[0041] Figure 5 is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0042] Figure 6 is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0043] Figure 7 is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0044] Figure 8 is a schematic diagram of a solid model of a fitting guide plate in one embodiment;

[0045] Fig. 9 is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0046] Fig.10 is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0047] Fig.11 A schematic diagram of a guide entity model and a positioning guide entity model in one embodiment;

[0048] Fig.12 A schematic side view of a physical model and scope in one embodiment;

[0049] Fig.13 is a schematic diagram of an orthopedic surgery guide model in one embodiment;

[0050] Fig.14 is a schematic diagram of an orthopedic surgery guide model in one embodiment;

[0051] Fig.15 A front view of an orthopedic surgical guide model in one embodiment;

[0052] Fig.16 A side view of an orthopedic surgical guide model in one embodiment;

[0053] Fig.17is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0054] Fig.18 is a schematic flow chart of a method for designing an orthopedic surgical guide in one embodiment;

[0055] Fig.19 It is a structural block diagram of a design device for an orthopedic surgical guide in one embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] Before introducing the technical solution of the present application in detail, a brief introduction to the background technology of the present application is first given.

[0058] Taking the target joint as an example, in the related art, during the unicompartmental knee replacement operation, the medical image of the knee joint is usually reconstructed to obtain a knee joint model. Based on the knee joint model, an orthopedic surgical guide corresponding to the knee joint is made, and then the target bone in the knee joint is replaced based on the orthopedic surgical guide.

[0059] However, the methods of related technologies have the following problems: (1) Since the reconstructed knee joint model only includes the model of the bones, it does not involve the model of the cartilage connected to the bones. The reconstructed knee joint model cannot reflect the user's actual knee joint condition. Therefore, the orthopedic surgical guide made based on the knee joint model is inaccurate, and the expected effect cannot be achieved during the use of the orthopedic surgical guide. (2) When making an orthopedic surgical guide, the guide groove in the orthopedic surgical guide is designed based on the prosthesis model. The guide groove designed by the prosthesis model cannot meet the doctor's needs. (3) The manufactured orthopedic surgical guide has not been confirmed by the doctor. In actual use, the orthopedic surgical guide cannot meet the doctor's needs, for example, the fitting range of the orthopedic surgical guide.

[0060] In response to the above problems, the present application provides a method for designing an orthopedic surgical guide, which includes the steps of bone reconstruction, cartilage compensation, fitting entity generation, orthopedic surgical guide generation, medical-engineering interactive confirmation, and guide production using 3D printing technology, and can accurately obtain an orthopedic surgical guide.

[0061] The design method of the orthopedic surgical guide provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. For example, the computer device may be a server, a personal computer, a laptop, a smart phone, a tablet computer, a smart mobile phone, etc. The computer device may include a processor, a memory and a network interface connected by a system bus or wirelessly. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data in the design process of orthopedic surgical guides. The network interface of the computer device is used to communicate with an external terminal through a network connection, and the computer program is executed by the processor to implement a design method for orthopedic surgical guides. Among them, the computer device can be implemented by an independent computer device or a computer device cluster composed of multiple computer devices. It should be noted that the memory of the computer device is not limited to the above-mentioned memory, and may also include a high-speed random access memory, a volatile solid-state memory, etc. In addition, the composition architecture of the computer device is not limited to the above-mentioned situation, and some components may be added or omitted.

[0062] In one embodiment, Figure 2 As shown, a design method for an orthopedic surgical guide is provided, and the method is applied to Figure 1 The computer device in the example is used to illustrate, including the following steps:

[0063] S201, obtaining a joint model of a target joint, where the target joint includes a target bone.

[0064] The target joint includes a joint part and a joint bone connected to the joint part, for example, the target joint may be a knee joint, an elbow joint, a hip joint, etc. When the target joint is a knee joint, the target bone may be a femur or a femur.

[0065] In this embodiment, the computer device can obtain the medical image of the target joint from the Picture Archiving and Communication Systems (PACS). Alternatively, the computer device can also obtain the medical image of the target joint from a medical device. After obtaining the medical image, the computer device can analyze the medical image of the target joint using a three-dimensional model reconstruction algorithm to reconstruct the joint model of the target joint. Among them, the three-dimensional model reconstruction algorithm can be a ray casting method (Ray Casting), a shear-warp method (Shear-Warp) or a frequency domain volume rendering method. The three-dimensional model reconstruction process includes steps such as medical image denoising, threshold segmentation and regional growing. It should be noted that the format of the joint model of the target joint is the standard template library format (Standard Template Library, STL).

[0066] S202, performing cartilage compensation on the target bone in the joint model to obtain a cartilage compensated joint model of the target joint.

