Preoperative planning method and medical equipment

Abstract

The embodiment of the invention is suitable for the technical field of medical treatment, and provides a preoperative planning method and medical device.The method comprises the steps that according to a first three-dimensional model corresponding to a target skeleton, the feature axis of the target skeleton and the feature point of the target skeleton are determined; according to a preset space coordinate system and the feature axis of the target skeleton, adjusting the pose of the target skeleton of the first three-dimensional model to obtain a second three-dimensional model; and determining a target osteotomy direction and a target osteotomy position in the second three-dimensional model according to the feature points, the feature axis and the osteotomy planning parameters. By adopting the method, the time required by the knee joint replacement operation can be shortened.

Description

Technical Field

[0001] This application belongs to the field of medical technology, and particularly relates to a preoperative planning method and a medical device. Background Art

[0002] As a major load-bearing joint of the whole body, with factors such as long-term human movement and aging, the probability of knee joint diseases will gradually increase. Currently, when serious knee joint diseases occur, total knee arthroplasty (TKA) is usually used for treatment to restore the knee joint function of patients.

[0003] Among them, in order to reduce the probability of complications occurring in the total knee joint after surgery, it is necessary to determine the osteotomy position and osteotomy direction for appropriate osteotomy during the replacement surgery to place a prosthesis of appropriate size. Currently, factors such as the osteotomy position, osteotomy direction, and the size and model of the prosthesis are usually determined relying on the doctor's experience.

[0004] However, when the osteotomy position and osteotomy direction determined by experience are inappropriate, multiple osteotomies may be required until the osteotomy position and osteotomy direction meet the requirements. Furthermore, multiple osteotomies will not only increase the surgical burden but also increase the time required for the surgery. Summary of the Invention

[0005] The embodiments of this application provide a preoperative planning method, device, medical device, and storage medium, which can solve the problem of consuming a relatively long surgical time when performing osteotomy on the affected area during the surgery.

[0006] In a first aspect, the embodiments of this application provide a preoperative planning method, which includes:

[0007] Determine the characteristic axis and characteristic points of the target bone according to the first three-dimensional model corresponding to the target bone;

[0008] Adjust the pose of the target bone of the first three-dimensional model according to the preset spatial coordinate system and the characteristic axis of the target bone to obtain a second three-dimensional model;

[0009] Determine the target osteotomy direction and target osteotomy position in the second three-dimensional model according to the characteristic points, characteristic axis, and osteotomy planning parameters.

[0010] In a second aspect, the embodiments of this application provide a preoperative planning device, which includes:

[0011] A first determination module, configured to determine the characteristic axis and characteristic points of the target bone according to the first three-dimensional model corresponding to the target bone;

[0012] An adjustment module, configured to adjust the pose of the target bone of the first three-dimensional model according to a preset spatial coordinate system and the characteristic axis of the target bone, so as to obtain a second three-dimensional model;

[0013] A second determination module, configured to determine a target osteotomy direction and a target osteotomy position in the second three-dimensional model according to the feature points, the feature axis, and the osteotomy planning parameters.

[0014] In a third aspect, an embodiment of the present application provides a medical device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method according to the first aspect above is implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to the first aspect above is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a medical device, the medical device is enabled to execute the method according to the first aspect above.

[0017] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: The medical device can first obtain the first three-dimensional model of the target bone of the target object, and determine the characteristic axis of the target bone and the feature points of the target bone from the first three-dimensional model. Then, to facilitate the doctor to intuitively and conveniently determine the target osteotomy direction and the target osteotomy position, the medical device can adjust the pose of the target bone of the first three-dimensional model according to the spatial position relationship between the preset spatial coordinate system and the characteristic axis to obtain a second three-dimensional model. Finally, since the osteotomy planning parameters can describe the osteotomy relationship between the target osteotomy direction, the target osteotomy position, and the characteristic axis, the medical device can accurately determine the target osteotomy direction and the target osteotomy position that meet the osteotomy planning parameters in the second three-dimensional model. Furthermore, the osteotomy plan can be accurately determined before the operation, without performing multiple osteotomy behaviors during the operation, reducing the doctor's surgical burden and the time required for the operation. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a flowchart of the implementation of a preoperative planning method provided by an embodiment of the present application;

[0020] Figure 2 It is a schematic diagram of an implementation manner for reconstructing a first three-dimensional model in a preoperative planning method provided by an embodiment of the present application;

[0021] Figure 3 It is the image data of a target bone in a preoperative planning method provided by an embodiment of the present application;

[0022] Figure 4 It is a schematic structural diagram of a three-dimensional bone model of each bone of a target bone in a preoperative planning method provided by an embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of an application scenario for two-dimensional and three-dimensional registration of a three-dimensional model of a target bone and each bone in the full-length lower limb image data in a preoperative planning method provided by an embodiment of the present application;

[0024] Figure 6 It is a schematic structural diagram of the tibia in a preoperative planning method provided by an embodiment of the present application;

[0025] Figure 7 It is a schematic structural diagram of the tibia in a preoperative planning method provided by another embodiment of the present application;

[0026] Figure 8 It is a schematic structural diagram of the tibia in a preoperative planning method provided by still another embodiment of the present application;

[0027] Figure 9 It is a schematic structural diagram of the femur in a preoperative planning method provided by an embodiment of the present application;

[0028] Figure 10 It is a schematic structural diagram of the femur in a preoperative planning method provided by an embodiment of the present application;

[0029] Figure 11 It is a schematic structural diagram of the femur in a preoperative planning method provided by another embodiment of the present application;

[0030] Figure 12 It is a schematic diagram of an application scenario for adjusting the first three-dimensional model in a preoperative planning method provided by an embodiment of the present application;

[0031] Figure 13 It is a schematic structural diagram of the adjusted second three-dimensional model in a preoperative planning method provided by an embodiment of the present application;

[0032] Figure 14 It is a schematic structural diagram of the adjusted second three-dimensional model in a preoperative planning method provided by another embodiment of the present application;

[0033] Figure 15It is a schematic diagram of an application scenario for determining the mechanical axis of the femur in a preoperative planning method provided by an embodiment of the present application;

[0034] Figure 16 It is a schematic structural diagram of a preoperative planning device provided by an embodiment of the present application;

[0035] Figure 17 It is a schematic structural diagram of a medical device provided by an embodiment of the present application. Detailed implementation manners

[0036] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0037] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0038] In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used for differential description and cannot be understood as indicating or implying relative importance.

[0039] As the main weight-bearing joint of the whole body, with the long-term movement of the human body, aging, and external environmental factors (such as traffic accidents or long-term exposure to a humid environment), the probability of knee joint diseases will gradually increase. Currently, when a serious knee joint disease occurs, total knee arthroplasty is usually used for treatment to restore the knee joint function of the patient.

[0040] Among them, in order to reduce the probability of complications occurring in the total knee joint after surgery, it is necessary to determine the osteotomy position and osteotomy direction for appropriate osteotomy during the replacement surgery to place a prosthesis of appropriate size. Currently, factors such as the osteotomy position, osteotomy direction, and the size and model of the prosthesis are usually determined relying on the doctor's experience.

