Operation planning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an operation planning method and device, electronic equipment and a storage medium, which are applied to the technical field of medical treatment and can receive a CT image input by a user; creating a skeleton model according to the CT image and displaying the skeleton model; receiving specification information and installation position information of a target acetabular cup and specification information and installation position information of a target thighbone input by a user according to the displayed skeleton model; according to the specification information and the installation position information of the target acetabular cup, the specification information and the installation position information of the target femur and the skeleton model, the recommended installation angle of the target acetabular cup corresponding to each preset algorithm is calculated through multiple preset algorithms. According to the technical scheme, the CT image can be obtained, and then the recommended mounting angle of the acetabular cup is calculated according to the CT image, the specification information and the mounting position information of the target acetabular cup input by the user and the specification information and the mounting position information of the target thighbone, so that the user can conveniently mount the acetabular cup according to the recommended mounting angle of the acetabular cup.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and particularly to a surgical planning method, device, electronic device, and storage medium. Background Art

[0002] At present, with the continuous development of medical technology, medical staff can provide more treatment options for patients. For example, femoral head necrosis, femoral neck fracture, hip arthritis caused by various reasons, malignant tumors, etc. can be treated by hip replacement. By replacing the diseased hip joint with an artificial prosthesis, the purpose of removing the lesion, relieving pain, and restoring the normal function of the patient's hip joint can be achieved.

[0003] See Figure 1 , the current artificial hip joint mainly includes four components: the acetabulum (cup), the liner (pad), the femoral head (ball head), and the femoral stem. Among them, the cup is installed on the pelvis, and the femoral head is installed on the leg bone. During hip replacement surgery, it is necessary to first determine the installation position of the cup. If the installation position of the cup is incorrect, it will cause collision between the edge of the cup and the femoral neck after surgery, resulting in dislocation. However, currently, the installation position of the cup is often determined based on the doctor's experience, resulting in low reliability of the cup installation. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a surgical planning method, device, electronic device, and storage medium to improve the reliability of cup installation. The specific technical solutions are as follows:

[0005] In the first aspect of the embodiments of the present application, first, a surgical planning method is provided, and the method includes:

[0006] Receiving a CT image input by a user, where the CT image includes the pelvis and the femur;

[0007] Creating a bone model based on the CT image and displaying it;

[0008] Receiving the specification information and installation position information of the target cup, and the specification information and installation position information of the target femur input by the user according to the displayed bone model;

[0009] Calculating the recommended installation angle of the target cup corresponding to each preset algorithm according to the specification information and installation position information of the target cup, the specification information and installation position information of the target femur, and the bone model through a variety of preset algorithms.

[0010] In a possible implementation manner, the creating a bone model based on the CT image and displaying it includes:

[0011] Receive the marking information of the hip joint and the distal femur input by the user based on the CT image;

[0012] According to the marking result, register the CT image with a pre-created preset femur model and a preset pelvis model;

[0013] Create and display the first pelvis model and the first femur model of the patient according to the registration result.

[0014] In a possible implementation manner, the method for receiving the specification information and installation position information of the target acetabular cup and the specification information and installation position information of the target femur input by the user based on the displayed bone model includes:

[0015] Receive the selection instruction of the target acetabular cup and / or the target femur selected by the user from a preset list according to the displayed bone model;

[0016] In the displayed femur model, display the target acetabular cup and / or the target femur corresponding to the selection instruction;

[0017] Receive the position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user;

[0018] According to the position adjustment instruction, determine and display the position corresponding to the adjusted target acetabular cup and / or the target femur.

[0019] In a possible implementation manner, before calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model by using a plurality of preset algorithms, the method further includes:

[0020] Receive the positions of a plurality of first registration points marked by the user on the displayed pelvis model, where the first registration points include one or more of an acetabular registration point, a rotation center, a symphysis pubis center, a surgical iliac anterior superior spine, and a contralateral iliac anterior superior spine;

[0021] Receive the positions of a plurality of second registration points marked by the user on the displayed femur model, where the second registration points include one or more of a femoral registration point, a femoral head center, a femoral neck center, a proximal femoral shaft center, and a distal femoral shaft center.

[0022] In a possible implementation manner, calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model by using a plurality of preset algorithms includes:

[0023] For each preset algorithm, calculate the recommended installation angle of the target acetabular cup according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model;

[0024] Calculate the intersection of the recommended installation angles of the target acetabular cup corresponding to the multiple preset algorithms and display it.