[0067] In this embodiment, since the joint model only includes a model of bones and does not include a model of interarticular cartilage, the obtained joint model cannot truly reflect the user's target joint. In order to enable the joint model to truly reflect the user's target joint, it is necessary to perform cartilage compensation on the cartilage area in the joint model. It should be noted that the target joint includes two bones connected by a joint. For example, when the target joint is a knee joint, the two bones are the femur and the tibia, and the distal end of the femur is connected to the proximal end of the tibia. Among them, the distal end of the femur refers to the end farther from the hip joint, and the proximal end of the tibia refers to the end closer to the hip joint.

[0068] When osteotomy or drilling is required at the distal femur, the femur is determined as the target bone; when osteotomy or drilling is required at the proximal tibia, the tibia is determined as the target bone; when osteotomy or drilling is required at both the distal femur and the proximal tibia, both the distal femur and the proximal tibia are determined as the target bones.

[0069] Furthermore, the computer device can perform cartilage compensation on the target bone in the joint model based on the preset cartilage thickness, that is, the cartilage thickness of the target joint in the cartilage-compensated joint model is the preset cartilage thickness. The preset cartilage thickness can be a default cartilage thickness, or it can be determined by the doctor from the cartilage thickness range based on the user's physiological characteristic information.

[0070] S203, generating an orthopedic surgical guide model of a target bone in a target joint based on the cartilage compensation joint model.

[0071] In this embodiment, the cartilage compensation joint model can truly reflect the target joint. The computer device can determine the installation position and size of the orthopedic surgical guide model on the cartilage compensation joint model, and generate an orthopedic surgical guide model on the cartilage compensation joint model to determine whether the orthopedic surgical guide model is reasonable. If it is reasonable, an orthopedic surgical guide of the target bone in the target joint is made based on the orthopedic surgical guide model.

[0072] It should be noted that when the target joint is the knee joint and the target bone is the femur, the orthopedic surgical guide is the guide corresponding to the femur; when the target bone is the tibia, the orthopedic surgical guide is the guide corresponding to the tibia; when the target bones are the femur and the tibia, the orthopedic surgical guide includes a guide corresponding to the femur and a guide corresponding to the tibia.

[0073] In the above-mentioned orthopedic surgical guide design method, a joint model of a target joint is obtained, and the target joint includes a target bone; cartilage compensation is performed on the target bone in the joint model to obtain a cartilage-compensated joint model of the target joint; and an orthopedic surgical guide model of the target bone in the target joint is generated based on the cartilage-compensated joint model. This method performs cartilage compensation on the target bone in the joint model so that the cartilage-compensated joint model is closer to the real target joint. In this way, the orthopedic surgical guide model generated based on the cartilage-compensated joint model is more suitable for the target bone, and the orthopedic surgical guide made based on the orthopedic surgical guide model is also more accurate.

[0074] Based on the above embodiments, this embodiment is to Figure 2 The relevant contents of "cartilage compensation of the target bone in the joint model to obtain the cartilage compensated joint model of the target joint" in step S202 are introduced and explained. Figure 3 As shown, as a non-limiting example, the above step S202 may include the following content:

[0075] S301, obtaining the cartilage attachment area and cartilage thickness of the target bone in the joint model.

[0076] In this embodiment, the computer device can determine the cartilage attachment area of ​​the target bone in the joint model based on historical experience. Alternatively, the computer device can also predict the cartilage attachment area of ​​the target bone based on the user's physiological characteristic information.

[0077] In addition, the computer device can determine the target cartilage thickness selected by the doctor from the range of cartilage thickness as the cartilage thickness of the target bone. Alternatively, the computer device can also reconstruct the tomographic image corresponding to the target joint, and determine the cartilage thickness of the target bone in the target joint from the reconstructed tomographic image. Alternatively, the computer device can also analyze the patient's X-ray image to determine the cartilage thickness of the target bone from the X-ray image. Alternatively, the cartilage thickness of the target bone can be predicted by counting the cartilage thickness of multiple users and based on multiple statistical cartilage thickness data. It should be emphasized that the cartilage is not completely uniform due to the possible cartilage wear in some parts during the movement. However, the cartilage at the position where the guide plate is fitted is relatively uniform, so when determining the cartilage thickness, the cartilage thickness is regarded as uniform thickness.

[0078] S302, based on the cartilage attachment area and cartilage thickness, the cartilage thickness of the target bone is compensated to obtain a cartilage compensated joint model.

[0079] In the embodiment of the present application, the computer device can thicken the cartilage thickness from the cartilage attachment area of ​​the joint model outward, the thickened thickness is the cartilage thickness determined according to step S301, and the size of the cartilage surface is consistent with the size of the cartilage attachment area. When the thickened thickness is consistent with the cartilage thickness, the cartilage thickness compensation process is completed, and a cartilage compensated joint model is obtained.