[0041] However, when the osteotomy position and osteotomy direction determined by experience are inappropriate, multiple osteotomies are required until the osteotomy position and osteotomy direction meet the requirements.

[0042] Specifically, the doctor can preoperatively perform imaging scans on the affected area (knee joint area) of the patient through a scanning device, and then make a preliminary judgment and osteotomy plan based on the imaging data. That is, the osteotomy direction and osteotomy position are initially determined. After that, during the operation, the doctor combines the actual situation and experience at the knee joint area to determine the osteotomy position and osteotomy direction again. Moreover, when performing the osteotomy operation with the aid of surgical instruments, a measuring tool is also needed to judge whether the current osteotomy is appropriate. At this time, if it is determined to be inappropriate, the doctor needs to determine the osteotomy direction and osteotomy position for the second time based on the effect and experience after the first osteotomy. Repeat the above osteotomy behavior until the osteotomy is appropriate. That is to say, the current knee joint replacement surgery relies relatively heavily on the doctor's clinical practice experience, and the osteotomy accuracy is prone to deviation. During the operation, multiple osteotomies may be required to adjust the osteotomy direction and osteotomy position. Furthermore, multiple osteotomies not only increase the doctor's surgical burden but also increase the operation time required.

[0043] Based on this, in order to reduce the doctor's surgical burden and the operation time required, the embodiment of the present application provides a preoperative planning method. The method can be applied to medical devices such as tablet computers, notebook computers, Ultra-Mobile Personal Computers (UMPCs), and netbooks. The embodiment of the present application does not impose any restrictions on the specific type of medical device.

[0044] Please refer to Figure 1 , Figure 1 which shows the implementation flowchart of a preoperative planning method provided by the embodiment of the present application. The method includes the following steps:

[0045] S101. Determine the characteristic axis and characteristic points of the target bone according to the first three-dimensional model corresponding to the target bone.

[0046] In one embodiment, the above target bone is the part where osteotomy needs to be performed. In this embodiment, osteotomy can be performed on each bone in the knee joint. Therefore, the above affected area can be considered as each bone part of the patient's knee joint.

[0047] Exemplarily, when osteotomy needs to be performed on the tibia, the above affected area includes at least the tibia part; and when osteotomy needs to be performed on the femur, the above affected area includes at least the femur part.

[0048] In one embodiment, the medical device can obtain the first three-dimensional model according to the imaging data of the target bone.

[0049] Among them, the above-mentioned image data includes, but is not limited to, CT (Computed Tomography) images formed after CT scans and X-ray films after X-ray scans, and there is no limitation in this regard. For example, the above-mentioned image data may include knee joint CT images, full-length anteroposterior X-ray films of the lower limbs, and full-length CT images of the lower limbs, and there is no limitation in this regard. It should be added that the above-mentioned full length of the lower limbs includes all the limbs of the patient's lower body. That is, the full length of the lower limbs includes all the bones of the knee joint in the lower body. For example, it may include multiple bones such as the tibia, femur, patella, and fibula.

[0050] As an example, in order to improve the accuracy between the positions of each bone in the reconstructed first three-dimensional model, in this embodiment, the medical device can generate the first three-dimensional model through steps S201 - S203 as shown in Figure 2 as follows:

[0051] S201. Obtain the two-dimensional image and three-dimensional model of the target bone of the target object.

[0052] In this embodiment, the above two-dimensional images are taken as an example of knee joint CT images and full-length anteroposterior X-ray films of the lower limbs. Specifically, referring to Figure 3 , Figure 3 is the image data of the target bone in a preoperative planning method provided by an embodiment of the present application. Figure 3 In, the P1 image is the obtained knee joint image data (partial knee joint image data), and the P2 image is the obtained full-length image data of the lower limbs. From Figure 3 , it can be seen that the full-length image data of the lower limbs contains all the bones of the patient's lower body, while the knee joint image data may only include the image data of the target bone.

[0053] It should be noted that CT scanning uses computer tomography technology to collect the attenuation coefficients of X-rays after passing through bones for imaging. Among them, the attenuation coefficients of different bones may be different, so that the display grayscales of each bone in the knee joint image data may be different. Based on this, it can be considered that the different degrees of grayscales in the P1 image represent the bone images corresponding to each bone in the knee joint.

[0054] Based on the above description, when segmenting the bone images in the knee joint image data, the medical device can segment the bone images according to the pixel values of each pixel point in the knee joint image data to obtain the two-dimensional bone images of each bone in the knee joint image data. Among them, the number of bones in the knee joint can be 1 or multiple, and there is no limitation in this regard.

[0055] In one embodiment, the three-dimensional model of the target bone can be obtained by three-dimensionally reconstructing two-dimensional bone images. The reconstruction methods include, but are not limited to: based on a pre-trained deep learning algorithm, or using three-dimensional reconstruction software (such as GStudio Max, Avizo / Amira, Mimics, ORS / Dragonfly) to reconstruct two-dimensional bone images, and there is no limitation in this regard.

[0056] In one embodiment, referring to Figure 4 , Figure 4 is a schematic structural diagram of the three-dimensional bone models of each bone of the target bone in a preoperative planning method provided by an embodiment of the present application. Among them, different levels of gray scale represent the three-dimensional bone models corresponding to each bone in the knee joint.

[0057] S202. Register the two-dimensional image and the three-dimensional model to obtain a registration relationship.

[0058] S203. Adjust the three-dimensional model according to the registration relationship to obtain a first three-dimensional model corresponding to the target bone.

[0059] It should be noted that if a three-dimensional model is directly reconstructed from knee joint CT images, the relative positions of the bones in the reconstructed first three-dimensional model may change due to image noise or the problem of two-dimensional and three-dimensional data registration errors in the data reconstruction registration process. Therefore, it is necessary to register the two-dimensional image and the three-dimensional model to obtain a registration relationship, and adjust the three-dimensional model based on the registration relationship.

[0060] In one embodiment, adjusting the positions of the bones in the three-dimensional model can be: registering each three-dimensional model (for example, the three-dimensional models corresponding to the femur, tibia, patella, and fibula) with each bone in the full-length lower limb image data of the patient in a two-dimensional and three-dimensional manner. That is, the positions of the three-dimensional bone models corresponding to the femur, tibia, patella, and fibula are adjusted to be consistent with the positions of the femur, tibia, patella, and fibula in the full-length lower limb image data, respectively.

[0061] Exemplarily, referring to Figure 5 , Figure 5 is a schematic diagram of an application scenario of two-dimensional and three-dimensional registration of the three-dimensional model of the target bone and each bone in the full-length lower limb image data in a preoperative planning method provided by an embodiment of the present application. Among them, Figure 5 The P3 part in represents the three-dimensional model and two-dimensional image whose positions have been registered.

