Prosthetic joint collision detection method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a prosthetic joint collision detection method and device, electronic equipment and a storage medium, and is applied to the technical field of medical instruments. Specifically, parameter information and installation position information of a target acetabular cup and a target femur are obtained; calculating a first three-dimensional model of the pre-created hip bone skeleton model after the target acetabular cup is mounted and a second three-dimensional model of the pre-created thighbone skeleton model after the target thighbone is mounted; creating a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model; simulating a behavior period selected by the user through a third three-dimensional model; and judging whether collision occurs or not according to the behavior cycle simulation result. By applying the method provided by the embodiment of the invention, the parameter information and the installation position information of the target acetabular cup and the target thighbone can be acquired, and the third three-dimensional model is established, so that the behavior period selected by the user is simulated through the third three-dimensional model, and whether the bones collide with one another or not when the human body moves after the prosthesis is installed is judged according to the simulation result.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a method, device, electronic device and storage medium for detecting collisions of prosthetic joints. Background Art

[0002] On the premise of the continuous development of medical technology, medical staff can provide more treatment options for patients. For example, for symptoms such as hip joint lesions and arthritis, artificial prosthesis replacement can be used to make the artificial prosthetic joint replace the diseased joint to work.

[0003] However, in the related art, the placement position of the prosthetic joint in the human body is crucial. Taking hip replacement surgery as an example, if the placement position of the prosthetic joint is inappropriate, it will cause collision between the femur on the operative side and the pelvis or collision between the femoral neck and the acetabular cup in the prosthetic joint, resulting in a risk of dislocation of the prosthetic joint and affecting the postoperative function. And when calculating the placement position of the prosthetic joint, it is usually calculated when the patient is in a static state, while the patient may be in different motion states in daily life, which will also increase the risk of collision of the prosthetic joint. Therefore, it is necessary to determine whether there is a collision between bones during human movement after installing the prosthesis. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, electronic device and storage medium for detecting collisions of prosthetic joints, so as to solve the technical problem of how to determine whether there is a collision between bones during human movement after installing the prosthesis. The specific technical solutions are as follows:

[0005] In the first aspect of the embodiments of the present application, a method for detecting collisions of prosthetic joints is provided. The method is applied to a client, and the method includes:

[0006] Obtain the parameter information and installation position information of the target acetabular cup; according to the parameter information and installation position information of the target acetabular cup, calculate the three-dimensional model of the pre-created hip bone skeleton model after installing the target acetabular cup to obtain the first three-dimensional model;

[0007] Obtain the parameter information and installation position information of the target femur; according to the parameter information and installation position information of the target femur, calculate the three-dimensional image of the pre-created femur bone skeleton model after installing the target femur to obtain the second three-dimensional model;

[0008] Create a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model;

[0009] Receive the behavior cycle selected by the user; simulate the behavior cycle through the third three-dimensional model;

[0010] Judge whether a collision occurs according to the simulation result of the behavior cycle.

[0011] In a possible implementation, the receiving of the behavior cycle selected by the user includes:

[0012] Receiving the behavior cycle selected from multiple preset behavior cycles, where the multiple preset behavior cycles include: from standing to sitting posture, walking posture, bending posture, from squatting to standing posture, leaning forward posture, turning posture, up and down stairs posture, crossing legs posture.

[0013] In a possible implementation, before the receiving of the behavior cycle selected by the user, the method further includes:

[0014] For any preset behavior cycle, when it is detected that the user has an action to be selected for this preset behavior cycle, play the animation corresponding to this behavior cycle.

[0015] In a possible implementation, after determining whether a collision occurs according to the behavior cycle simulation result, the method further includes:

[0016] For any preset behavior cycle, if the behavior cycle simulation result indicates that a collision occurs, play the animation corresponding to the collision behavior, where the animation corresponding to the collision behavior includes the part and behavior of the collision.

[0017] In a possible implementation, the obtaining of the parameter information and installation position information of the target acetabular cup includes:

[0018] Obtaining the diameter of the acetabular fossa in the hip bone skeletal model;

[0019] Receiving the target acetabular cup selection instruction sent by the user according to the diameter of the acetabular fossa;

[0020] Determining the target acetabular cup according to the target acetabular cup selection instruction and obtaining the parameter information and installation position information of the target acetabular cup.