[0080] Figure 4 This is a schematic diagram of a cartilage-compensated joint model. The target bone for compensation in the figure is the femur. The area A framed by an ellipse in the figure is the compensated cartilage, that is, the model obtained by thickening the cartilage attachment area outward.

[0081] In the above-mentioned design method of the orthopedic surgical guide, the cartilage attachment area and cartilage thickness of the target bone in the joint model are obtained; based on the cartilage attachment area and cartilage thickness, the cartilage thickness of the target bone is compensated to obtain a cartilage compensated joint model. By determining the cartilage attachment area and cartilage thickness, this method can accurately determine the cartilage compensation position and compensation thickness in the joint model, thereby accurately completing the cartilage compensation, so that the obtained cartilage compensated joint model can more realistically reflect the target joint.

[0082] Based on the above embodiments, this embodiment is to Figure 3 The relevant contents of the target bone cartilage thickness in step S301 are introduced and explained. As a non-limiting example, the above-mentioned target bone cartilage thickness is obtained by parsing the target bone cartilage thickness compensation instruction sent by the user; or, it is obtained according to the tomography image; or, it is obtained according to the X-ray image.

[0083] The tomographic image may be a positron emission tomography image, a computed tomography image, a single photon emission computed tomography image, or a magnetic resonance tomography image.

[0084] In this embodiment, the computer device can display the cartilage thickness range to the user through the display screen, and the user can select a target cartilage thickness from the cartilage thickness range through the display screen. The computer device can receive the cartilage thickness compensation instruction of the target bone triggered by the user, and parse the cartilage thickness compensation instruction to obtain the cartilage thickness of the target bone. For example, the cartilage thickness range can be 1.5 millimeters (mm)-2mm, and the cartilage thickness of the target bone can be any cartilage thickness in the cartilage thickness range. For example, the cartilage thickness of the target bone can be 1.8mm.

[0085] Alternatively, the computer device may also reconstruct the tomographic image corresponding to the target joint and determine the cartilage thickness of the target bone in the target joint from the reconstructed tomographic image. Alternatively, the computer device may also analyze the X-ray image of the patient to determine the cartilage thickness of the target bone from the X-ray image.

[0086] In the above-mentioned design method of the orthopedic surgical guide, in response to the cartilage thickness compensation instruction of the target bone sent by the user, the cartilage thickness of the target bone carried in the cartilage thickness compensation instruction is obtained. This method can accurately obtain the cartilage thickness of the target bone confirmed by the user through the cartilage thickness compensation instruction triggered by the user, thereby improving the accuracy of subsequent cartilage compensation.

[0087] Based on the above embodiments, this embodiment is to Figure 3 The relevant contents of "compensating the cartilage thickness of the target bone" in step S302 are introduced and explained. As a non-limiting example, the above step S302 may include the following contents: in the joint model, the cartilage thickness of the cartilage attachment area of ​​the target bone is increased toward the outside of the bone.

[0088] In an embodiment of the present application, a computer device can add cartilage to the cartilage attachment area of ​​the target bone in the joint model. The direction of increase is away from the target bone, that is, the extra-bone direction. The increased cartilage thickness is the cartilage thickness. After the cartilage increase is completed, the cartilage thickness compensation process is completed.

[0089] In the above-mentioned design method of the orthopedic surgical guide, the cartilage thickness of the cartilage attachment area of ​​the target bone is increased toward the outside of the bone in the joint model. This method takes the outside of the bone as the direction of cartilage increase, avoids cartilage compensation to the inside of the target bone, and also provides the increase of cartilage thickness, thereby improving the accuracy of cartilage compensation.

[0090] Based on the above embodiments, this embodiment is to Figure 2The relevant contents of "generating an orthopedic surgical guide model of a target bone in a target joint based on a cartilage compensation joint model" in step S203 are introduced and explained. Figure 5 As shown, as a non-limiting example, the above step S203 may include the following content:

[0091] S401, obtaining planning parameters and instrument parameters of the target bone.

[0092] Among them, planning parameters refer to the parameters of the doctor's surgical operation planning process for the target bone, including parameters such as the initial position of the surgical operation, the surgical operation path, and the end position of the surgical operation. Instrument parameters refer to the parameters used during the surgical operation, including the thickness of the surgical tool, the diameter of the fixture, etc. The instrument parameters produced by different manufacturers are completely different. For example, the surgical operation can be an osteotomy operation or a drilling operation.

[0093] In this embodiment, the computer device can obtain the user's planning report on the target bone before the surgical operation, and determine the planning parameters of the target bone from the planning report of the target bone. In addition, the computer device can determine the parameters of the surgical operation instrument used by the target bone during the surgical operation according to the instrument manufacturer input by the user.

[0094] S402, generating an orthopedic surgical guide model of a target bone in a target joint based on planning parameters, instrument parameters and a cartilage compensation joint model.