[0062] Based on this, in this embodiment, since the full-length lower limb image data is usually the image data collected when the patient is standing, the relative positional relationship between each bone is precise. Therefore, when registering and adjusting the positions of each 3D bone model based on the full-length lower limb image data, the relative positions of each bone in the adjusted first 3D model can also be made consistent with the actual relative positions of each bone of the patient. Furthermore, the accuracy between the positions of each bone in the first 3D model can be improved, and the bone reconstruction effect can be enhanced.

[0063] In one embodiment, the methods for determining the characteristic axes and characteristic points of different bones are all different. In this embodiment, for different types of bones, the generated characteristic axes and characteristic points can be set according to the actual situation, and no limitation is imposed thereon.

[0064] It should be noted that the medical device can first determine the image positions of the characteristic points and the image positions of each bone point (for example, the center point of the tibial knee joint and the center point of the ankle joint) corresponding to the generated characteristic axis in the two-dimensional full-length lower limb image data. Then, according to the preset information of the human bone database, the depth information corresponding to the characteristic points and each bone point is determined. Furthermore, in combination with the image positions, the depth information, and the above registration relationship, the model positions of the characteristic points and each bone point in the first 3D model are determined. Then, based on the model positions of each bone point in the first 3D model, the corresponding characteristic axis is generated in the first 3D model. That is, the characteristic points and the characteristic axis are determined from the first 3D model.

[0065] As an example, referring to Figure 5 , when the bone points corresponding to the characteristic axis respectively include the center point of the femoral head and the center point of the ankle joint, the center point A of the femoral head and the center point B of the ankle joint can be first determined in the full-length lower limb image data. Then, based on the image positions, the depth information, and the position registration relationship, the model positions of the center point A of the femoral head and the center point B of the ankle joint in the first 3D model are determined.

[0066] In another embodiment, the medical device can also input the first 3D model into the bone recognition network model according to a pre-trained bone recognition network model to obtain the characteristic points and the characteristic axis. In this embodiment, no limitation is imposed on the method for determining the characteristic points and the characteristic axis.

[0067] In this embodiment, for the sake of explanation, taking the types of bones as the tibia and the femur as examples, the methods for determining the characteristic points and the characteristic axes corresponding to the tibia and the femur respectively are described in detail as follows:

[0068] As an example, when the target bone is the tibia, the first three-dimensional model is the first three-dimensional model of the tibia. The characteristic axes can be the mechanical axis of the tibia and the anteroposterior axis of the tibia, and the characteristic point is the tibial osteotomy reference point. At this time, the medical device can determine the lowest point on the medial side of the tibial plateau or the lowest point on the lateral side of the tibial plateau of the tibia according to the first three-dimensional model, and determine the lowest point on the medial side of the tibial plateau or the lowest point on the lateral side of the tibial plateau as the characteristic point.

[0069] Exemplarily, referring to Figure 6 , Figure 6 is a schematic structural diagram of the tibia in a preoperative planning method provided by an embodiment of the present application. Among them, H is the lowest point on the medial side of the tibial plateau, and I is the lowest point on the lateral side of the tibial plateau.

[0070] In addition, the medical device can determine the mechanical axis of the tibia and the anteroposterior axis of the tibia according to the first three-dimensional model, and determine the mechanical axis of the tibia and the anteroposterior axis of the tibia as the characteristic axes.

[0071] Specifically, the medical device can determine the center point of the ankle joint and the center point of the tibial knee joint according to the first three-dimensional model, and determine the connection line between the center point of the ankle joint and the center point of the tibial knee joint as the mechanical axis of the tibia. And, according to the first three-dimensional model, determine the tibial tuberosity node and the center point of the insertion of the posterior cruciate ligament of the tibia, and determine the connection line between the tibial tuberosity node and the center point of the insertion of the posterior cruciate ligament of the tibia as the anteroposterior axis of the tibia.

[0072] Among them, the tibial tuberosity node can be any point on the tibial tuberosity. However, if the anteroposterior axis of the tibia is generated based on any point, the anteroposterior axis of the tibia usually cannot well represent the anteroposterior positional relationship of the tibia. For example, when the connection line between the medial point of the tibial tuberosity or the lateral point of the tibial tuberosity and the center point of the insertion of the posterior cruciate ligament of the tibia is determined as the anteroposterior axis of the tibia, the tibia will be biased towards the medial or lateral side of the anteroposterior axis of the tibia relative to the anteroposterior axis of the tibia, and the anteroposterior positional relationship of the tibia cannot be represented.

[0073] Based on this, in order to enable the generated anteroposterior axis of the tibia to significantly represent the anteroposterior positional relationship of the tibia, in this embodiment, the medical device can first determine the medial point and the lateral point of the tibial tuberosity according to the first three-dimensional model. Then, determine the trisection point on the connection line between the medial point and the lateral point of the tibial tuberosity that is close to the medial point of the tibial tuberosity. Finally, the trisection point can be determined as the tibial tuberosity node, so as to determine the connection line between the trisection point and the center point of the insertion of the posterior cruciate ligament of the tibia as the anteroposterior axis of the tibia.

[0074] Exemplarily, referring to Figure 7 , Figure 7It is a schematic diagram of the structure of the tibia in a preoperative planning method provided by another embodiment of the present application. Among them, point C is the center point of the tibial knee joint, and point B is the center point of the ankle joint. The line L1 connecting point C and point B is the above-mentioned tibial mechanical axis. Among them, the center point B of the ankle joint is not shown in Figure 7 and can be specifically referred to Figure 5 for the center point of the ankle joint corresponding to point B.

[0075] In addition, refer to Figure 8 , Figure 8 It is a schematic diagram of the structure of the tibia in a preoperative planning method provided by another embodiment of the present application. Among them, the images corresponding to P4, P5, and P6 are the tibial structures at different angles. Among them, Figure 8 , D is the medial point of the tibial tubercle, point E is the lateral point of the tibial tubercle, and point G is the center point of the attachment of the posterior cruciate ligament of the tibia. The line segment between point D and point E is the tibial tubercle line segment, and point F is the 1 / 3 point of the tibial tubercle line segment. That is, the trisection point. Among them, it can be considered that the ratio of the length of the line segment between point D and point F to the length of the tibial tubercle line segment DE is 1 / 3.

[0076] It can be understood that point G in the P4 image corresponds to point G in the P5 image, and point F in the P6 image corresponds to point F in the P5 image. Based on this, in the P5 image, the line L2 connecting point G and point F is the anterior-posterior axis of the tibia generated based on the center point of the attachment of the posterior cruciate ligament of the tibia and the trisection point.

[0077] It should be added that the method for determining the lowest point of the medial tibial plateau, the lowest point of the lateral tibial plateau, the tibial knee joint point, the medial point of the tibial tubercle, the lateral point of the tibial tubercle, and the center point of the attachment of the posterior cruciate ligament of the tibia from the first three-dimensional model can be similar to the method for determining the center point A of the femoral head and the center point B of the ankle joint, and will not be described herein again.

[0078] In another embodiment, the medical device can also fit the shaft of the tibia of the first three-dimensional model to obtain the tibial anatomical axis. Then, the intersection point of the tibial anatomical axis and the tibial plateau is used as the center point of the tibial knee joint.

