Osteotomy visualization method and storage medium

Abstract

The invention discloses an osteotomy visualization method and a storage medium. The method comprises the following steps: establishing a three-dimensional model of a to-be-cut skeleton according to the to-be-cut skeleton; determining a matched prosthesis three-dimensional model and a cutting tool three-dimensional model according to the to-be-cut skeleton; determining a cutting plane set of the skeleton to be cut according to the three-dimensional model of the skeleton to be cut and the three-dimensional model of the matched prosthesis; determining a to-be-cut area, a safe area and a reserved area of a to-be-cut bone three-dimensional model according to the cutting plane set; the position information of the cutting tool is received in real time, and then a three-dimensional model of the cutting tool at the designated position is obtained; according to the to-be-cut area, the safe area and the reserved area of the to-be-cut bone three-dimensional model and the cutting tool three-dimensional model at the designated position, the cut to-be-cut bone three-dimensional model is updated. According to the method, the to-be-cut area, the safe area and the reserved area of the to-be-cut bone three-dimensional model are determined through the cutting plane set, and the cut to-be-cut bone three-dimensional model is updated in real time in combination with the cutting tool three-dimensional model at the designated position.

Description

Technical Field

[0001] This application relates to the field of medical visualization technology, and more particularly to a visualization method for osteotomy and a storage medium. Background Art

[0002] The knee joint is not only an important weight-bearing joint of the human body, but also an important movable joint. However, with the increase of age, degenerative osteoarthropathy of the knee joint is very common, causing knee pain and limited knee joint function, affecting normal life. Knee joint replacement is the main treatment method, using artificial prostheses designed according to the normal joint activities of the human body made of materials such as metal, ceramic, and plastic to replace the original diseased part to relieve the pain caused by the disease and restore the knee joint movement function. In traditional surgeries, doctors use surgical tools to determine the osteotomy position and start osteotomy, but the specific amount of osteotomy cannot be intuitively reflected, and the adjustment of the tool position during osteotomy depends heavily on the doctor's experience and surgical experience. During osteotomy, the surgical error is large, and over-osteotomy or under-osteotomy may occur.

[0003] To solve these problems, surgical robots for total knee replacement have developed rapidly, and the visualization of osteotomy has been widely used in the intraoperative navigation of surgical robots. However, there are still some problems in the current osteotomy visualization methods in intraoperative navigation. After the three-dimensional reconstruction of the bone CT image data, the data volume is large and the surface is rough, and the osteotomy process cannot be displayed in real time. Summary of the Invention

[0004] This application is proposed to solve the above problems. According to one aspect of this application, a visualization method for osteotomy is provided, and the method includes: establishing a three-dimensional model of the bone to be osteotomized according to the bone to be osteotomized;

[0005] Determining a three-dimensional model of a matching prosthesis and a three-dimensional model of a cutting tool according to the bone to be osteotomized;

[0006] Determining a set of cutting planes of the bone to be osteotomized according to the three-dimensional model of the bone to be osteotomized and the three-dimensional model of the matching prosthesis;

[0007] Determining the cutting area, safety area, and retention area of the three-dimensional model of the bone to be osteotomized according to the set of cutting planes;

[0008] Receiving the position information of the cutting tool in real time to obtain the three-dimensional model of the cutting tool at a specified position;

[0009] Updating the three-dimensional model of the bone to be osteotomized after cutting according to the cutting area, safety area, and retention area of the three-dimensional model of the bone to be osteotomized and the three-dimensional model of the cutting tool at the specified position.

[0010] In an embodiment of this application, the set of cutting planes includes multiple cutting planes:

[0011] The multiple cutting planes are multiple contact surfaces after matching the three-dimensional model of the prosthesis with the three-dimensional model of the bone to be cut;

[0012] The multiple cutting planes are sorted according to the cutting sequence of the bone to be cut;

[0013] The to-be-cut area, the safe area, and the reserved area of the three-dimensional model of the bone to be cut are determined in sequence according to the sorted multiple cutting planes.

[0014] In an embodiment of the present application, the determining the to-be-cut area, the safe area, and the reserved area of the three-dimensional model of the bone to be cut in sequence according to the sorted multiple cutting planes includes:

[0015] Select the cutting planes of the cutting plane set in sequence;

[0016] The selected cutting plane is offset along the first direction and the second direction respectively to obtain a first extended plane and a second extended plane;

[0017] The three-dimensional model of the bone to be cut is divided into three areas, including the to-be-cut area, the safe area, and the reserved area, by the first extended plane and the second extended plane, and a three-dimensional model of the to-be-cut area, a three-dimensional model of the safe area, and a three-dimensional model of the reserved area corresponding to the selected cutting plane are obtained.