[0095] In this embodiment, the computer device can determine the surgical operation path, the surgical operation start position and the surgical operation end position from the cartilage compensation joint model based on the planning parameters, and can determine the position of the orthopedic surgical guide model based on the surgical operation area, the surgical operation start position and the surgical operation end position. In addition, the size of the orthopedic surgical guide model can be determined based on the instrument parameters. Afterwards, the orthopedic surgical guide can be set at the corresponding position to obtain the orthopedic surgical guide model. And based on the orthopedic surgical guide model, an orthopedic surgical guide of the target bone is manufactured.

[0096] In the above-mentioned orthopedic surgical guide design method, the planning parameters and instrument parameters of the target bone are obtained; based on the planning parameters, instrument parameters and cartilage compensation joint model, an orthopedic surgical guide model of the target bone in the target joint is generated. This method can determine the position and size of the orthopedic surgical guide on the cartilage compensation joint model through the planning parameters and instrument parameters, so that the orthopedic surgical guide model of the target bone can be accurately obtained.

[0097] Based on the above embodiments, this embodiment is to Figure 5The relevant contents of step S402 in the above description of "generating an orthopedic surgical guide model of a target bone in a target joint based on planning parameters, instrument parameters and a cartilage compensation joint model" are introduced and explained. Figure 6 As shown, as a non-limiting example, the above step S402 may include the following content:

[0098] S501, based on the planning parameters, instrument parameters and cartilage compensation joint model, generate a fitting guide plate entity model, a guide entity model, a guide groove, a positioning guide entity model and a guide hole of the target bone.

[0099] The orthopedic surgical guide model is a model composed of a fitting guide entity model, a guide entity model, a guide groove, a positioning guide entity model and a guide hole. The fitting guide entity model, the guide entity model and the positioning guide entity model refer to entity models without grooves and holes. The guide groove is obtained by grooves on the guide entity model in the combined model, and the guide hole is obtained by holes on the positioning guide entity model in the combined model. Among them, the fitting guide entity model is a model used to fit with the target bone; the guide groove and the guide entity model are models for fixing surgical operation tools during the surgical operation; the guide hole and the positioning guide entity model refer to models for fixing the fitting guide model to the target bone.

[0100] In this embodiment, the computer device can determine the surgical operation path, the initial surgical operation position, and the end surgical operation position from the cartilage compensation joint model based on the planning parameters. And determine the fitting guide plate entity model, the guide entity model, the guide groove, the positioning guide entity model, and the guide hole based on the surgical operation path, the initial surgical operation position, and the end surgical operation position. Then, based on the instrument parameters, the size of the guide groove and the guide hole can be determined.

[0101] S502, combining the fitting guide plate entity model, the guide entity model and the positioning guide entity model to obtain an orthopedic surgery guide plate entity model.

[0102] In this embodiment, after obtaining the fitting guide physical model, the guide physical model and the positioning guide physical model, the computer device can combine the three models based on the relative positions, merge the three models into an overall model, and use the overall model as the orthopedic surgery guide physical model.

[0103] S503, based on the guide grooves and guide holes, perform slotting and hole drilling operations on the orthopedic surgical guide physical model to obtain the orthopedic surgical guide model.

[0104] In an embodiment of the present application, after obtaining the physical model of the orthopedic surgical guide, the computer device can determine the guide groove position and the guide hole position on the physical model, and perform a groove opening operation at the guide groove position and a hole opening operation at the guide hole position according to the guide groove and guide hole obtained in step S501, to obtain an orthopedic surgical guide model of the target bone.

[0105] In the above-mentioned design method of the orthopedic surgical guide, based on the planning parameters, instrument parameters and cartilage compensation joint model, the fitting guide entity model, the guiding entity model, the guiding groove, the positioning guiding entity model and the guiding hole of the target bone are generated; the fitting guide entity model, the guiding entity model and the positioning guiding entity model are combined to obtain the orthopedic surgical guide entity model; based on the guiding groove and the guiding hole, the orthopedic surgical guide entity model is slotted and opened to obtain the orthopedic surgical guide model. The method is based on the planning parameters, instrument parameters and cartilage compensation joint model, and the fitting guide entity model, the guiding entity model, the guiding groove, the positioning guiding entity model and the guiding hole of the target bone are more accurately fitted with the target bone. Then the fitting guide entity model, the guiding entity model and the positioning guiding entity model are combined, and the obtained orthopedic surgical guide entity model is also more accurate. Afterwards, based on the guiding groove and the guiding hole, the orthopedic surgical guide entity model is slotted and opened to obtain the orthopedic surgical guide model accurately.

[0106] Based on the above embodiments, this embodiment is to Figure 6 The relevant contents of step S501 in the above description of "generating a fitting guide plate entity model of the target bone based on the planning parameters, instrument parameters and cartilage compensation joint model" are introduced and explained. Figure 7 As shown, as a non-limiting example, the above step S501 may include the following content:

[0107] S601, determining the fitting surface of the surgical operation area in the target bone based on the planning parameters and the instrument parameters.