[0025] In a possible implementation manner, the calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm through multiple preset algorithms according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model includes:

[0026] Create a second pelvic model according to the specification information and installation position information of the target acetabular cup;

[0027] Create a second femoral model according to the specification information and installation position information of the target femur;

[0028] Calculate the recommended installation angle of the target acetabular cup corresponding to each preset algorithm through multiple preset algorithms according to the second pelvic model and the second femoral model.

[0029] In a possible implementation manner, the receiving the selection instruction of the target acetabular cup and / or the target femur selected by the user from the preset list according to the displayed bone model includes:

[0030] Receive the selection instruction of the acetabular cup model and the liner model selected by the user from the preset list according to the displayed bone model;

[0031] Receive the selection instruction of the femoral head model and the femoral stem model selected by the user from the preset list according to the displayed bone model, where the target femur includes a femoral head and a femoral stem.

[0032] In a possible implementation manner, the creating and displaying the bone model according to the CT image includes:

[0033] Create a bone model according to the CT image;

[0034] Display the created three-dimensional femoral model and cross-sectional views of the bone model in multiple directions.

[0035] In a possible implementation manner, after calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm through multiple preset algorithms according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model, the method further includes:

[0036] When there is no intersection in the recommended installation angles of the target acetabular cups corresponding to multiple preset algorithms, receive and, based on the reselected acetabular cup specification information, the reselected acetabular cup installation position information, the reselected femur specification information, and the reselected femur installation position information input by the user, calculate the recommended installation angles of the acetabular cups corresponding to each preset algorithm through multiple preset algorithms.

[0037] In a possible implementation manner, the receiving the position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user includes:

[0038] Display the first prompt information corresponding to the current position of the target acetabular cup, where the first prompt information includes one or more of the acetabular cup anteversion angle, the acetabular cup abduction angle, the acetabular cup coverage rate, the acetabular cup center, and the acetabular center; receive the position adjustment instruction corresponding to the target acetabular cup input by the user according to the first prompt information;

[0039] And / or,

[0040] Display the second prompt information corresponding to the current position of the target femur, where the second prompt information includes one or more of the femoral inclination angle, the femoral stem inclination angle, the femoral head center, and the acetabular cup center; receive the position adjustment instruction corresponding to the target femur input by the user according to the second prompt information.

[0041] In a second aspect of the embodiments of the present application, a surgical planning device is provided, and the device includes:

[0042] An image receiving module, configured to receive a CT image input by the user, where the CT image includes the pelvis and the femur;

[0043] A model display module, configured to create and display a bone model based on the CT image;

[0044] An information receiving module, configured to receive the target acetabular cup specification information and installation position information, the target femur specification information and installation position information input by the user according to the displayed bone model;

[0045] An angle calculation module, configured to calculate the recommended installation angles of the target acetabular cup corresponding to each preset algorithm through multiple preset algorithms according to the target acetabular cup specification information and installation position information, the target femur specification information and installation position information, and the bone model.

[0046] In a possible implementation manner, the model display module is specifically configured to receive the marking information of the hip joint and the distal femur input by the user based on the CT image; register the CT image with a preset femur model and a preset pelvis model created in advance according to the marking result; create and display a first pelvis model and a first femur model of the patient according to the registration result.

[0047] In a possible implementation manner, the information receiving module is specifically configured to receive a selection instruction for a target acetabular cup and / or a target femur selected by a user from a preset list according to the displayed bone model; in the displayed femur model, display the target acetabular cup and / or the target femur corresponding to the selection instruction; receive a position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user; and determine and display the position of the adjusted target acetabular cup and / or the target femur according to the position adjustment instruction.

[0048] In a possible implementation manner, the device further includes:

[0049] A registration point receiving module, configured to receive the positions of a plurality of first registration points marked by the user on the displayed pelvic model, where the first registration points include one or more of an acetabular registration point, a center of rotation, a symphysis pubis center, a surgical side anterior superior iliac spine, and a contralateral anterior superior iliac spine; and receive the positions of a plurality of second registration points marked by the user on the displayed femur model, where the second registration points include one or more of a femoral registration point, a femoral head center, a femoral neck center, a proximal center of the femoral shaft, and a distal center of the femoral shaft.

[0050] In a possible implementation manner, the angle calculation module is specifically configured to, for each preset algorithm, calculate a recommended installation angle of the target acetabular cup according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model; calculate the intersection of the recommended installation angles of the target acetabular cup corresponding to the multiple preset algorithms and display it.

[0051] In a possible implementation manner, the angle calculation module is specifically configured to create a second pelvic model according to the specification information and installation position information of the target acetabular cup; create a second femur model according to the specification information and installation position information of the target femur; and calculate the recommended installation angle of the target acetabular cup corresponding to each preset algorithm through multiple preset algorithms according to the second pelvic model and the second femur model.