[0079] It should be particularly noted that the center point of the tibial knee joint, the center point of the ankle joint, the medial point of the tibial tubercle, the medial point of the tibial tubercle, and the center point of the attachment of the posterior cruciate ligament of the tibia can all be used to accurately represent each joint part. If any point in the tibial knee joint, ankle joint, tibial tubercle, and posterior cruciate ligament of the tibia is used for representation, the generated tibial mechanical axis and anterior-posterior axis of the tibia may not be able to well represent the relative spatial positions between various positions in the tibia. For example, the generated anterior-posterior axis of the tibia can significantly represent the anterior-posterior position relationship of the tibia.

[0080] In summary, the above content is an example description of determining the tibial mechanical axis, the anterior-posterior axis of the tibia, and the characteristic points of the tibia from the first three-dimensional model.

[0081] Similar to the above method for determining the tibial mechanical axis and the tibial osteotomy reference point, when the target is the femur, the femur mechanical axis and the femur osteotomy reference point can be determined in the following way.

[0082] It can be understood that when the target is the femur, the first three-dimensional model is the first three-dimensional model of the femur, the characteristic axes are the femur mechanical axis and the anterior-posterior axis of the femur, and the characteristic points are the femur osteotomy reference points. At this time, the medical device can determine the lowest point of the medial femoral condyle or the lowest point of the lateral femoral condyle of the femur according to the first three-dimensional model, and determine the lowest point of the medial femoral condyle or the lowest point of the lateral femoral condyle as the characteristic point.

[0083] Exemplarily, referring to Figure 9 , Figure 9 is a schematic structural diagram of the femur in a preoperative planning method provided by an embodiment of the present application. Among them, M is the lowest point of the medial femoral condyle, and N is the lowest point of the lateral femoral condyle.

[0084] In addition, the medical device can determine the femur mechanical axis and the anterior-posterior axis of the femur according to the first three-dimensional model, and determine the femur mechanical axis and the anterior-posterior axis as the characteristic axes.

[0085] Specifically, the medical device can determine the center point of the femoral head, the center point of the femoral knee joint, the most convex point of the medial posterior femoral condyle, and the most convex point of the lateral posterior femoral condyle according to the first three-dimensional model. Then, the connection line between the center point of the femoral head and the center point of the femoral knee joint is determined as the femur mechanical axis; and the connection line between the most convex point of the medial posterior femoral condyle and the most convex point of the lateral posterior femoral condyle is determined as the anterior-posterior axis of the femur.

[0086] Exemplarily, referring to Figure 10 , Figure 10 is a schematic structural diagram of the femur in a preoperative planning method provided by an embodiment of the present application. Among them, point A is the center point of the femoral head, and point J is the center point of the femoral knee joint. The connection line L3 between point A and point J is the above-mentioned first femur mechanical axis. Among them, the center point A of the femoral head is not drawn in Figure 10 , and specifically, the center point of the femoral head corresponding to point A in Figure 5 can be referred to.

[0087] In addition, referring to Figure 11 , Figure 11It is a schematic structural diagram of the femur in a preoperative planning method provided by another embodiment of the present application. Among them, the images corresponding to P7 and P8 are the femur structures at different angles. Among them, the K point represents the most convex point of the medial posterior condyle of the femur, and the L point represents the most convex point of the lateral posterior condyle of the femur. Among them, the connecting line L4 between the K point and the L point is the above-mentioned second femoral mechanical axis.

[0088] It should be added that the method for determining the lowest point of the medial condyle of the femur, the lowest point of the lateral malleolus of the femur, the center point of the femoral knee joint, the most convex point of the medial posterior condyle of the femur, and the most convex point of the lateral posterior condyle of the femur from the first three-dimensional model can be similar to the method for determining the center point A of the femoral head and the center point B of the ankle joint above, and will not be described in detail here.

[0089] It should also be noted that the center point of the femoral head, the center point of the femoral knee joint, the most convex point of the medial posterior condyle of the femur, and the most convex point of the lateral posterior condyle of the femur can all be used to accurately represent each joint part. If any point among the femoral head, the femoral knee joint, and the posterior malleolus of the femur is used for representation, the generated femoral mechanical axis and femoral anteroposterior axis may also not be able to well represent the relative spatial positions among various positions in the femur. For example, the generated femoral anteroposterior axis can significantly represent the anteroposterior position relationship of the femur.

[0090] In summary, the above content is an example description of determining the femoral mechanical axis, femoral anteroposterior axis, and characteristic points of the femur from the first three-dimensional model.

[0091] S102. Adjust the pose of the target bone of the first three-dimensional model according to the preset spatial coordinate system and the characteristic axis of the target bone to obtain a second three-dimensional model.

[0092] In one embodiment, the above preset spatial coordinate system can be a Cartesian spatial coordinate system, a spherical coordinate system, etc., and is not limited thereto. In this embodiment, the above preset spatial coordinate system can be a Cartesian spatial coordinate system.

[0093] Specifically, the medical device can adjust the pose of the target bone of the first three-dimensional model by rotation and / or translation, so that the characteristic axis of the target bone forms a preset positional relationship with the coordinate axes of the preset spatial coordinate system to obtain a second three-dimensional model; wherein, the preset positional relationship includes perpendicular and / or parallel.

[0094] Among them, the above preset positional relationship can be set in advance according to the actual situation and is not limited thereto. Exemplarily, the above preset positional relationship can be a positional relationship in which the characteristic axis is parallel and / or perpendicular to the coordinate axes in the spatial coordinate system, or parallel and / or perpendicular to the plane containing the preset coordinate axes, and is not limited thereto.

[0095] It should be noted that adjusting the positional relationship between the characteristic axis and the spatial coordinate system to a preset positional relationship can uniformly and conveniently display the position of each bone in the preset spatial coordinate system in the second three-dimensional model, thereby facilitating the subsequent determination of the osteotomy position and osteotomy direction of the bone from the second three-dimensional model.

[0096] As an example, since the characteristic axes include the mechanical axis and the anterior-posterior axis of the target bone, the above-mentioned preset position relationship can be a position relationship in which the mechanical axis is parallel to or coincides with the preset coordinate axis in the spatial coordinate system, and / or the anterior-posterior axis is parallel to or coincides with the plane containing the preset coordinate axis.

[0097] Moreover, in order to further facilitate the display of the positions of each bone in the second three-dimensional model in the preset spatial coordinate system, the mechanical axis can be first translated to coincide with the preset coordinate axis in the spatial coordinate system, and then the second three-dimensional model can be controlled to rotate around the preset coordinate axis so that the front-back axis is parallel to the plane containing the preset coordinate axis.

[0098] Exemplarily, the preset coordinate axis may be any one of the X axis, the Y axis and the Z axis. Exemplarily, when the Z axis is the preset coordinate axis, the plane including the preset coordinate axis is the XOZ plane or the YOZ plane.