[0108] The surgical operation area fitting surface refers to the fitting surface in the target bone where the surgical operation is required.

[0109] In this embodiment, the computer device can determine the surgical operation area of ​​the target bone from the cartilage compensation joint model based on the planning parameters and the instrument parameters, and extract the surgical operation area fitting surface in the surgical operation area.

[0110] S602, adding a fitting guide solid model of the target bone on the fitting surface of the surgical operation area.

[0111] In this embodiment, after obtaining the surgical operation area fitting surface, the computer device can thicken the surgical operation area fitting surface outwardly, and generate a fitting guide plate entity model when the thickening thickness meets the preset thickening condition. The preset thickening condition is that the thickening thickness is 2mm-6mm.

[0112] Figure 8 It is a schematic diagram of a fitting guide solid model, and the fitting guide solid model is area B in the figure. The figure shows the fitting guide solid model attached to the target bone and a separate fitting guide solid model.

[0113] In the above-mentioned design method of an orthopedic surgical guide, the surgical operation area fitting surface in the target bone is determined based on the planning parameters and the instrument parameters; and the fitting guide model of the target bone is added to the surgical operation area fitting surface. Based on the planning parameters and the instrument parameters, this method can accurately determine the surgical operation area fitting surface from the target bone, and thus can accurately generate the fitting guide physical model of the target bone based on the surgical operation area fitting surface.

[0114] Based on the above embodiments, this embodiment is to Figure 6 The relevant contents of step S501 in the above description of "generating a guide entity model and guide groove of the target bone based on planning parameters, instrument parameters and cartilage compensation joint model" are introduced and explained. Fig. 9 As shown, as a non-limiting example, the above step S501 may include the following content:

[0115] S701, based on planning parameters and instrument parameters, determine the surgical operation position and surgical operation direction of the target bone in the cartilage compensation joint model.

[0116] The surgical operation position includes the surgical operation initial position and the surgical operation end position.

[0117] In this embodiment, the computer device can determine the initial surgical position, end surgical position and surgical direction of the target bone during the surgical operation from the cartilage-compensated joint model based on the planning parameters and instrument parameters.

[0118] S702, based on each surgical operation position and surgical operation direction, stretch the standard surgical operation guide groove model in the cartilage compensation joint model in the surgical operation direction to generate a guide entity model of the target bone; and use the standard guide groove in the stretched standard surgical operation guide groove model as the guide groove of the target bone.

[0119] In this embodiment, after obtaining the surgical operation position of the target bone, the computer device can obtain the standard surgical operation guide groove model from the model database, and set the standard surgical operation guide groove model at the surgical operation position in the cartilage compensation joint model. And stretch the standard surgical operation guide groove model along the surgical operation direction, and the length of the stretched standard surgical operation guide groove model is longer than the length of the target bone. Therefore, when the length difference between the stretched standard surgical operation guide groove model and the target bone is greater than the preset error threshold, the guide entity model of the target bone is generated. In addition, the computer device can also use the standard guide groove in the stretched standard surgical operation guide groove model as the guide groove of the target bone. It should be noted that the thickness of the standard surgical operation guide groove model is generally 8mm-16mm.

[0120] In the above-mentioned design method of orthopedic surgical guide, based on each surgical operation position and surgical operation direction, the standard surgical operation guide groove model is stretched in the surgical operation direction in the cartilage compensation joint model to generate a guide entity model of the target bone; and the standard guide groove in the stretched standard surgical operation guide groove model is used as the guide groove of the target bone. Based on planning parameters and instrument parameters, this method can accurately determine the surgical operation position and surgical operation direction of the target bone, add the standard surgical operation guide groove model at the surgical operation position, and stretch it along the surgical operation direction, so as to accurately generate the guide entity model and guide groove of the target bone.

[0121] Based on the above embodiments, this embodiment is to Figure 6 The relevant contents of step S501 in the above description are described as follows: "Generating a positioning guide entity model and guide holes of the target bone based on planning parameters, instrument parameters and cartilage compensation joint model". Fig.10 As shown, as a non-limiting example, the above step S501 may include the following content:

[0122] S801, determining the hole positions and hole directions of multiple positioning guide holes in the cartilage compensation joint model based on planning parameters, instrument parameters and preset safety distance constraints.

[0123] The preset safety distance constraint means that the distance between two adjacent positioning guide holes must be greater than the preset distance, and the distance between the positioning guide hole and the surgical instrument must also be greater than the preset distance. For example, the preset distance may be 2 mm.