[0052] In a possible implementation manner, the information receiving module is specifically configured to receive a selection instruction for an acetabular cup model and a liner model selected by the user from a preset list according to the displayed bone model; and receive a selection instruction for a femoral head model and a femoral stem model selected by the user from a preset list according to the displayed bone model, where the target femur includes a femoral head and a femoral stem.

[0053] In a possible implementation manner, the model display module is specifically configured to create a bone model according to the CT image; and display the created three-dimensional femur model and sectional views of the bone model in multiple directions.

[0054] In a possible implementation, the device further includes:

[0055] A re-selection module, configured to, when there is no intersection in the recommended installation angles of the target acetabular cups corresponding to multiple preset algorithms, receive and calculate, according to the re-selected acetabular cup specification information, the re-selected acetabular cup installation position information, the re-selected femur specification information, and the re-selected femur installation position information, the recommended installation angles of the acetabular cups corresponding to each preset algorithm through the multiple preset algorithms.

[0056] In a possible implementation, the information receiving module is specifically configured to display first prompt information corresponding to the current position of the target acetabular cup, where the first prompt information includes one or more of the acetabular cup anteversion angle, the acetabular cup abduction angle, the acetabular cup coverage rate, the acetabular cup center, and the acetabular center; receive a position adjustment instruction corresponding to the target acetabular cup input by the user according to the first prompt information;

[0057] and / or,

[0058] display second prompt information corresponding to the current position of the target femur, where the second prompt information includes one or more of the femoral inclination angle, the femoral stem inclination angle, the femoral head center, and the acetabular cup center; receive a position adjustment instruction corresponding to the target femur input by the user according to the second prompt information.

[0059] An embodiment of the present invention further provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0060] The memory is used to store a computer program;

[0061] The processor is configured to implement the surgical planning method described in any one of the above when executing the program stored in the memory.

[0062] An embodiment of the present invention further provides a computer program product containing instructions, which, when running on a computer, causes the computer to execute the surgical planning method described in any one of the above.

[0063] Advantages of the embodiment of the present invention:

[0064] An operation planning method, device, electronic device, and storage medium provided by an embodiment of the present invention can receive a CT image input by a user, where the CT image includes a pelvis and a femur; create a bone model based on the CT image and display it; receive the specification information and installation position information of a target acetabular cup, and the specification information and installation position information of a target femur input by the user according to the displayed bone model; calculate the recommended installation angle of the target acetabular cup corresponding to each preset algorithm based on the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model. It can be seen that through the method of the embodiment of the present application, a CT image can be obtained, and then according to the CT image, the specification information and installation position information of the target acetabular cup, and the specification information and installation position information of the target femur input by the user, the recommended installation angle of the acetabular cup is calculated, so as to facilitate the user to install the acetabular cup according to the recommended installation angle of the acetabular cup.

[0065] Of course, it is not necessary for any product or method implementing the present invention to achieve all the above advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0067] Figure 1 It is a schematic structural diagram of a hip joint in the prior art;

[0068] Figure 2 It is a schematic flow diagram of an operation planning method provided by an embodiment of the present application;

[0069] Figure 3 It is a schematic flow diagram of creating a bone model provided by an embodiment of the present application;

[0070] Figure 4 It is a schematic flow diagram of receiving user input provided by an embodiment of the present application;

[0071] Figure 5 It is a schematic flow diagram of calculating the recommended installation angle of the acetabular cup provided by an embodiment of the present application;

[0072] Figure 6 It is a schematic structural diagram of an operation planning device provided by an embodiment of the present application;

[0073] Figure 7 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0074] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art based on this application belong to the scope of protection of the present invention.

[0075] In the first aspect of the embodiments of the present application, first, a surgical planning method is provided. Refer to Figure 2 , the method includes:

[0076] Step S21: Receive a CT image input by a user, where the CT (Computed Tomography) image includes the pelvis and femur.

[0077] Step S22: Create a bone model based on the CT image and display it.

[0078] Step S23: Receive the specification information and installation position information of the target acetabular cup, and the specification information and installation position information of the target femur input by the user according to the displayed bone model.

[0079] Step S24: Calculate the recommended installation angles of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model through a variety of preset algorithms.

[0080] It can be seen that through the method of the embodiments of the present application, a CT image can be obtained, and then according to the CT image, the specification information and installation position information of the target acetabular cup, and the specification information and installation position information of the target femur input by the user, the recommended installation angle of the acetabular cup can be calculated, so as to facilitate the user to install the acetabular cup according to the recommended installation angle of the acetabular cup.