[0099] As an example, see Figure 12 , Figure 12 This is a schematic diagram of an application scenario of adjusting the first three-dimensional model in a preoperative planning method provided by an embodiment of the present application. Among them, the medical device can first make the mechanical axis coincide with or be parallel to the Z axis, and then, for the front and back axes of the skew structures, the first three-dimensional model can be controlled to rotate left and right around the mechanical axis to adjust the direction of the front and back axes until it is parallel to the YOZ plane or the XOZ plane. Figure 12 In the example above, after rotation, the front and rear axes will be parallel to the YOZ plane.

[0100] In a specific embodiment, the target bone is the tibia, the preset coordinate axis is the Z axis, and the plane containing the preset coordinate axis is the YOZ plane. Figure 13 , Figure 13 It is a schematic diagram of the structure of the adjusted second three-dimensional model in a preoperative planning method provided in an embodiment of the present application. The images corresponding to P9, P10, and P11 are the structures of the second three-dimensional model at different angles.

[0101] In the process of adjusting the first three-dimensional model based on the preset position relationship, the tibia mechanical axis L1 can be perpendicular to the cross-section (reflected in the preset spatial coordinate system, that is, L1 coincides with the Z axis), and then, the first three-dimensional model is controlled to rotate around the L1 axis (Z axis) so that the anterior-posterior axis L2 of the tibia in the final second three-dimensional model is parallel to the sagittal plane (reflected in the preset spatial coordinate system, that is, L2 is parallel to the YOZ plane).

[0102] It should be noted that the sagittal plane and the cross-sectional plane are both anatomical terms. Related terms also include the coronal plane, which will not be elaborated here.

[0103] In another specific embodiment, taking the target bone as the femur and the preset coordinate axis as the Z axis, and taking the plane containing the preset coordinate axis as the XOZ plane as an example for illustration. Refer to Figure 14 , Figure 14 is a schematic structural diagram of the adjusted second three-dimensional model in a preoperative planning method provided by an embodiment of the present application. The images corresponding to P12, P13, and P14 are the structural diagrams of the second three-dimensional model of the femur at different angles.

[0104] Similar to the way of adjusting the first three-dimensional model, during the process of adjusting the first three-dimensional model based on the preset positional relationship, the mechanical axis L3 of the femur can be made perpendicular to the cross-sectional plane (which means L3 coincides with the Z axis in the preset space coordinate system). Then, control the first three-dimensional model to rotate around the L3 axis (Z axis) so that the anterior-posterior axis L4 of the femur in the final second three-dimensional model of the femur is parallel to the coronal plane (which means L4 is parallel to the XOZ plane in the preset space coordinate system).

[0105] It should be particularly noted that the purpose of adjusting the mechanical axis to be parallel to the preset coordinate axis in the space coordinate system and the anterior-posterior axis to be parallel to the plane containing the preset coordinate axis is to make the spatial position of the adjusted second three-dimensional model unique in the preset space coordinate system. Furthermore, it is beneficial to determine the target osteotomy direction and target osteotomy position based on the osteotomy planning parameters in the subsequent steps.

[0106] It can be understood that if only the mechanical axis is adjusted to be parallel to the preset coordinate axis, there may be multiple situations for the orientation of the anterior-posterior axis, resulting in the unfixed model position of the adjusted second three-dimensional model in the preset space coordinate system. At this time, the osteotomy planning parameters in the subsequent steps will not be directly applicable to the second three-dimensional model. That is, the medical device cannot determine the target osteotomy direction and target osteotomy position based on the osteotomy planning parameters, and thus cannot complete the planning of the osteotomy plan before the operation.

[0107] S103. Determine the target osteotomy direction and target osteotomy position in the second three-dimensional model according to the feature points, feature axes, and osteotomy planning parameters.

[0108] In an embodiment, in S102 above, the feature axis is adjusted so that its relative spatial position relationship with the space coordinate system is the preset positional relationship. Based on this, the medical device can directly determine the target osteotomy direction and target osteotomy position from the second three-dimensional model according to the pre-determined osteotomy planning parameters that can describe the relative spatial position relationship among the target osteotomy direction, target osteotomy position, feature points, and feature axes.

[0109] In one embodiment, the above osteotomy planning parameters include, but are not limited to, the above prosthesis size, prosthesis model, the angle between the osteotomy plane corresponding to the target osteotomy direction and the characteristic axis, and the distance between the osteotomy plane corresponding to the target osteotomy direction and the characteristic point.

[0110] Among them, the above osteotomy planning parameters can be pre-generated after communication between the doctor and the patient. It can be considered that the pre-osteotomy parameters are used to describe the relative spatial position relationship between the target osteotomy direction, the target osteotomy position, the target osteotomy reference point, and the target bone mechanical axis. And, after determining the target osteotomy direction and the target osteotomy position based on the osteotomy planning parameters, it can also be confirmed by the doctor and the patient whether it meets the requirements. If it meets the requirements, the target osteotomy direction and the target osteotomy position are output. Otherwise, adjust according to the requirements of the doctor and the patient.

[0111] As an example, the target bone is taken as the tibia for explanation:

[0112] In the second three-dimensional model, the medical device can determine the tibia osteotomy plane with an included angle of the first preset angle with the tibia mechanical axis and a distance of the first preset distance from the lowest point on the outer side of the tibial plateau or the lowest point on the inner side of the tibial plateau. Then, determine the tibia osteotomy direction according to the tibia osteotomy plane, and determine the tibia osteotomy position according to the position of the tibia osteotomy plane and the intersection plane of the tibia.

[0113] Among them, the osteotomy planning parameters include the first preset angle and the first preset distance. It should be noted that for different characteristic points, the first preset distances corresponding to the lowest point on the outer side of the tibial plateau or the lowest point on the inner side of the tibial plateau can be the same or different, and this is not limited.

[0114] Specifically, refer to Figure 13 , where, when determining the tibia osteotomy plane and the tibia osteotomy position, the tibia mechanical axis is mainly used as a reference for determination. Specifically, Figure 13 F1 in is the tibia osteotomy plane, h1 is the first preset distance corresponding to the above-mentioned outer point of the tibial plateau, h2 is the first preset distance corresponding to the lowest point on the inner side of the tibial plateau, a1° is the varus / valgus angle of the tibia side osteotomy, and a2° is the posterior tilt angle of the tibia. And, take Figure 13 One of H as the lowest point on the inner side of the tibial plateau and I as the lowest point on the outer side of the tibial plateau in as a characteristic point.

[0115] Among them, initially, a1° is usually 0°. That is, when observed from the coronal plane, the included angle between the tibia osteotomy plane and the L1 axis of the tibia mechanical axis is 90°. However, when observed from the sagittal plane, the included angle between the tibia osteotomy plane and the L1 axis of the tibia mechanical axis is 90° - a2°.