[0124] In this embodiment, the computer device can determine the hole position and hole direction of each positioning guide hole from the cartilage compensation joint model based on the planning parameters and the instrument parameters, and the distance between two adjacent positioning guide holes satisfies the preset safety distance constraint. Furthermore, in addition to the preset safety distance constraint, the size of the positioning guide hole can also be constrained. For example, the inner diameter range of the positioning guide hole can be set to 1.7mm-3.5mm, the outer diameter range can be set to 4.7mm-6.5mm, and the thickness can be 1.5mm.

[0125] S802, based on the position and direction of each hole, stretch the standard guide hole model in the cartilage compensation joint model in the direction of each hole to generate a positioning guide solid model of the target bone; and use the standard guide holes in the stretched standard guide hole model as the guide holes of the target bone.

[0126] In this embodiment, the computer device can stretch the standard guide hole model in the cartilage compensation joint model in the direction of the hole based on the hole position to determine the positioning guide entity model of the target bone. In addition, the computer device can also use the standard guide hole in the stretched standard guide hole model as the guide hole of the target bone. It should be noted that in order to ensure the accuracy and stability of the guide plate positioning, the number of positioning guide holes is at least 3, and the guide angles of the multiple positioning guide holes are different.

[0127] In the above-mentioned design method of the orthopedic surgical guide, the hole positions and hole directions of multiple positioning guide holes in the cartilage compensation joint model are determined based on the planning parameters, instrument parameters and preset safety distance constraints; based on the hole positions and hole directions, the standard guide hole model is stretched in the cartilage compensation joint model in the direction of each hole to generate a positioning guide entity model of the target bone; and the standard guide holes in the stretched standard guide hole model are used as guide holes of the target bone. Based on the planning parameters, instrument parameters and preset safety distance constraints, this method can accurately obtain the hole direction and hole position of each positioning guide hole, and based on the hole direction and hole position, the accuracy of the obtained positioning guide entity model and guide holes is higher.

[0128] Fig.11 Figure 1 is a schematic diagram of a guiding entity model and a positioning guiding entity model. The dotted line C in the figure represents the surgical operation position and direction, and E represents the guiding entity model. D represents the drilling direction and drilling position of the three positioning guiding holes, and F represents the positioning guiding entity model. Fig.12 The side view of the guide entity model, the positioning guide entity model and the scope, the symbol identification in the figure is the same as Fig.11 The symbols in are the same and will not be described in detail here.

[0129] Figure 13-Figure 16 This is a schematic diagram of an orthopedic surgical guide model. Fig.13The schematic diagram of the overall model of the guide solid model and the positioning guide solid model running through the guide plate solid model. Fig.14 The H in the figure represents the possible position of the surgical instrument or positioning instrument, and the I represents the minimum distance between the possible positions of the surgical instrument or positioning instrument, which needs to be greater than the preset safety distance. Fig.15 This is the front view of the orthopedic surgical guide model. Fig.16 This is a side view of the orthopedic surgical guide model, in which the relative positions of the guide holes, guide grooves, and fitting guide entity model can be seen.

[0130] As a specific embodiment of the present application, Fig.17 As shown, the design method of the orthopedic surgical guide plate includes:

[0131] S901, obtaining a joint model of a target joint;

[0132] S902, obtaining the cartilage attachment area and cartilage thickness of the target bone in the joint model;

[0133] S903, based on the cartilage attachment area and the cartilage thickness, increasing the cartilage thickness of the cartilage attachment area of ​​the target bone toward the outside of the bone in the joint model to obtain a cartilage compensation joint model;

[0134] S904, obtaining planning parameters and instrument parameters of the target bone;

[0135] S905, generating a fitting guide plate entity model, a guide entity model, a guide groove, a positioning guide entity model and a guide hole of the target bone based on the planning parameters, the instrument parameters and the cartilage compensation joint model;

[0136] S906, combining the fitting guide physical model, the guide physical model and the positioning guide physical model to obtain an orthopedic surgery guide physical model;

[0137] S907, based on the guide grooves and the guide holes, perform slotting and hole drilling operations on the orthopedic surgical guide physical model to obtain the orthopedic surgical guide model.