[0081] Corresponding to the above step S21, since the method of the present application is applied to the planning of the installation angle of the acetabular cup before surgery, and in the specific surgical process, when installing a hip joint prosthesis, the hip joint prosthesis will include an acetabular cup and a femur, and in the actual surgical process, the acetabular cup is installed on the pelvis and the femoral prosthesis is installed on the femur. Therefore, when obtaining the CT image, the CT image should include the pelvis and the femur. The user in the embodiments of the present application can be a user who performs surgical planning such as a doctor, and the CT image in the present application can refer to the CT image of the patient. For example, before performing surgical planning, a doctor first performs a CT on the patient to obtain the CT image of the patient, and then performs surgical planning according to the CT image.

[0082] Corresponding to the above step S22, a bone model can be created and displayed based on the CT image. Specifically, the bone model can include a pelvic model and a femoral model. During actual use, the femur can be divided into the operative-side femur and the contralateral femur. The operative-side femur refers to the femur corresponding to the hip joint that specifically requires surgery, while the contralateral femur refers to the femur on the other side. For example, when a patient needs to install a prosthesis on the left hip joint, the left side is the operative side and the right side is the contralateral side.

[0083] Corresponding to the above step S23, when the bone model is displayed during actual use, the pelvic model and the femoral model can be displayed separately or together. To facilitate user selection, selection buttons can be set on the interface to facilitate user switching. When receiving the specification information and installation position information of the target acetabular cup and the specification information and installation position information of the target femur input by the user based on the displayed bone model, the user can select the specifications corresponding to the target acetabular cup and femur from the preset options. Specifically, the specifications include brand models and specifications, etc. For the femoral head, the length can also be included, and for the femoral stem, parameters such as the neck-shaft angle can also be included. When the user inputs the installation position, the corresponding coordinate position can be directly input, or the position can be determined or adjusted by means such as mouse dragging.

[0084] Corresponding to the above step S24, in the embodiments of the present application, multiple algorithms can be preset. Based on the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model, the recommended installation angle of the acetabular cup is calculated through the multiple algorithms, and then the calculation result is displayed to the user for the user to select the acetabular cup. When displaying the recommended installation angle of the acetabular cup, the calculation results of different algorithms can be marked with different colors, and the intersection of the recommended installation angles of the acetabular cup corresponding to the three algorithms is marked with another color.

[0085] In a possible implementation manner, referring to Figure 3 , step S22 of creating and displaying a bone model based on the CT image includes:

[0086] Step S221, receiving the marking information of the hip joint and the distal femur input by the user based on the CT image;

[0087] Step S222, according to the marking result, registering the CT image with a preset femoral model and a preset pelvic model created in advance;

[0088] Step S223, creating and displaying the first pelvic model and the first femoral model of the patient according to the registration result.

[0089] Among them, when receiving the marking information of the hip joint and the distal femur input by the user based on the CT image, the user can select the corresponding area in the displayed CT image through the mouse. The positioning of the hip joint and the distal femur can be facilitated by the corresponding marking information of the hip joint and the distal femur. For example, after the user inputs the CT image, after selecting the option of the hip joint or the distal femur, the hip joint and the distal femur can be marked. The specific marking method can be to click the mouse and delimit the area in the displayed CT image for marking. Through the above marking information, the positioning of the hip joint and the distal femur can be facilitated, so as to identify the hip joint and the femur.

[0090] Among them, according to the marking result, register the CT image with the pre-created preset femur model and preset pelvis model, and the pelvis model and the femur model can be configured respectively. Specifically, the femur model can include the femur model of the operative side and the femur model of the contralateral side. Through this configuration process, create a model according to the CT image to realize the creation of a three-dimensional model. When displaying the first pelvis model and the first femur model, they can be displayed respectively according to the user's selection, and the user can also rotate the model by dragging the mouse and other methods to achieve an all-round display. In the actual use process, sectional views in multiple directions can also be displayed on the display interface. For specific details, please refer to the subsequent embodiments.

[0091] In a possible implementation manner, refer to Figure 4 , step S23 receives the specification information and installation position information of the target acetabular cup and the specification information and installation position information of the target femur input by the user according to the displayed bone model, including:

[0092] Step S231, receive the selection instruction of the target acetabular cup and / or the target femur selected by the user from the preset list according to the displayed bone model;

[0093] Step S232, display the target acetabular cup and / or the target femur corresponding to the selection instruction in the displayed femur model;

[0094] Step S233, receive the position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user;

[0095] Step S234, determine and display the position corresponding to the adjusted target acetabular cup and / or the target femur according to the position adjustment instruction.