[0116] Based on this, when the lowest point on the lateral side of the tibial plateau is used as the feature point, the tibial osteotomy position and the tibial osteotomy direction can be determined from the sagittal plane. For example, referring to the P11 image, the medical device can first generate multiple initial tibial osteotomy planes that form a first preset angle with the L1 axis (when the doctor adjusts a1°, the first preset angle 90° - a2° will also change correspondingly). Then, calculate the distance from the lowest point I on the lateral side of the tibial plateau to each initial tibial osteotomy plane, and determine the initial osteotomy plane corresponding to the first preset distance h1 as the final tibial osteotomy plane. Furthermore, generate the tibial osteotomy plane F1 as shown in the P11 image.

[0117] Similarly, when the lowest point on the medial side of the tibial plateau is used as the feature point, referring to the P9 image, the medical device can first generate multiple initial tibial osteotomy planes that form a first preset angle with the L1 axis based on the first preset angle. Then, calculate the distance from point H to each initial tibial osteotomy plane, and determine the initial tibial osteotomy plane corresponding to the first preset distance h2 as the final tibial osteotomy plane. Furthermore, generate the tibial osteotomy plane F1 as shown in the P9 image.

[0118] As an example, the varus / valgus angle a1 of the tibial side osteotomy is usually 0°. And the posterior tibial tilt angle is usually 0° to 18°. In this embodiment, the posterior tibial tilt angle a2 can be set to 7°, that is, when observed from the sagittal plane, the first preset angle between the tibial osteotomy plane and the tibial mechanical axis is 90° - a2°. Among them, both a1 and a2 can be adjusted in advance by the doctor according to the actual situation, and then the medical device calculates the corresponding first preset angle 90° - a2°.

[0119] In addition, the first preset distance h1 corresponding to the lateral point of the tibial plateau can be any distance between 6 mm and 10 mm. Exemplarily, h1 can be set to 8 mm. The first preset distance h2 corresponding to the lowest point on the medial side of the tibial plateau can be equal to h1, or greater than or less than h1, and this is not limited.

[0120] Among them, after determining the tibial osteotomy plane F1, the tibial osteotomy plane F1 can be determined as the tibial osteotomy direction, and the position of the intersection surface of the tibial osteotomy plane F1 and the tibia can be determined as the tibial osteotomy position.

[0121] As another example, the target bone is taken as the femur for explanation:

[0122] In the second three-dimensional model, the medical device determines the femoral osteotomy plane with an angle with the femoral mechanical axis as the second preset angle and a distance from the lowest point of the medial femoral condyle or the lowest point of the medial malleolus of the femur as the second preset distance. Then, determine the femoral osteotomy direction according to the femoral osteotomy plane, and determine the femoral osteotomy position according to the position of the intersection surface of the femoral osteotomy plane and the femur.

[0123] Among them, the osteotomy planning parameters include a second preset angle and a second preset distance. It should be noted that for different feature points, the second preset distances corresponding to the lowest point of the medial femoral condyle or the lowest point of the medial malleolus of the femur can be the same or different, and no limitation is made in this regard.

[0124] Specifically, referring to Figure 14 , among which, when determining the femoral osteotomy plane and the femoral osteotomy position, the femoral mechanical axis is mainly used as a reference for determination. Specifically, Figure 14 F2 in is the femoral osteotomy plane, h3 is the second preset distance corresponding to the medial femoral condyle point, h4 is the second preset distance corresponding to the lateral femoral condyle point, and a3° is the internal and external rotation angle of the femoral side osteotomy, usually 0°. That is, when observed from the coronal plane, the angle between the femoral osteotomy plane and the femoral mechanical axis L3 is 90° - a3°, and when observed from the sagittal plane, the femoral osteotomy plane is perpendicular to the femoral mechanical axis L3. That is, the angle is 90°. And, taking Figure 14 one of M as the lowest point of the medial malleolus of the femur and N as the lowest point of the lateral malleolus of the femur in as the feature point.

[0125] Among them, the above a3° is set by the doctor according to the actual situation, and after the setting, the medical device can calculate the corresponding second preset angle 90° - a3°. It can be understood that when a3° changes, the second preset angle will also change.

[0126] Based on this, when taking the lowest point M of the medial femoral condyle as the feature point, the femoral osteotomy position and the femoral osteotomy direction can be determined from the sagittal plane. For example, referring to the P13 image, the medical device can generate multiple initial femoral osteotomy planes that form a second preset angle with the L3 axis based on the first preset angle 90° - a3°. Then, calculate the distance from the M point to each initial femoral osteotomy plane, and determine the initial femoral osteotomy plane corresponding to the distance being the second preset distance h3 as the final femoral osteotomy plane. Furthermore, generate the femoral osteotomy plane F2 in the P12 image.

[0127] As an example, the second preset distance h3 corresponding to the above-mentioned medial femoral condyle point can be any distance between 6 and 10 mm. Exemplarily, h3 can take a value of 8 mm. The second preset distance h4 corresponding to the above-mentioned lateral femoral condyle point can be equal to h3, or greater than or less than h3, and no limitation is made in this regard.

[0128] Among them, after determining the femoral osteotomy plane F2, the femoral osteotomy plane F2 can be determined as the femoral osteotomy direction, and the position of the intersection surface of the femoral osteotomy plane F2 and the femur is determined as the femoral osteotomy position.

[0129] In this embodiment, the medical device may first obtain a first three-dimensional model of the target bone of the target object, and determine the characteristic axis and characteristic points of the target bone from the first three-dimensional model. Then, to facilitate the doctor to intuitively and conveniently determine the target osteotomy direction and target osteotomy position, the medical device may adjust the pose of the target bone of the first three-dimensional model according to the spatial position relationship between the preset spatial coordinate system and the characteristic axis to obtain a second three-dimensional model. Finally, since the osteotomy planning parameters can describe the osteotomy relationship between the target osteotomy direction and target osteotomy position and the characteristic axis, the medical device can accurately determine the target osteotomy direction and target osteotomy position that meet the osteotomy planning parameters in the second three-dimensional model. Furthermore, the osteotomy plan can be accurately determined before the operation, eliminating the need for multiple osteotomy actions during the operation, reducing the doctor's surgical burden and the time required for the operation.

[0130] It should be added that in another embodiment, when the collected imaging data is lower extremity full-length CT imaging data, the medical device may not need to perform the position registration process in the above steps S201 - S203. It can be understood that since the medical device has considered the positional relationship between each bone when reconstructing based on all the lower extremity bones. Therefore, the accuracy of the positions of each bone in the reconstructed first three-dimensional model is relatively high. Therefore, there is no need to perform the above position configuration process.

[0131] Also, when the collected imaging data is only the knee joint CT imaging data of the affected area, since there is no full-length lower extremity imaging data including each bone of the knee joint as a reference. Therefore, the medical device may also not need to perform the position registration process in the above steps S201 - S203. However, to enable the generated characteristic axis to more conveniently determine the target osteotomy direction, the characteristic axis can be generated in the following manner. Details are as follows:

[0132] For the tibia, when determining the tibial mechanical axis L1, the medical device may fit the proximal tibial shaft to a cylinder and determine the central axis of the cylinder as the tibial mechanical axis. The method for determining the anterior-posterior axis of the tibia remains unchanged.