[0018] In an embodiment of the present application, the difference set between the three-dimensional model of the to-be-cut area and the three-dimensional model of the cutting tool at a specified position is calculated, which is the three-dimensional model of the remaining to-be-cut area after cutting according to the selected cutting plane;

[0019] The difference set between the three-dimensional model of the safe area and the three-dimensional model of the cutting tool at a specified position is calculated, which is the three-dimensional model of the remaining safe area after cutting according to the selected cutting plane;

[0020] The intersection of the three-dimensional model of the reserved area and the three-dimensional model of the cutting tool at a specified position is calculated; if there is an intersection, it means that the cutting tool at the current position has exceeded the safe area, and the difference set between the three-dimensional model of the reserved area and the three-dimensional model of the cutting tool at a specified position is calculated, which is the three-dimensional model of the remaining reserved area after cutting according to the selected cutting plane; if the intersection is empty, it means that the cutting tool at the current position has not cut the reserved area, then the three-dimensional model of the remaining reserved area after cutting according to the selected cutting plane is the same as the three-dimensional model of the reserved area before cutting;

[0021] The three-dimensional model of the bone to be cut after cutting is updated according to the three-dimensional model of the remaining to-be-cut area, the three-dimensional model of the remaining safe area, and the three-dimensional model of the remaining reserved area after cutting.

[0022] In one embodiment of the present application, the cutting planes in the cutting plane set are sequentially selected to cut the three-dimensional model of the bone to be cut again until the final three-dimensional model of the bone is formed.

[0023] In one embodiment of the present application, the real-time receiving of the position information of the cutting tool to obtain the three-dimensional model of the cutting tool at a specified position includes:

[0024] Real-time receive the position information of the cutting tool to obtain the position information of the cutting tool at a specified position;

[0025] Generate a transformation matrix according to the position information of the cutting tool at the specified position;

[0026] Determine the three-dimensional model of the cutting tool at the specified position according to the transformation matrix;

[0027] The three-dimensional model of the cutting at the specified position includes position information.

[0028] In one embodiment of the present application, the determination of the cutting plane set of the bone to be cut according to the three-dimensional model of the bone to be cut and the three-dimensional model of the matching prosthesis includes:

[0029] Determine the relative position relationship between the three-dimensional model of the bone to be cut and the three-dimensional model of the matching prosthesis;

[0030] Determine the cutting plane set of the bone to be cut according to the determined relative position relationship.

[0031] In one embodiment of the present application, the establishment of the three-dimensional model of the bone to be cut according to the bone to be cut includes:

[0032] Obtain the medical image data of the bone to be cut according to the bone to be cut;

[0033] Select a medical image segmentation algorithm to segment the medical image data to obtain the data of the bone to be cut;

[0034] Reconstruct the data of the bone to be cut into a three-dimensional model of the bone to be cut through a three-dimensional reconstruction algorithm.

[0035] In one embodiment of the present application, the determination of the three-dimensional model of the matching prosthesis and the three-dimensional model of the cutting tool according to the bone to be cut includes:

[0036] Select a matching prosthesis and a cutting tool from the prosthesis database and the cutting tool database according to the data of the bone to be cut;

[0037] Import the three-dimensional model of the matching prosthesis and the three-dimensional model of the cutting tool from the prosthesis database and the cutting tool database.

[0038] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored, and when the computer program runs, it executes the above-mentioned osteotomy visualization method.

[0039] A visualization method for osteotomy of the present invention determines a cutting area, a safety area, and a retention area of a three-dimensional model of a bone to be osteotomized through a set of cutting planes, and combines a three-dimensional model of a cutting tool at a specified position to update the three-dimensional model of the bone to be osteotomized after cutting in real time, improving the accuracy and calculation efficiency of the visualization of the osteotomy process, being able to display the osteotomy process in real time, reducing errors during surgery, and avoiding over-osteotomy or under-osteotomy, thereby improving the safety and precision of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By describing the embodiments of the present application in more detail with reference to the accompanying drawings, the above-mentioned and other objects, features, and advantages of the present application will become more obvious. The accompanying drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation to the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0041] Figure 1 A schematic flowchart showing a visualization method for osteotomy according to an embodiment of the present application;

[0042] Figure 2 A schematic diagram showing a method for determining a cutting area, a safety area, and a retention area of a three-dimensional model of a bone to be osteotomized according to an embodiment of the present application.