[0096] Through the method of the embodiments of the present application, multiple acetabular cups and femurs to be selected can be preset in advance. When the user selects the target acetabular cup and / or the target femur, it can be selected by mouse in the drop-down list, or can be selected by direct input. Specifically, it can be based on information such as the brand, specification, and model of the acetabular cup or femur. When selecting the target acetabular cup and / or the target femur, they can be selected separately, and the present application does not limit the sequence of the two. In a possible implementation manner, the receiving the selection instruction of the target acetabular cup and / or the target femur by the user from the preset list according to the displayed bone model includes: receiving the selection instruction of the acetabular cup model and the liner model by the user from the preset list according to the displayed bone model; receiving the selection instruction of the femoral head model and the femoral stem model by the user from the preset list according to the displayed bone model, wherein the target femur includes the femoral head and the femoral stem.

[0097] When displaying the target acetabular cup and / or the target femur corresponding to the selection instruction in the displayed femoral model, the prediction and placement of the installation position of the acetabular cup or femur can be automatically performed, or it can be placed at any position in the display interface. If the automatic placement is completed and the user still needs to adjust the position, the next step can be executed. If it is considered that no adjustment is required, the installation position is determined and the process ends.

[0098] When receiving the position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user, it can be adjusted in various ways. For example, the position can be adjusted by inputting the coordinate position or by dragging with the mouse. In a possible implementation manner, the receiving the position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user includes: displaying the first prompt information corresponding to the current position of the target acetabular cup, wherein the first prompt information includes one or more of the acetabular cup anteversion angle, the acetabular cup abduction angle, the acetabular cup coverage rate, the acetabular cup center, and the acetabular center; receiving the position adjustment instruction corresponding to the target acetabular cup input by the user according to the first prompt information; and / or, displaying the second prompt information corresponding to the current position of the target femur, wherein the second prompt information includes one or more of the femoral angle, the femoral stem angle, the femoral head center, and the acetabular cup center; receiving the position adjustment instruction corresponding to the target femur input by the user according to the second prompt information. Among them, when displaying the acetabular cup anteversion angle, the acetabular cup abduction angle, and the acetabular cup coverage rate, the corresponding parameters can be displayed, while the acetabular cup center and the acetabular center can display the corresponding center points, and the center points of the two can be displayed in different colors. The femoral anteversion angle and the femoral stem angle can also be displayed by parameters, while the femoral head center and the corresponding acetabular cup center can display the center points in different colors. Through the above method of inputting the position adjustment instruction, the user can input the position adjustment instruction, so as to determine and display the position corresponding to the adjusted target acetabular cup and / or the target femur.

[0099] In a possible implementation manner, before calculating, according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model, the recommended installation angles of the target acetabular cup corresponding to each preset algorithm through a variety of preset algorithms, the method further includes: receiving the positions of a plurality of first registration points marked by a user on the displayed pelvic model, where the first registration points include one or more of an acetabular registration point, a center of rotation, a symphysis pubis center, a surgical iliac anterior superior spine, and a contralateral iliac anterior superior spine; receiving the positions of a plurality of second registration points marked by the user on the displayed femoral model, where the second registration points include one or more of a femoral registration point, a femoral head center, a femoral neck center, a proximal center of the femoral shaft, and a distal center of the femoral shaft. Among them, there may be multiple acetabular registration points, for example, including acetabular registration point 1, acetabular registration point 2, and acetabular registration point 3. The number of registration points of the surgical side femur and the configuration points of the contralateral femur among the above second registration points may be different, and generally, there are more registration points on the surgical side. For example, the registration points of the surgical side femur may include femoral registration point 1, femoral registration point 2, femoral registration point 3, femoral head center, femoral neck center, proximal center of the femoral shaft, distal center of the femoral shaft, and lesser trochanter, while the registration points of the contralateral femur may include femoral head center, proximal center of the femoral shaft, distal center of the femoral shaft, and lesser trochanter. The user can sequentially select the icons corresponding to the pelvis, femur, and distal femur, and then mark the corresponding anatomical structures on the CT section or the displayed pelvic model or femoral model according to the prompt information of the registration points.

[0100] In a possible implementation manner, referring to Figure 5 , step S24 calculates the recommended installation angles of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model, including:

[0101] Step S241, for each preset algorithm, calculate the recommended installation angle of the target acetabular cup according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model;

[0102] Step S242, calculate the intersection of the recommended installation angles of the target acetabular cup corresponding to the multiple preset algorithms and display it.