[0138] Fig.18The present invention is a flowchart of a method for designing an orthopedic surgical guide. The method is described by taking the target joint as the knee joint and the target bones as the tibia and femur as examples. The method comprises: S1001: reconstructing the medical image of the knee joint to obtain a tibia bone model and a femur bone model; S1002: obtaining the cartilage thickness of the tibia bone and the cartilage thickness of the femur bone model; S1003: performing cartilage compensation on the tibia bone based on the cartilage thickness of the tibia bone to obtain a compensated tibia bone model; S1004: generating a fitting guide solid model, a guide solid model, a guide groove, a positioning guide solid model and a guide hole of the tibia based on planning parameters, instrument parameters and the compensated tibia bone model; S1005: combining the fitting guide solid model, the guide solid model and the positioning guide solid model to obtain an orthopedic surgical guide model of the tibia; S1006: based on the cartilage thickness of the femur bone, Perform cartilage compensation on the femoral bone to obtain a compensated femoral bone model; S1007: Generate a fitting guide solid model, a guiding solid model, a guiding groove, a positioning guiding solid model and a guiding hole of the femur based on the planning parameters, the instrument parameters and the compensated femoral bone model; S1008: Combine the fitting guide solid model, the guiding solid model and the positioning guiding solid model to obtain an orthopedic surgical guide model of the femur; S1009: Determine whether the orthopedic surgical guide model of the tibia and the orthopedic surgical guide model of the femur are accurate through medical-engineering interaction; if not, return to step S1004 and step S1007 for modification; if accurate, execute step S1010; S1010: Print the orthopedic surgical guide model of the femur and the orthopedic surgical guide model of the tibia through a printing device to obtain the completed orthopedic surgical guide of the femur and the orthopedic surgical guide of the tibia.

[0139] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0140] In one embodiment, the present application further provides an orthopedic surgical guide, and an orthopedic surgical guide model of the target bone is obtained based on the above-mentioned orthopedic surgical guide design method.

[0141] In this embodiment, when the printing device is in communication connection with the computer device, the computer device can send the orthopedic surgical guide model to the printing device, and the printing device prints the orthopedic surgical guide based on the orthopedic surgical guide model. After printing is completed, a completed orthopedic surgical guide is obtained.

[0142] The above-mentioned printing device can be a 3D printing device. Since 3D printing technology has the characteristics of high production accuracy and fast production speed for complex and irregular structures, it is more suitable for the design process of orthopedic surgical guides.

[0143] Based on the same inventive concept, the embodiment of the present application also provides an orthopedic surgical guide design device for implementing the orthopedic surgical guide design method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the one or more orthopedic surgical guide design device embodiments provided below can refer to the limitations of the orthopedic surgical guide design method above, and will not be repeated here.

[0144] In one embodiment, Fig.19 As shown, a design device for an orthopedic surgical guide is provided, comprising: an acquisition module 11, a compensation module 12 and a model generation module 13, wherein:

[0145] An acquisition module 11 is used to acquire a joint model of a target joint, where the target joint includes a target bone;

[0146] A compensation module 12, used for performing cartilage compensation on the target bone in the joint model to obtain a cartilage compensated joint model of the target joint;

[0147] The model generation module 13 is used to generate an orthopedic surgery guide model of a target bone in a target joint based on the cartilage compensation joint model.

[0148] In one embodiment, the compensation module comprises: a first acquisition unit and a compensation unit, wherein:

[0149] A first acquisition unit is used to acquire the cartilage attachment area and cartilage thickness of the target bone in the joint model;

[0150] The cartilage thickness of the target bone is obtained by parsing the cartilage thickness compensation instruction of the target bone sent by the user; or, obtained according to the tomographic image; or, obtained according to the X-ray image;

[0151] The compensation unit is used to compensate the cartilage thickness of the target bone based on the cartilage attachment area and the cartilage thickness to obtain a cartilage compensated joint model.

[0152] In one embodiment, the compensation unit is also used to increase the cartilage thickness of the cartilage attachment area of ​​the target bone outside the bone in the joint model.

[0153] In one embodiment, the model generation module includes: a second acquisition unit and a generation unit, wherein:

[0154] A second acquisition unit, used for acquiring planning parameters and instrument parameters of the target bone;

[0155] A generating unit is used for generating an orthopedic surgical guide model of a target bone in a target joint based on planning parameters, instrument parameters and a cartilage-compensated joint model.

[0156] In one embodiment, the above-mentioned generation unit is also used to generate a fitting guide physical model, a guiding physical model, a guide groove, a positioning guide physical model and a guide hole of the target bone based on the planning parameters, the instrument parameters and the cartilage compensation joint model; the fitting guide physical model, the guiding physical model and the positioning guide physical model are combined to obtain an orthopedic surgical guide physical model; based on the guide groove and the guide hole, grooves and holes are opened on the orthopedic surgical guide physical model to obtain an orthopedic surgical guide model.

[0157] In one embodiment, the above-mentioned generation unit is also used to determine the surgical operation position and surgical operation direction of the target bone in the cartilage compensation joint model based on the planning parameters and instrument parameters; based on each surgical operation position and surgical operation direction, the standard surgical operation guide groove model is stretched in the cartilage compensation joint model in the surgical operation direction to generate a guide entity model of the target bone; and the standard guide groove in the stretched standard surgical operation guide groove model is used as the guide groove of the target bone.