[0043] Reference Numerals:

[0044] 1 Cutting area; 2 Safety area; 3 Retention area; 4 Selected cutting plane; 5 First extended plane; 6 Second extended plane. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] In order to make the purpose, technical solutions, and advantages of the present application more obvious, exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0046] First, refer to Figure 1 to describe a visualization method for osteotomy for implementing the embodiments of the present invention. Figure 1 A schematic flowchart showing a visualization method for osteotomy according to an embodiment of the present application is shown. AsFigure 1 As shown in Figure 1 , a visualization method for osteotomy according to an embodiment of the present application may include the following steps:

[0047] In step S100, a three-dimensional model of the bone to be osteotomized is established according to the bone to be osteotomized;

[0048] In step S200, a three-dimensional model of a matching prosthesis and a three-dimensional model of a cutting tool are determined according to the bone to be osteotomized;

[0049] In step S300, a set of cutting planes of the bone to be osteotomized is determined according to the three-dimensional model of the bone to be osteotomized and the three-dimensional model of the matching prosthesis;

[0050] In step S400, a to-be-cut area, a safety area, and a reserved area of the three-dimensional model of the bone to be osteotomized are determined according to the set of cutting planes;

[0051] In step S500, the position information of the cutting tool is received in real time to obtain the three-dimensional model of the cutting tool at a specified position;

[0052] In step S600, the three-dimensional model of the bone to be osteotomized after cutting is updated according to the to-be-cut area, the safety area, and the reserved area of the three-dimensional model of the bone to be osteotomized and the three-dimensional model of the cutting tool at the specified position.

[0053] A visualization method for osteotomy of the present invention determines the to-be-cut area, the safety area, and the reserved area of the three-dimensional model of the bone to be osteotomized through a set of cutting planes, and combines the three-dimensional model of the cutting tool at the specified position to update the three-dimensional model of the bone to be osteotomized after cutting in real time, improving the accuracy and calculation efficiency of the visualization of the osteotomy process, being able to display the osteotomy process in real time, reducing errors during the operation, and avoiding over-osteotomy or under-osteotomy, thereby improving the safety and precision of the operation.

[0054] In an embodiment of the present application, in step S100, a three-dimensional model of the bone to be osteotomized is established according to the bone to be osteotomized.

[0055] In an embodiment of the present application, establishing a three-dimensional model of the bone to be osteotomized according to the bone to be osteotomized includes: obtaining medical image data of the bone to be osteotomized according to the bone to be osteotomized; selecting a medical image segmentation algorithm to segment the medical image data to obtain the data of the bone to be osteotomized; and reconstructing the data of the bone to be osteotomized into a three-dimensional model of the bone to be osteotomized through a three-dimensional reconstruction algorithm.

[0056] The DICOM 3.0 data of the bone to be cut can be obtained through computed tomography technology. The thickness of the tomography is less than 1 mm to obtain the medical image data of the bone to be cut. Select a suitable medical image segmentation algorithm to segment the data of the bone to be cut. Exemplarily, a deep learning segmentation algorithm such as a segmentation network like nnUNet, nnUNet2, etc. can be selected for segmentation. Exemplarily, a traditional image segmentation algorithm such as the FastGrowCut medical image segmentation algorithm can be selected for segmentation. Exemplarily, a suitable medical image annotation tool can be selected for manual segmentation. The segmented data of the bone to be cut is reconstructed into a three-dimensional model of the bone to be cut through a three-dimensional reconstruction algorithm, and a reduction and smoothing operation is performed on the reconstructed three-dimensional model of the bone to be cut. In order to make the intraoperative visualization effect smoother, a reduction algorithm and a smoothing operation are used on the reconstructed three-dimensional model of the bone to be cut to obtain the three-dimensional model of the bone to be cut. Exemplarily, the reduction algorithm of the three-dimensional model of the bone to be cut can be completed using a mesh reduction algorithm based on edge collapse. Exemplarily, the smoothing operation of the three-dimensional model of the bone to be cut can be realized using a Laplacian smoothing algorithm.