[0103] When calculating the recommended installation angle of the target acetabular cup for each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model, multiple preset algorithms can be used. For example, by simulating movement to calculate the femur neck and multiple acetabular cup angles corresponding to no collision between the acetabular cup edge or the inner lining edge of the acetabular cup, a first angle set is obtained; by using a preset empirical formula to calculate multiple corresponding acetabular cup angles, a second angle set is obtained; by using a preset dislocation-free algorithm to calculate a third angle set corresponding to no dislocation. When calculating and displaying the intersection of the recommended installation angles of the target acetabular cup corresponding to the multiple preset algorithms, the intersection of the first angle set, the second angle set, and the third angle set can be calculated. The above algorithms can be referred to the prior art and will not be elaborated here.

[0104] In a possible implementation manner, calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model includes: creating a second pelvic model according to the specification information and installation position information of the target acetabular cup; creating a second femoral model according to the specification information and installation position information of the target femur; and calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm through multiple preset algorithms according to the second pelvic model and the second femoral model. Through the method of the embodiments of the present application, the pelvic model and the femoral model can be created separately, and then the acetabular cup angle can be calculated through the created models. In actual use, the creation order of the pelvic model and the femoral model can be not limited, but for the convenience of referring to the central position of the acetabular cup when creating the femoral model, the second femoral model can be created after the second pelvic model.

[0105] In a possible implementation manner, creating and displaying the bone model according to the CT image includes: creating a bone model according to the CT image; and displaying cross-sectional views of the created three-dimensional femoral model and the bone model in multiple directions. In the embodiments of the present application, the displayed bone model can be a three-dimensional model. When the user observes, the angle can be switched or the size can be changed. For example, the angle can be changed by holding down the mouse and dragging, such as dragging to the left, the model rotates to the left, and dragging to the right, the model rotates to the right. The size of the model can be changed by scrolling the mouse wheel. In an example, when the three-dimensional bone model is in a three-dimensional coordinate system, multiple cross-sections can include the xoy plane, the xoz plane, and the yoz plane, and the specific cross-sectional depth can be adjusted according to the user's adjustment instruction.

[0106] After calculating the recommended installation angles of the target acetabular cup corresponding to each preset algorithm based on the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model through a variety of preset algorithms, the method further includes: when there is no intersection among the recommended installation angles of the target acetabular cup corresponding to multiple preset algorithms, receiving and based on the reselected specification information of the acetabular cup, the reselected installation position information of the acetabular cup, the reselected specification information of the femur, and the reselected installation position information of the femur, calculating the recommended installation angles of the acetabular cup corresponding to each preset algorithm through a variety of preset algorithms. If there is no intersection among the recommended installation angles of the target acetabular cup corresponding to the calculated multiple preset algorithms, it can be considered that the calculation fails. The user can recalculate by reselecting the model corresponding to the acetabular cup or femur so that the recommended installation angle of the acetabular cup obtained by calculation meets the requirements, or recalculate the recommended installation angle by adjusting the installation position of the acetabular cup or femur.

[0107] In a second aspect of the embodiments of the present application, a surgical planning device is provided. Refer to Figure 6 , the device includes:

[0108] An image receiving module 601, configured to receive a CT image input by a user, where the CT image includes a pelvis and a femur;

[0109] A model display module 602, configured to create a bone model based on the CT image and display it;

[0110] An information receiving module 603, configured to receive the specification information and installation position information of a target acetabular cup, and the specification information and installation position information of a target femur input by the user according to the displayed bone model;

[0111] An angle calculation module 604, configured to calculate the recommended installation angles of the target acetabular cup corresponding to each preset algorithm based on the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model through a variety of preset algorithms.

[0112] In a possible implementation manner, the model display module is specifically configured to receive the marking information of the hip joint and the distal femur input by the user based on the CT image; according to the marking result, register the CT image with a preset femur model and a preset pelvis model created in advance; create a first pelvis model and a first femur model of the patient according to the registration result and display them.

[0113] In a possible implementation, the information receiving module is specifically configured to receive a selection instruction for a target acetabular cup and / or a target femur selected by the user from a preset list according to the displayed bone model; display the target acetabular cup and / or the target femur corresponding to the selection instruction in the displayed femur model; receive a position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user; and determine and display the position corresponding to the adjusted target acetabular cup and / or the target femur according to the position adjustment instruction.

[0114] In a possible implementation, the device further includes:

[0115] A registration point receiving module, configured to receive the positions of a plurality of first registration points marked by the user on the displayed pelvic model, where the first registration points include one or more of an acetabular registration point, a center of rotation, a symphysis pubis center, a surgical side anterior superior iliac spine, and a contralateral anterior superior iliac spine; and receive the positions of a plurality of second registration points marked by the user on the displayed femur model, where the second registration points include one or more of a femoral registration point, a femoral head center, a femoral neck center, a proximal center of the femoral shaft, and a distal center of the femoral shaft.