[0133] Also, for the femur, when extracting the femoral mechanical axis L3, referring to Figure 15 , Figure 15It is a schematic diagram of an application scenario for determining the mechanical axis of the femur in a preoperative planning method provided by an embodiment of the present application. The medical device can also fit the distal femoral shaft to a cylinder and define the central axis of the cylinder as the femoral anatomical axis L5. Then, the intersection point W of the femoral anatomical axis L5 and the distal femoral condyle is determined (in another embodiment, this intersection point W can also be the center point J of the femoral knee joint), and the femoral anatomical axis L5 is rotated inward by a preset rotation angle around this intersection point W along a direction perpendicular to the coronal plane. Finally, the femoral anatomical axis L5 after rotating the preset angle is determined as the femoral mechanical axis L3. Among them, the determination method of the anteroposterior axis of the femur remains unchanged.

[0134] Among them, the above preset rotation angle can be set according to the actual situation and is not limited thereto. Exemplarily, the above preset rotation angle can be 6°.

[0135] Please refer to Figure 16 , Figure 16 It is a schematic structural diagram of a preoperative planning device provided by an embodiment of the present application. In this embodiment, each module included in the preoperative planning device is used to execute Figure 1 and Figure 2 each step in the corresponding embodiments. Specifically, please refer to Figure 1 and Figure 2 as well as Figure 1 and Figure 2 the relevant descriptions in the corresponding embodiments. For the sake of convenience of description, only the parts related to this embodiment are shown. Refer to Figure 16 , the preoperative planning device 1600 may include: a first determination module 1610, an adjustment module 1620, and a second determination module 1630, where:

[0136] The first determination module 1610 is configured to determine the characteristic axis and characteristic points of the target bone according to the first three-dimensional model corresponding to the target bone.

[0137] The adjustment module 1620 is configured to adjust the pose of the target bone of the first three-dimensional model according to the preset spatial coordinate system and the characteristic axis of the target bone to obtain a second three-dimensional model.

[0138] The second determination module 1630 is configured to determine the target osteotomy direction and target osteotomy position in the second three-dimensional model according to the characteristic points, characteristic axis, and osteotomy planning parameters.

[0139] In one embodiment, the target bone includes the tibia, and the first determination module 1610 is further configured to:

[0140] Based on the first three-dimensional model, determine the tibial mechanical axis and the anterior-posterior axis of the tibia, and define the tibial mechanical axis and the anterior-posterior axis of the tibia as characteristic axes; based on the first three-dimensional model, determine the lowest point on the medial side or the lowest point on the lateral side of the tibial plateau of the tibia, and define the lowest point on the medial side or the lowest point on the lateral side of the tibial plateau as a characteristic point.

[0141] In one embodiment, the first determination module 1610 is further configured to:

[0142] Based on the first three-dimensional model, determine the center point of the ankle joint and the center point of the tibial knee joint, and define the line connecting the center point of the ankle joint and the center point of the tibial knee joint as the tibial mechanical axis; based on the first three-dimensional model, determine the tibial tuberosity node and the center point of the insertion of the posterior cruciate ligament of the tibia, and define the line connecting the tibial tuberosity node and the center point of the insertion of the posterior cruciate ligament of the tibia as the anterior-posterior axis of the tibia.

[0143] In one embodiment, the first determination module 1610 is further configured to:

[0144] Based on the first three-dimensional model, determine the medial point of the tibial tuberosity and the lateral point of the tibial tuberosity; determine the trisection point on the line connecting the medial point of the tibial tuberosity and the lateral point of the tibial tuberosity that is closer to the medial point of the tibial tuberosity; define the trisection point as the tibial tuberosity node.

[0145] In one embodiment, the second determination module 1630 is further configured to:

[0146] Determine a tibial osteotomy plane that forms a first preset angle with the tibial mechanical axis and is at a first preset distance from the lowest point on the lateral side or the lowest point on the medial side of the tibial plateau; the osteotomy planning parameters include the first preset angle and the first preset distance; determine the tibial osteotomy direction based on the tibial osteotomy plane, and determine the tibial osteotomy position based on the position of the tibial osteotomy plane and the intersection plane of the tibia.

[0147] In one embodiment, the target bone includes the femur, and the first determination module 1610 is further configured to:

[0148] Based on the first three-dimensional model, determine the femoral mechanical axis and the anterior-posterior axis of the femur, and define the femoral mechanical axis and the anterior-posterior axis of the femur as characteristic axes; based on the first three-dimensional model, determine the lowest point on the medial condyle or the lowest point on the lateral condyle of the femur, and define the lowest point on the medial condyle or the lowest point on the lateral condyle of the femur as a characteristic point.

[0149] In one embodiment, the second determination module 1630 is further configured to:

[0150] According to the first three-dimensional model, determine the center point of the femoral head, the center of the femoral knee joint, the most prominent point of the medial posterior condyle of the femur, and the most prominent point of the lateral posterior condyle of the femur; determine the line connecting the center point of the femoral head and the center point of the femoral knee joint as the femoral mechanical axis; and determine the line connecting the most prominent point of the medial posterior condyle of the femur and the most prominent point of the lateral posterior condyle of the femur as the anteroposterior axis of the femur.

[0151] In one embodiment, the second determination module 1630 is further configured to:

[0152] Determine a femoral osteotomy plane whose included angle with the femoral mechanical axis is a second preset included angle and whose distance from the lowest point of the medial femoral condyle or the lowest point of the medial malleolus of the femur is a second preset distance; the osteotomy planning parameters include the second preset included angle and the second preset distance; determine the femoral osteotomy direction according to the femoral osteotomy plane, and determine the femoral osteotomy position according to the position of the femoral osteotomy plane and the intersection plane of the femur.

[0153] In one embodiment, the adjustment module 1620 is further configured to:

[0154] Adjust the pose of the target bone of the first three-dimensional model by rotation and / or translation, so that the characteristic axis of the target bone forms a preset positional relationship with the coordinate axes of the preset spatial coordinate system, and obtain a second three-dimensional model; wherein, the preset positional relationship includes perpendicular and / or parallel.

[0155] It should be understood that Figure 16 In the schematic structural diagram of the preoperative planning device shown, each module is used to execute Figure 1 and Figure 2 the respective steps in the corresponding embodiments, and for Figure 1 and Figure 2 the respective steps in the corresponding embodiments have been explained in detail in the above embodiments. For details, please refer to Figure 1 and Figure 2 as well as Figure 1 and Figure 2 the relevant descriptions in the corresponding embodiments, which will not be elaborated here.

[0156] Figure 17 FIG. is a schematic structural diagram of a medical device provided in an embodiment of the present application. As Figure 17 shown, the medical device 1700 in this embodiment includes: a processor 1710, a memory 1720, and a computer program 1730 stored in the memory 1720 and executable on the processor 1710, such as a program for the preoperative planning method. When the processor 1710 executes the computer program 1730, it implements the steps in each of the above preoperative planning method embodiments, such as Figure 1 S101 to S103 shown. Alternatively, when the processor 1710 executes the computer program 1730, it implements the functions of each module in the above Figure 16 corresponding embodiments. For example,Figure 16 For the functions of the respective modules shown, please refer specifically to Figure 16 the relevant descriptions in the corresponding embodiments.