[0057] In an embodiment of the present application, in step S200, a matching prosthesis three-dimensional model and a cutting tool three-dimensional model are determined according to the bone to be cut.

[0058] In an embodiment of the present application, determining a matching prosthesis three-dimensional model and a cutting tool three-dimensional model according to the bone to be cut includes: selecting a matching prosthesis and a cutting tool from a prosthesis database and a cutting tool database according to the data of the bone to be cut; importing the matching prosthesis three-dimensional model and the cutting tool three-dimensional model from the prosthesis database and the cutting tool database.

[0059] The data of the bone to be cut can be obtained by measuring multiple anatomical data information such as the length and angle of the bone to be cut, or by selecting a medical image segmentation algorithm to segment the medical image data to obtain the data of the bone to be cut. The anteroposterior diameter and the medial-lateral diameter of the obtained three-dimensional model of the bone to be cut can be measured to obtain the anteroposterior diameter as length_AD and the medial-lateral diameter as length_OD; a suitable matching prosthesis model and cutting tool model are selected according to the anteroposterior diameter and medial-lateral diameter parameters.

[0060] According to the data of the bone to be cut, a suitable matching prosthesis model and cutting tool model are selected from a prosthesis database and a cutting tool database. By matching the prosthesis model and the cutting tool model, the matching prosthesis three-dimensional model and the cutting tool three-dimensional model are imported from the prosthesis database and the cutting tool database.

[0061] In an embodiment of the present application, in step S300, a cutting plane set of the bone to be cut is determined according to the three-dimensional model of the bone to be cut and the matching prosthesis three-dimensional model.

[0062] In an embodiment of the present application, a set of cutting planes for the bone to be cut is determined based on the three-dimensional model of the bone to be cut and the three-dimensional model of the matching prosthesis, including: determining the relative position relationship between the three-dimensional model of the bone to be cut and the three-dimensional model of the matching prosthesis; and determining the set of cutting planes for the bone to be cut according to the determined relative position relationship.

[0063] Exemplarily, the relative position relationship between the three-dimensional model of the bone to be cut and the three-dimensional model of the matching prosthesis can be determined by a registration algorithm. A registration algorithm is a technique used to align data under different perspectives or coordinate systems, and is widely applied in fields such as image processing, point cloud processing, and three-dimensional modeling. Its core objective is to achieve precise alignment of data in a unified coordinate system by calculating rotation and translation matrices, thereby improving the consistency and usability of the data. In the field of point cloud registration, classic algorithms include the Random Sample Consensus (RANSAC) and the Iterative Closest Point (ICP) algorithm. The ICP algorithm achieves precise registration by minimizing the sum of the squared distances of the closest point pairs between two point sets, but requires a good initial alignment as a prerequisite. The Iterative Closest Point (ICP) algorithm is used to register the three-dimensional model of the matching prosthesis and the three-dimensional model of the bone to be cut. First, uniform surface point sampling is performed on the three-dimensional model of the bone to be cut and the three-dimensional model of the matching prosthesis to obtain the point cloud data of both; then, the transformation matrix and error between the two are calculated using the ICP algorithm; after multiple iterations until the error meets the requirements, the transformation matrix of the two is obtained, and the three-dimensional model of the matching prosthesis is transformed to the target position of the three-dimensional model of the bone to be cut, thereby obtaining the relative position relationship between the three-dimensional model of the bone to be cut and the three-dimensional model of the matching prosthesis. According to the determined relative position relationship, the three-dimensional model of the matching prosthesis and the three-dimensional model of the bone to be cut are matched, and the surface in contact between the matched three-dimensional model of the matching prosthesis and the three-dimensional model of the bone to be cut is used as the cutting plane. There are multiple contact surfaces between the three-dimensional model of the matching prosthesis and the three-dimensional model of the bone to be cut, that is, there are multiple cutting planes, and the multiple cutting planes form a set of cutting planes. Subsequent cutting is performed according to the cutting planes.

[0064] In an embodiment of the present application, the set of cutting planes includes multiple cutting planes: the multiple cutting planes are the multiple contact surfaces after the three-dimensional model of the matching prosthesis and the three-dimensional model of the bone to be cut are matched; the multiple cutting planes are sorted according to the cutting order of the bone to be cut; and the to-be-cut region 1, the safety region 2, and the reserved region 3 of the three-dimensional model of the bone to be cut are determined in sequence according to the sorted multiple cutting planes.