[0021] In a possible implementation, the determining whether a collision occurs according to the behavior cycle simulation result includes:

[0022] Calculating the relative positions of the target acetabular cup and the femur corresponding to the behavior cycle, and determining whether the target acetabular cup and the target femur collide;

[0023] Calculating the relative positions of the target acetabular cup and the femur corresponding to the behavior cycle, and determining whether a collision occurs between the bones in the third 3D model;

[0024] When the target acetabular cup and the target femur collide, and / or a collision occurs between the bones in the third 3D model, it is determined that the behavior cycle simulation result indicates that a collision occurs.

[0025] In a possible implementation manner, before obtaining the parameter information and installation position information of the target acetabular cup, the method further includes:

[0026] Display a three-dimensional simulation view of the hip bone skeleton model; receive a preliminary adjustment instruction for the target acetabular cup from the user; in response to the preliminary adjustment instruction for the target acetabular cup, place the target acetabular cup in the acetabular fossa of the hip bone skeleton model to obtain a preliminary acetabular cup adjustment model;

[0027] Display a CT cross-section of the preliminary acetabular cup adjustment model, and receive a fine adjustment instruction for the target acetabular cup sent by the user by observing the CT cross-section of the preliminary acetabular cup adjustment model; in response to the fine adjustment instruction for the target acetabular cup, adjust the position of the target acetabular cup in the preliminary acetabular cup adjustment model to obtain a first acetabular cup adjustment model;

[0028] Obtain the position information of the target acetabular cup in the first acetabular cup adjustment model to obtain the installation position information of the target acetabular cup.

[0029] In a possible implementation manner, before obtaining the parameter information and installation position information of the target femur; the method further includes:

[0030] Display a three-dimensional simulation view of the femur skeleton model; receive a preliminary adjustment instruction for the target femur from the user; in response to the preliminary adjustment instruction for the target femur, place the target femur in the femur of the femur skeleton model to obtain a preliminary femur adjustment model;

[0031] Display a CT cross-section of the preliminary femur adjustment model, and receive a fine adjustment instruction for the target femur sent by the user by observing the CT cross-section of the preliminary femur adjustment model; in response to the fine adjustment instruction for the target femur, adjust the position of the target femur in the preliminary femur adjustment model to obtain a first femur adjustment model;

[0032] Obtain the position information of the target femur in the first femur adjustment model to obtain the installation position information of the target femur.

[0033] In a possible implementation manner, after calculating a three-dimensional model of the pre-created hip bone skeleton model after installing the target acetabular cup according to the parameter information and installation position information of the target acetabular cup to obtain a first three-dimensional model, the method further includes:

[0034] According to the installation position information of the target acetabular cup, display the parts of the acetabular fossa in the hip bone skeleton model that need to be rasped.

[0035] In a possible implementation, the behavior cycle is a behavior cycle including multiple different postures. After simulating the behavior cycle through the third 3D model, the method further includes:

[0036] Calculating the relative positions of the target acetabular cup and the femoral stem corresponding to the multiple different behavior cycles;

[0037] Generating and displaying a dynamic human model corresponding to the multiple different behavior cycles according to the relative positions of the target acetabular cup and the femur.

[0038] In a possible implementation, after creating the third 3D model according to the first 3D model and the second 3D model, the method further includes:

[0039] Calculating an optional angle range of the target acetabular cup according to the target acetabular cup installation position information to obtain a set of acetabular cup angles to be detected;

[0040] Displaying the set of acetabular cup angles to be detected at a preset interface of the client.

[0041] In a second aspect of the embodiments of the present application, a prosthetic joint collision detection device is provided. The device is applied to a client and includes:

[0042] A target acetabular cup installation module, configured to obtain parameter information and installation position information of a target acetabular cup; calculating a 3D model of a pre-created hip bone skeleton model after installing the target acetabular cup according to the parameter information and installation position information of the target acetabular cup to obtain a first 3D model;

[0043] A target femur installation module, configured to obtain parameter information and installation position information of a target femur; calculating a 3D image of a pre-created femur skeleton model after installing the target femur according to the parameter information and installation position information of the target femur to obtain a second 3D model;

[0044] A third 3D model creation module, configured to create a third 3D model according to the first 3D model and the second 3D model;

[0045] A behavior cycle simulation module, configured to receive a behavior cycle selected by a user; simulating the behavior cycle through the third 3D model;

[0046] A collision result judgment module, configured to judge whether a collision occurs according to the behavior cycle simulation result.

[0047] In a possible implementation, the behavior cycle simulation module includes:

[0048] The behavior cycle selection instruction receiving module is specifically configured to receive the behavior cycle selected from multiple preset behavior cycles, where the multiple preset behavior cycles include: the posture from standing to sitting, walking posture, bending posture, the posture from squatting to standing, leaning forward posture, turning posture, up and down stairs posture, and crossed-leg posture.