[0116] In a possible implementation, the angle calculation module is specifically configured to calculate, for each preset algorithm, a recommended installation angle of the target acetabular cup according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model; calculate the intersection of the recommended installation angles of the target acetabular cup corresponding to the multiple preset algorithms and display the intersection.

[0117] In a possible implementation, the angle calculation module is specifically configured to create a second pelvic model according to the specification information and installation position information of the target acetabular cup; create a second femur model according to the specification information and installation position information of the target femur; and calculate, through multiple preset algorithms, the recommended installation angle of the target acetabular cup corresponding to each preset algorithm according to the second pelvic model and the second femur model.

[0118] In a possible implementation, the information receiving module is specifically configured to receive a selection instruction for an acetabular cup model and a liner model selected by the user from a preset list according to the displayed bone model; and receive a selection instruction for a femoral head model and a femoral stem model selected by the user from a preset list according to the displayed bone model, where the target femur includes a femoral head and a femoral stem.

[0119] In a possible implementation, the model display module is specifically configured to create a bone model according to the CT image; and display three-dimensional femoral models created and cross-sectional views of the bone model in multiple directions.

[0120] In a possible implementation manner, the device further includes:

[0121] A re-selection module, configured to, when there is no intersection in the recommended installation angles of the target acetabular cups corresponding to multiple preset algorithms, receive and calculate, according to the re-selected acetabular cup specification information, the re-selected acetabular cup installation position information, the re-selected femur specification information, and the re-selected femur installation position information, the recommended installation angles of the acetabular cups corresponding to each preset algorithm through the multiple preset algorithms.

[0122] In a possible implementation manner, the information receiving module is specifically configured to display first prompt information corresponding to the current position of the target acetabular cup, where the first prompt information includes one or more of the acetabular cup anteversion angle, the acetabular cup abduction angle, the acetabular cup coverage rate, the acetabular cup center, and the acetabular center; receive a position adjustment instruction corresponding to the target acetabular cup input by the user according to the first prompt information;

[0123] and / or

[0124] display second prompt information corresponding to the current position of the target femur, where the second prompt information includes one or more of the femoral inclination angle, the femoral stem inclination angle, the femoral head center, and the acetabular cup center; receive a position adjustment instruction corresponding to the target femur input by the user according to the second prompt information.

[0125] It can be seen that through the device according to the embodiments of the present application, a CT image can be obtained, and then, according to the CT image, the specification information and installation position information of the target acetabular cup, and the specification information and installation position information of the target femur input by the user, the recommended installation angle of the acetabular cup is calculated, so as to facilitate the user to install the acetabular cup according to the recommended installation angle of the acetabular cup.

[0126] An embodiment of the present invention further provides an electronic device, as Figure 7 shown, including a processor 701, a communication interface 702, a memory 703, and a communication bus 704, where the processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704,

[0127] The memory 703 is used to store a computer program;

[0128] The processor 701 is configured to, when executing the program stored in the memory 703, implement the following steps:

[0129] Receive a CT image input by the user, where the CT image includes the pelvis and the femur;

[0130] Create a bone model according to the CT image and display it;

[0131] Receive the specification information and installation position information of the target acetabular cup, and the specification information and installation position information of the target femur input by the user according to the displayed bone model;

[0132] According to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model, calculate the recommended installation angles of the target acetabular cup corresponding to each preset algorithm through a variety of preset algorithms.

[0133] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0134] The communication interface is used for communication between the above electronic device and other devices.

[0135] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0136] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0137] In another embodiment provided by the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above surgical planning methods are implemented.

[0138] In another embodiment provided by the present invention, there is also provided a computer program product containing instructions, which, when running on a computer, causes the computer to execute any one of the surgical planning methods in the above embodiments.

[0139] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0140] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article, or device including the element.

[0141] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, electronic device, storage medium, and computer program product, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant parts, reference can be made to the partial description of the method embodiments.

[0142] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A surgical planning method, characterized in that, The method includes: Receiving a CT image input by a user, where the CT image includes a pelvis and a femur; Creating and displaying a bone model according to the CT image; Receiving the specification information and installation position information of a target acetabular cup, and the specification information and installation position information of a target femur input by the user according to the displayed bone model; Calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model through a variety of preset algorithms.

2. The method according to claim 1, characterized in that The creating and displaying a bone model according to the CT image includes: Receiving the marking information of the hip joint and the distal femur input by the user based on the CT image; Registering the CT image with a preset femur model and a preset pelvis model created in advance according to the marking result; Creating and displaying a first pelvis model and a first femur model of the patient according to the registration result.