[0065] Sort multiple cutting planes according to the cutting order of the bone to be cut, and sequentially cut the three-dimensional model of the bone to be cut according to the multiple cutting planes. Before cutting, determine the to-be-cut area 1, safe area 2, and reserved area 3 of the three-dimensional model of the bone to be cut according to the sorted multiple cutting planes. Before each cut, determine the to-be-cut area 1, safe area 2, and reserved area 3 of the three-dimensional model of the bone to be cut corresponding to the cutting plane through the cutting plane.

[0066] In an embodiment of the present application, in step S400, determine the to-be-cut area 1, safe area 2, and reserved area 3 of the three-dimensional model of the bone to be cut according to the set of cutting planes.

[0067] As Figure 2 shown, in an embodiment of the present application, sequentially determine the to-be-cut area 1, safe area 2, and reserved area 3 of the three-dimensional model of the bone to be cut according to the sorted multiple cutting planes, including: sequentially select the cutting planes in the set of cutting planes; offset the selected cutting plane 4 along the first direction and the second direction respectively to obtain the first extended plane 5 and the second extended plane 6; divide the three-dimensional model of the bone to be cut into three areas through the first extended plane 5 and the second extended plane 6, including the to-be-cut area 1, safe area 2, and reserved area 3, to obtain the three-dimensional model of the to-be-cut area 1, the three-dimensional model of the safe area 2, and the three-dimensional model of the reserved area 3 corresponding to the selected cutting plane 4.

[0068] Offset the selected cutting plane 4 along the positive and negative two directions of the plane normal vector of the cutting plane respectively, which are the first direction and the second direction, and the first direction and the second direction are opposite. The cutting plane moves a specified distance along the first direction and the second direction to obtain the first extended plane 5 and the second extended plane 6, and the first extended plane 5, the second extended plane 6, and the selected cutting plane 4 are parallel to each other. Divide the three-dimensional model of the bone to be cut into three areas through the first extended plane 5 and the second extended plane 6. In the three-dimensional model of the bone to be cut, the area where the first extended plane 5 is along the first direction is the reserved area 3, the area between the first extended plane 5 and the second extended plane 6 is the safe area 2, and the area where the second extended plane 6 is along the second direction is the to-be-cut area 1.

[0069] In an embodiment of the present application, in step S500, real-time receive the position information of the cutting tool to obtain the three-dimensional model of the cutting tool at the specified position.

[0070] In an embodiment of the present application, receiving the position information of the cutting tool in real time and then obtaining the three-dimensional model of the cutting tool at a specified position includes: receiving the position information of the cutting tool in real time to obtain the position information of the cutting tool at the specified position; generating a transformation matrix according to the position information of the cutting tool at the specified position; determining the three-dimensional model of the cutting tool at the specified position according to the transformation matrix; the three-dimensional model of the cut at the specified position includes position information.

[0071] After the three-dimensional model of the prosthetic body is matched with the three-dimensional model of the bone to be cut, the position information of the two no longer changes, while the position of the three-dimensional model of the cutting tool will change as the cutting tool moves. Therefore, it is necessary to receive the position information of the cutting tool in real time. When the cutting tool moves to the cutting position corresponding to the cutting plane, this cutting position is the specified position. Generate a transformation matrix according to the position information of the cutting tool at the specified position; determine the three-dimensional model of the cutting tool at the specified position according to the transformation matrix; the three-dimensional model of the cut at the specified position includes position information.

[0072] In an embodiment of the present application, in step S600, the three-dimensional model of the bone to be cut after cutting is updated according to the to-be-cut area 1, the safety area 2, and the reserved area 3 of the three-dimensional model of the bone to be cut and the three-dimensional model of the cutting tool at the specified position.