[0049] In a possible implementation manner, the device further includes:

[0050] The animation playing module is configured to, for any preset behavior cycle, when detecting the action to be selected by the user for this preset behavior cycle, play the animation corresponding to this behavior cycle.

[0051] In a possible implementation manner, the device further includes:

[0052] The collision part display module is configured to, for any preset behavior cycle, if the simulation result of this behavior cycle indicates a collision, play the animation corresponding to the collision behavior, where the animation corresponding to the collision behavior includes the part and behavior of the collision.

[0053] In a possible implementation manner, the target acetabular cup installation module includes:

[0054] The acetabular fossa diameter acquisition sub-module is specifically configured to acquire the diameter of the acetabular fossa in the hip bone skeletal model;

[0055] The target acetabular cup selection instruction receiving sub-module is specifically configured to receive the target acetabular cup selection instruction sent by the user according to the diameter of the acetabular fossa;

[0056] The target acetabular cup information acquisition sub-module is specifically configured to determine the target acetabular cup according to the target acetabular cup selection instruction and acquire the parameter information and installation position information of the target acetabular cup.

[0057] In a possible implementation manner, the collision result judgment module includes:

[0058] The prosthesis collision judgment sub-module is specifically configured to calculate the relative positions of the target acetabular cup and the femur corresponding to the behavior cycle, and judge whether the target acetabular cup and the target femur collide;

[0059] The bone collision judgment sub-module is specifically configured to calculate the relative positions of the target acetabular cup and the femur corresponding to the behavior cycle, and judge whether there is a collision between the bones in the third three-dimensional model;

[0060] The collision result judgment sub-module is specifically configured to, when the target acetabular cup collides with the target femur, and / or there is a collision between the bones in the third three-dimensional model, determine that the simulation result of this behavior cycle indicates a collision.

[0061] In a possible implementation, the device further includes:

[0062] A target acetabular cup preliminary adjustment module, configured to display a three-dimensional simulation view of the hip bone model; receive a user's target acetabular cup preliminary adjustment instruction; in response to the target acetabular cup preliminary adjustment instruction, place the target acetabular cup in the acetabular fossa of the hip bone model to obtain a preliminary acetabular cup adjustment model;

[0063] A target acetabular cup fine adjustment module, configured to display a CT section of the preliminary acetabular cup adjustment model, and receive a user's target acetabular cup fine adjustment instruction issued by observing the CT section of the preliminary acetabular cup adjustment model; in response to the target acetabular cup fine adjustment instruction, adjust the position of the target acetabular cup in the preliminary acetabular cup adjustment model to obtain a first acetabular cup adjustment model;

[0064] A target acetabular cup position information acquisition module, configured to acquire the position information of the target acetabular cup in the first acetabular cup adjustment model to obtain the installation position information of the target acetabular cup.

[0065] In a possible implementation, the device further includes:

[0066] A target femur preliminary adjustment module, configured to display a three-dimensional simulation view of the femur model; receive a user's target femur preliminary adjustment instruction; in response to the target femur preliminary adjustment instruction, place the target femur in the femur of the femur model to obtain a preliminary femur adjustment model;

[0067] A target femur fine adjustment module, configured to display a CT section of the preliminary femur adjustment model, and receive a user's target femur fine adjustment instruction issued by observing the CT section of the preliminary femur adjustment model; in response to the target femur fine adjustment instruction, adjust the position of the target femur in the preliminary femur adjustment model to obtain a first femur adjustment model;

[0068] A target femur position information acquisition module, configured to acquire the position information of the target femur in the first femur adjustment model to obtain the installation position information of the target femur.

[0069] In a possible implementation, the device further includes:

[0070] A rasping site display module, configured to display the site on the hip bone model that needs to be rasped in the acetabular fossa according to the installation position information of the target acetabular cup.

[0071] In a possible implementation, the device further includes:

[0072] A relative position calculation module for calculating the relative positions of the target acetabular cup and the femoral stem corresponding to the multiple different movement cycles;

[0073] A movement cycle simulation module for generating and displaying a dynamic human model corresponding to the multiple different movement cycles according to the relative positions of the target acetabular cup and the femur.

[0074] In a possible implementation manner, the device further includes:

[0075] An acetabular cup angle calculation module for calculating an optional angle range of the target acetabular cup according to the target acetabular cup installation position information, and obtaining a set of acetabular cup angles to be detected;

[0076] An acetabular cup angle display module for displaying the set of acetabular cup angles to be detected at a preset interface of the client.