3. The method according to claim 1, wherein The receiving the specification information and installation position information of the target acetabular cup, and the specification information and installation position information of the target femur input by the user according to the displayed bone model includes: Receiving a selection instruction of a target acetabular cup and / or a target femur selected by the user from a preset list according to the displayed bone model; Displaying the target acetabular cup and / or the target femur corresponding to the selection instruction in the displayed femur model; Receiving a position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user; Determining and displaying the position corresponding to the adjusted target acetabular cup and / or the target femur according to the position adjustment instruction.

4. The method according to claim 1, wherein Before calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model through a variety of preset algorithms, the method further includes: Receiving the positions of a plurality of first registration points marked by the user on the displayed pelvis model, where the first registration points include one or more of an acetabular registration point, a center of rotation, a symphysis pubis center, a surgical iliac anterior superior spine, and a contralateral iliac anterior superior spine; Receiving the positions of a plurality of second registration points marked by the user on the displayed femur model, where the second registration points include one or more of a femoral registration point, a femoral head center, a femoral neck center, a proximal femoral shaft center, and a distal femoral shaft center.

5. The method according to claim 4, characterized in that, The calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model through a variety of preset algorithms includes: For each preset algorithm, calculating the recommended installation angle of the target acetabular cup according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model; Calculating the intersection of the recommended installation angles of the target acetabular cup corresponding to the multiple preset algorithms and displaying it.

6. The method according to claim 1, wherein Based on the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model, calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm through a variety of preset algorithms, including: Creating a second pelvic model according to the specification information and installation position information of the target acetabular cup; Creating a second femoral model according to the specification information and installation position information of the target femur; Calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm through a variety of preset algorithms according to the second pelvic model and the second femoral model.

7. The method according to claim 3, wherein Receiving a selection instruction for the target acetabular cup and / or the target femur selected by the user from a preset list according to the displayed bone model, including: Receiving a selection instruction for the acetabular cup model and the liner model selected by the user from a preset list according to the displayed bone model; Receiving a selection instruction for the femoral head model and the femoral stem model selected by the user from a preset list according to the displayed bone model, where the target femur includes a femoral head and a femoral stem.

8. The method according to claim 1, characterized in that, Creating and displaying a bone model according to the CT image, including: Creating a bone model according to the CT image; Displaying cross-sectional views of the created three-dimensional femoral model and the bone model in multiple directions.

9. The method according to claim 1, wherein After calculating the recommended installation angle of the target acetabular cup corresponding to each preset algorithm according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model, the method further includes: When there is no intersection in the recommended installation angles of the target acetabular cup corresponding to multiple preset algorithms, receiving and, according to the re-selected specification information of the acetabular cup, the re-selected installation position information of the acetabular cup, the re-selected specification information of the femur, and the re-selected installation position information of the femur, calculating the recommended installation angle of the acetabular cup corresponding to each preset algorithm through a variety of preset algorithms.

10. The method according to claim 3, characterized in that, Receiving a position adjustment instruction corresponding to the target acetabular cup and / or the target femur input by the user, including: Displaying first prompt information corresponding to the current position of the target acetabular cup, where the first prompt information includes one or more of the acetabular cup anteversion angle, the acetabular cup abduction angle, the acetabular cup coverage rate, the acetabular cup center, and the acetabular center; receiving the position adjustment instruction corresponding to the target acetabular cup input by the user according to the first prompt information; And / or Displaying second prompt information corresponding to the current position of the target femur, where the second prompt information includes one or more of the femoral inclination angle, the femoral stem inclination angle, the femoral head center, and the acetabular cup center; receiving the position adjustment instruction corresponding to the target femur input by the user according to the second prompt information.

11. A surgical planning device, characterized in that, The device includes: An image receiving module, configured to receive a CT image input by a user, where the CT image includes a pelvis and a femur; A model display module, configured to create and display a bone model according to the CT image; An information receiving module, configured to receive the specification information and installation position information of the target acetabular cup and the specification information and installation position information of the target femur input by the user according to the displayed bone model; An angle calculation module, configured to calculate the recommended installation angles of the target acetabular cup corresponding to each preset algorithm through a variety of preset algorithms according to the specification information and installation position information of the target acetabular cup, the specification information and installation position information of the target femur, and the bone model.

12. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is used to store computer programs; The processor is configured to implement the method steps described in any one of claims 1-10 when executing the programs stored on the memory.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method steps described in any one of claims 1-10 are implemented.

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