[0073] In an embodiment of the present application, calculate the difference set between the three-dimensional model of the to-be-cut area 1 and the three-dimensional model of the cutting tool at the specified position, which is the three-dimensional model of the remaining to-be-cut area 1 after cutting according to the selected cutting plane 4; calculate the difference set between the three-dimensional model of the safety area 2 and the three-dimensional model of the cutting tool at the specified position, which is the three-dimensional model of the remaining safety area 2 after cutting according to the selected cutting plane 4; calculate the intersection of the three-dimensional model of the reserved area 3 and the three-dimensional model of the cutting tool at the specified position; if there is an intersection, it means that the cutting tool at the current position has exceeded the safety area 2, and calculate the difference set between the three-dimensional model of the reserved area 3 and the three-dimensional model of the cutting tool at the specified position, which is the three-dimensional model of the remaining reserved area 3 after cutting according to the selected cutting plane 4; if the intersection is empty, it means that the cutting tool at the current position has not cut the reserved area 3, then the three-dimensional model of the remaining reserved area 3 after cutting according to the selected cutting plane 4 is the same as the three-dimensional model of the reserved area 3 before cutting; update the three-dimensional model of the bone to be cut after cutting according to the selected cutting plane 4 according to the three-dimensional model of the remaining to-be-cut area 1 after cutting, the three-dimensional model of the remaining safety area 2 after cutting, and the three-dimensional model of the remaining reserved area 3 after cutting.

[0074] In an embodiment of the present application, sequentially select the cutting planes in the cutting plane set and cut the three-dimensional model of the bone to be cut after cutting again until the final three-dimensional model of the bone is formed.

[0075] The three-dimensional model of the bone to be cut is cut successively according to multiple cutting planes. Before cutting, the cutting area 1, safety area 2, and reserved area 3 of the three-dimensional model of the bone to be cut are determined according to the sorted multiple cutting planes. Before each cut, the cutting area 1, safety area 2, and reserved area 3 of the three-dimensional model of the bone to be cut corresponding to the cutting plane are determined by the cutting plane. Then, in combination with the three-dimensional model of the cutting tool at the specified position, the three-dimensional model of the bone to be cut after each cut is calculated. Until the cut of the last cutting plane is performed, before cutting, the cutting area 1, safety area 2, and reserved area 3 of the three-dimensional model of the bone to be cut corresponding to the last cutting plane are obtained. After cutting, the final three-dimensional model of the bone is obtained in combination with the three-dimensional model of the cutting tool at the specified position. Thus, the visualization process of intraoperative osteotomy is completed.

[0076] A visualization method for osteotomy according to the present invention determines the cutting area, safety area, and reserved area of the three-dimensional model of the bone to be cut through the cutting planes in the cutting plane set, and combines the three-dimensional model of the cutting tool at the specified position to update the three-dimensional model of the bone to be cut after cutting in real time, improving the accuracy and calculation efficiency of the visualization of the osteotomy process, being able to display the osteotomy process in real time, reducing errors during surgery, and avoiding over-osteotomy or under-osteotomy, thereby improving the safety and precision of the surgery.

[0077] In addition, the present application also provides a storage medium on which a computer program is stored. When the computer program is run by a processor, the processor is caused to execute the visualization method for osteotomy according to an embodiment of the present application described above. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0078] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed by the appended claims.

[0079] Those of ordinary skill in the art will appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0080] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0081] In the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of this application can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0082] Similarly, it should be understood that, in order to streamline this application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of this application, the various features of this application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of this application should not be construed as reflecting the intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected by the corresponding claims, the inventive point lies in being able to solve the corresponding technical problems with features less than all the features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, where each claim itself serves as a separate embodiment of this application.

[0083] Those skilled in the art can understand that, except for features that are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0084] In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means that it is within the scope of this application and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0085] Each component embodiment of this application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some of the modules according to the embodiments of this application. This application can also be implemented as a program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0086] It should be noted that the above embodiments illustrate this application rather than limit this application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the claims listing several unit claims, these several can be embodied by the same hardware item. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0087] As described above, it is only the specific implementation manner of this application or the description of the specific implementation manner. The protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by this application, and all of them should be covered by the protection scope of this application. The protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. A method for visualizing osteotomy, characterized in that: The method comprises: Establishing a three-dimensional model of the bone to be cut according to the bone to be cut; Determine matching prosthesis three-dimensional model and cutting tool three-dimensional model according to the bone to be cut; Determine a cutting plane set of the bone to be cut according to the three-dimensional model of the bone to be cut and the matching three-dimensional model of the prosthesis; Determine the to-be-cut area, the safe area and the reserved area of ​​the three-dimensional model of the bone to be cut according to the cutting plane set; Receive the position information of the cutting tool in real time and obtain a three-dimensional model of the cutting tool at a specified position; The three-dimensional model of the bone to be cut after cutting is updated according to the to-be-cut area, the safety area and the reserved area of ​​the three-dimensional model of the bone to be cut and the three-dimensional model of the cutting tool at the specified position.