[0157] Exemplarily, the computer program 1730 can be divided into one or more modules. One or more modules are stored in the memory 1720 and executed by the processor 1710 to implement the preoperative planning method provided by the embodiments of the present application. One or more modules can be a series of computer program instruction segments capable of completing specific functions, and these instruction segments are used to describe the execution process of the computer program 1730 in the medical device 1700. For example, the computer program 1730 can implement the preoperative planning method provided by the embodiments of the present application.

[0158] The medical device 1700 may include, but is not limited to, a processor 1710 and a memory 1720. Those skilled in the art can understand that Figure 17 these are only examples of the medical device 1700 and do not constitute a limitation on the medical device 1700. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the medical device may also include input / output devices, network access devices, buses, etc.

[0159] The so-called processor 1710 may be a central processing unit, or may also be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0160] The memory 1720 may be an internal storage unit of the medical device 1700, such as the hard disk or memory of the medical device 1700. The memory 1720 may also be an external storage device of the medical device 1700, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the medical device 1700. Further, the memory 1720 may also include both the internal storage unit and the external storage device of the medical device 1700.

[0161] The embodiments of the present application provide a computer-readable storage medium storing a computer program, and the computer program is executed by a processor to perform the preoperative planning method in the above respective embodiments.

[0162] The embodiments of the present application provide a computer program product, which, when running on a medical device, causes the medical device to perform the preoperative planning method in the above respective embodiments.

[0163] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included within the protection scope of the present application.

Claims

1. A preoperative planning method, characterized in that, The method includes: Determining a characteristic axis and characteristic points of the target bone according to a first three-dimensional model corresponding to the target bone; Adjusting the pose of the target bone of the first three-dimensional model according to a preset spatial coordinate system and the characteristic axis of the target bone to obtain a second three-dimensional model; Determining a target osteotomy direction and a target osteotomy position in the second three-dimensional model according to the characteristic points, the characteristic axis and osteotomy planning parameters.

2. The method according to claim 1, characterized in that, The target bone includes the tibia. The determining a characteristic axis and characteristic points of the target bone according to a first three-dimensional model corresponding to the target bone includes: Determining a tibial mechanical axis and a tibial anteroposterior axis of the tibia according to the first three-dimensional model, and determining the tibial mechanical axis and the tibial anteroposterior axis of the tibia as the characteristic axes; Determining the lowest point on the medial side of the tibial plateau or the lowest point on the lateral side of the tibial plateau of the tibia according to the first three-dimensional model, and determining the lowest point on the medial side of the tibial plateau or the lowest point on the lateral side of the tibial plateau as the characteristic point.

3. The method according to claim 2, characterized in that, Determining a tibial mechanical axis and a tibial anteroposterior axis of the tibia according to the first three-dimensional model includes: Determining a center point of the ankle joint and a center point of the tibial knee joint according to the first three-dimensional model, and determining a connection line between the center point of the ankle joint and the center point of the tibial knee joint as the tibial mechanical axis; Determining a tibial tuberosity node and a center point of the insertion of the posterior cruciate ligament of the tibia according to the first three-dimensional model, and determining a connection line between the tibial tuberosity node and the center point of the insertion of the posterior cruciate ligament of the tibia as the tibial anteroposterior axis.

4. The method according to claim 3, characterized in that, The determining a tibial tuberosity node according to the first three-dimensional model includes: Determining an inner point of the tibial tuberosity and an outer point of the tibial tuberosity according to the first three-dimensional model; Determining a trisection point on the connection line between the inner point of the tibial tuberosity and the outer point of the tibial tuberosity, which is close to the inner point of the tibial tuberosity; Determining the trisection point as the tibial tuberosity node.

5. The method according to claim 2, characterized in that, The determining a target osteotomy direction and a target osteotomy position in the second three-dimensional model according to the characteristic points, the characteristic axis and osteotomy planning parameters includes: Determining a tibial osteotomy plane with an included angle of a first preset angle with the tibial mechanical axis and a distance of a first preset distance from the lowest point on the lateral side of the tibial plateau or the lowest point on the medial side of the tibial plateau; the osteotomy planning parameters include the first preset angle and the first preset distance; Determining a tibial osteotomy direction according to the tibial osteotomy plane, and determining a tibial osteotomy position according to the position of the tibial osteotomy plane and the intersection plane of the tibia.

6. The method according to claim 1, characterized in that, The target bone includes the femur. The determining a characteristic axis and characteristic points of the target bone according to a first three-dimensional model corresponding to the target bone includes: Determining a femoral mechanical axis and a femoral anteroposterior axis of the femur according to the first three-dimensional model, and determining the femoral mechanical axis and the femoral anteroposterior axis as the characteristic axes; Determining the lowest point on the medial condyle of the femur or the lowest point on the lateral condyle of the femur of the femur according to the first three-dimensional model, and determining the lowest point on the medial condyle of the femur or the lowest point on the lateral condyle of the femur as the characteristic point.

7. The method according to claim 6, characterized in that, Determine the tibial mechanical axis and the anteroposterior axis of the femur according to the first three-dimensional model, including: Determine the center point of the femoral head, the center of the femoral knee joint, the most prominent point of the medial posterior condyle of the femur, and the most prominent point of the lateral posterior condyle of the femur according to the first three-dimensional model; Determine the line connecting the center point of the femoral head and the center point of the femoral knee joint as the femoral mechanical axis; and determine the line connecting the most prominent point of the medial posterior condyle of the femur and the most prominent point of the lateral posterior condyle of the femur as the anteroposterior axis of the femur.

8. The method according to claim 6, characterized in that, Determine the target osteotomy direction and the target osteotomy position in the second three-dimensional model according to the feature points, the feature axes and the osteotomy planning parameters, including: Determine a femoral osteotomy plane with an included angle of a second preset angle with the femoral mechanical axis and a distance of a second preset distance from the lowest point of the medial condyle of the femur or the lowest point of the medial malleolus; the osteotomy planning parameters include the second preset angle and the second preset distance; Determine the femoral osteotomy direction according to the femoral osteotomy plane, and determine the femoral osteotomy position according to the position of the intersection surface of the femoral osteotomy plane and the femur.

9. The method according to claim 1, characterized in that, Adjust the pose of the target bone of the first three-dimensional model according to the preset spatial coordinate system and the feature axis of the target bone to obtain a second three-dimensional model, including: Adjust the pose of the target bone of the first three-dimensional model by rotation and / or translation so that the feature axis of the target bone forms a preset positional relationship with the coordinate axes of the preset spatial coordinate system to obtain a second three-dimensional model; wherein, the preset positional relationship includes perpendicular and / or parallel.

10. A medical device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the method according to any one of claims 1 to 9 is implemented.

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