[0158] In one embodiment, the above-mentioned generation unit is also used to determine the hole positions and hole directions of multiple positioning guide holes in the cartilage compensation joint model based on planning parameters, instrument parameters and preset safety distance constraints; based on the positions and directions of each hole, the standard guide hole model is stretched in the cartilage compensation joint model in the direction of each hole to generate a positioning guide entity model of the target bone; and the standard guide holes in the stretched standard guide hole model are used as the guide holes of the target bone.

[0159] Each module in the above-mentioned device for designing an orthopedic surgical guide can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0160] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the content of any one embodiment of the above-mentioned method for designing an orthopedic surgical guide is implemented.

[0161] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the content of any one embodiment of the above-mentioned method for designing an orthopedic surgical guide is implemented.

[0162] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the content of any one of the embodiments of the above-mentioned method for designing an orthopedic surgical guide.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0164] Those skilled 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 non-volatile computer-readable storage medium. 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 can 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 can 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 to this. 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 to this.

[0165] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A design method for an orthopedic surgical guide. It is characterized in that The method comprises: Acquire a joint model of a target joint, wherein the target joint includes a target bone; Performing cartilage compensation on the target bone in the joint model to obtain a cartilage compensated joint model of the target joint; Based on the cartilage-compensated joint model, an orthopedic surgical guide model of the target bone in the target joint is generated.

2. The method according to claim 1, It is characterized in that The step of performing cartilage compensation on the target bone in the joint model to obtain a cartilage compensated joint model of the target joint includes: Acquiring the cartilage attachment area and cartilage thickness of the target bone in the joint model; Based on the cartilage attachment area and the cartilage thickness, cartilage thickness compensation is performed on the target bone to obtain the cartilage compensated joint model.

3. The method according to claim 2, It is characterized in that The cartilage thickness of the target bone is obtained by parsing the cartilage thickness compensation instruction of the target bone sent by the user; or, obtained based on the tomography image; or, obtained based on the X-ray image.

4. The method according to claim 2, It is characterized in that The method of compensating the cartilage thickness of the target bone comprises: In the joint model, the cartilage thickness is increased in the cartilage attachment area of ​​the target bone toward the outside of the bone.

5. The method according to any one of claims 1 to 4, It is characterized in that The method of generating an orthopedic surgical guide model of a target bone in the target joint based on the cartilage compensation joint model comprises: Acquiring planning parameters and instrument parameters of the target bone; Based on the planning parameters, the instrument parameters and the cartilage-compensated joint model, an orthopedic surgical guide model of the target bone in the target joint is generated.

6. The method according to claim 5, It is characterized in that The method of generating an orthopedic surgical guide model of a target bone in the target joint based on the planning parameters, the instrument parameters and the cartilage compensation joint model comprises: Based on the planning parameters, the instrument parameters and the cartilage compensation joint model, a fitting guide plate entity model, a guide entity model, a guide groove, a positioning guide entity model and a guide hole of the target bone are generated; Combining the fitting guide plate entity model, the guiding entity model and the positioning guiding entity model to obtain an orthopedic surgery guide plate entity model; Based on the guide grooves and the guide holes, groove and hole opening operations are performed on the orthopedic surgical guide physical model to obtain the orthopedic surgical guide model.

7. The method according to claim 6, It is characterized in that The method of generating a guiding entity model and a guiding groove of the target bone based on the planning parameters, the instrument parameters and the cartilage compensation joint model comprises: Based on the planning parameters and the instrument parameters, determining the surgical operation position and surgical operation direction of the target bone in the cartilage compensation joint model; Based on each surgical operation position and surgical operation direction, the standard surgical operation guide groove model is stretched toward the surgical operation direction in the cartilage compensation joint model to generate a guide entity model of the target bone; and the standard guide groove in the stretched standard surgical operation guide groove model is used as the guide groove of the target bone.

8. The method according to claim 6, It is characterized in that The method of generating a positioning guide entity model and a guide hole of the target bone based on the planning parameters, the instrument parameters and the cartilage compensation joint model comprises: Based on the planning parameters, the instrument parameters and the preset safety distance constraints, determining the hole positions and hole directions of a plurality of positioning guide holes in the cartilage compensation joint model; Based on the positions and directions of each hole, the standard guide hole model is stretched in the cartilage compensation joint model in the direction of each hole to generate a positioning guide entity model of the target bone; and the standard guide holes in the stretched standard guide hole model are used as guide holes of the target bone.

9. A design device for an orthopedic surgical guide. It is characterized in that The device comprises: An acquisition module, used for acquiring a joint model of a target joint, wherein the target joint includes a target bone; A compensation module, used for performing cartilage compensation on the target bone in the joint model to obtain a cartilage compensated joint model of the target joint; A model generation module is used to generate an orthopedic surgical guide model of a target bone in the target joint based on the cartilage compensation joint model.

10. An orthopedic surgical guide, It is characterized in that The orthopedic surgical guide is designed by the method described in any one of claims 1 to 8 or the design device described in claim 9.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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