2. The method according to claim 1, characterized in that The cutting plane set includes multiple cutting planes: The multiple cutting planes are multiple contact surfaces after the matching prosthesis three-dimensional model and the three-dimensional model of the bone to be cut are matched; The multiple cutting planes are sorted according to the cutting order of the bones to be cut; The to-be-cut area, the safe area and the reserved area of ​​the three-dimensional model of the bone to be cut are determined in turn according to the sorted multiple cutting planes.

3. The method according to claim 2, characterized in that The method of determining the to-be-cut area, the safe area and the reserved area of ​​the three-dimensional bone model to be cut according to the sorted multiple cutting planes in sequence includes: Select the cutting planes of the cutting plane set in turn; The selected cutting plane is offset along the first direction and the second direction respectively to obtain a first extended plane and a second extended plane; The three-dimensional model of the bone to be cut is divided into three areas, including the area to be cut, the safety area and the reserved area, by the first extension plane and the second extension plane, and the three-dimensional model of the area to be cut, the three-dimensional model of the safety area and the three-dimensional model of the reserved area corresponding to the selected cutting plane are obtained.

4. The method according to claim 3, characterized in that Calculate the difference between the three-dimensional model of the area to be cut and the three-dimensional model of the cutting tool at the specified position, that is, the three-dimensional model of the area to be cut remaining after cutting according to the selected cutting plane; Calculate the difference between the three-dimensional model of the safety area and the three-dimensional model of the cutting tool at the specified position, that is, the three-dimensional model of the safety area remaining after cutting according to the selected cutting plane; Calculate the intersection of the 3D model of the reserved area and the 3D model of the cutting tool at the specified position; if there is an intersection, it means that the cutting tool at the current position has exceeded the safe area, and calculate the difference between the 3D model of the reserved area and the 3D model of the cutting tool at the specified position, which is the 3D model of the reserved area remaining after cutting according to the selected cutting plane; if the intersection is empty, it means that the cutting tool at the current position has not cut into the reserved area, then the 3D model of the reserved area remaining after cutting according to the selected cutting plane is the same as the 3D model of the reserved area before cutting; The three-dimensional model of the bone to be cut after cutting according to the selected cutting plane is updated according to the three-dimensional model of the remaining area to be cut after cutting, the three-dimensional model of the remaining safety area after cutting and the three-dimensional model of the remaining reserved area after cutting.

5. The method according to claim 4, characterized in that The cutting planes in the cutting plane set are selected in sequence, and the three-dimensional bone model to be cut is cut again until the final three-dimensional bone model is formed.

6. The method according to claim 1, characterized in that The real-time receiving of the position information of the cutting tool and obtaining the three-dimensional model of the cutting tool at the specified position includes: Receive the position information of the cutting tool in real time and obtain the position information of the cutting tool at the specified position; Generate a transformation matrix according to the position information of the cutting tool at the specified position; Determine the three-dimensional model of the cutting tool at the specified position according to the transformation matrix; The cut three-dimensional model at the specified position includes position information.

7. The method according to claim 1, characterized in that The method of determining a cutting plane set of the bone to be cut according to the three-dimensional model of the bone to be cut and the matching three-dimensional model of the prosthesis includes: Determine the relative position relationship between the three-dimensional model of the bone to be cut and the three-dimensional model of the matching prosthesis; According to the determined relative position relationship, a cutting plane set of the bone to be cut is determined.

8. The method according to claim 1, characterized in that The step of establishing a three-dimensional model of the bone to be cut according to the bone to be cut comprises: Acquiring medical imaging data of the bone to be cut according to the bone to be cut; Select a medical image segmentation algorithm to segment the medical image data to obtain the bone data to be segmented; The data of the bone to be cut is reconstructed into a three-dimensional model of the bone to be cut through a three-dimensional reconstruction algorithm.

9. The method according to claim 8, characterized in that The method of determining a matching prosthesis three-dimensional model and a cutting tool three-dimensional model according to the bone to be cut includes: According to the bone data to be cut, a matching prosthesis and a cutting tool are selected from the prosthesis database and the cutting tool database; Import and match the prosthesis 3D model and the cutting tool 3D model from the prosthesis database and the cutting tool database.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is run, the computer program executes the osteotomy visualization method according to any one of claims 1 to 9.

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