[0077] In a third aspect of the embodiments of the present application, there is provided an electronic device including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0078] The memory is used for storing a computer program;

[0079] The processor, when executing the program stored on the memory, implements the steps of any one of the prosthetic joint collision detection methods applied to the client.

[0080] In yet another aspect of the implementation of the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned prosthetic joint collision detection method is implemented.

[0081] Advantages of the embodiments of the present application:

[0082] A prosthetic joint collision detection method, device, electronic device, and storage medium provided by the embodiments of the present application can establish a third three-dimensional model through the obtained parameter information and installation position information of the target acetabular cup and the target femur, so as to simulate the movement cycles selected by the user through the third three-dimensional model, and further determine whether there will be collisions between bones during human movement after installing the prosthesis according to the simulation results.

[0083] Of course, when implementing any product or method of the present application, it is not necessarily required to achieve all the above-mentioned advantages simultaneously. Description of the Drawings

[0084] To more clearly illustrate the technical solutions in the embodiments of the present application 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 drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other embodiments can also be obtained based on these drawings.

[0085] Figure 1 It is a flowchart of a prosthetic joint collision detection method provided by an embodiment of the present application;

[0086] Figure 2 It is a schematic diagram of establishing a human body coordinate system provided by an embodiment of the present application;

[0087] Figure 3 It is a schematic diagram of establishing an acetabular coordinate system provided by an embodiment of the present application;

[0088] Figure 4 It is a schematic diagram of establishing a femoral side coordinate system provided by an embodiment of the present application;

[0089] Figure 5 It is a schematic diagram of presenting an animation of a collision behavior provided by an embodiment of the present application;

[0090] Figure 6 It is a schematic diagram of presenting a collision result provided by an embodiment of the present application;

[0091] Figure 7 It is a schematic diagram of the angle between the femoral neck and the central axis of the acetabular cup provided by an embodiment of the present application;

[0092] Figure 8 It is a schematic structural diagram of a prosthetic joint collision detection device provided by an embodiment of the present application;

[0093] Figure 9 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific Embodiments

[0094] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0095] To solve the technical problem of how to determine whether there is a collision between bones during human movement after installing a prosthesis, in the first aspect of the embodiments of the present application, a prosthetic joint collision detection method is provided. This method is applied to a client and includes the following Figure 1 shown steps:

[0096] Step S101: Obtain the parameter information and installation position information of the target acetabular cup; according to the parameter information and installation position information of the target acetabular cup, calculate the three-dimensional model of the pre-created hip bone skeletal model after installing the target acetabular cup to obtain the first three-dimensional model.

[0097] It should be noted that the method of the embodiment of the present application is applied to the client. In one example, the client can be an application program in an electronic device such as a mobile phone, a computer, or a tablet computer.

[0098] Among them, the parameter information of the target acetabular cup is the information representing the attributes of the target acetabular cup. For example, the parameter information of the target acetabular cup may include the prosthesis brand information to which the target acetabular cup belongs, the specification information of the target acetabular cup, and the model information of the target acetabular cup, etc. The installation position information of the target acetabular cup includes the coordinate position of the target acetabular cup in the preset human model, as well as the anteversion angle and abduction angle of the target acetabular cup. The pre-created hip bone skeletal model can be obtained by matching the three-dimensional model created according to the actual CT data of the patient and the pre-trained three-dimensional model.

[0099] The preset human model is a human model simulated by the user according to the actual relevant data of the patient. In one example, when the patient undergoes a CT (Computed Tomography) scan, the preset human model can be simulated according to data such as the patient's height and pelvic inclination angle. As Figure 2 shown, Figure 2 is the preset human model and human coordinate system corresponding to the patient established when the patient takes a CT. Among them, the X-axis is the direction from the inside to the outside of the body, the Z-axis is the up and down direction, the Y-axis is the front and back direction, L represents the left hand direction left of the human body, R represents the right hand direction right of the human body, H represents the head direction head of the human body, F represents the feet direction feet of the human body, A represents the anterior chest direction anterior of the human body, and P represents the posterior back direction pasterior of the human body. In one example, the installation position information of the target acetabular cup is (anteversion angle 15°, abduction angle 45°, located at (X1, Y1, Z1) of the human body).

[0100] Step S102: Obtain the parameter information and installation position information of the target femur; according to the parameter information and installation position information of the target femur, calculate the three-dimensional image of the pre-created femur skeletal model after installing the target femur to obtain the second three-dimensional model.

[0101] The parameter information of the target femur can be of the same type as that of the target acetabular cup. For example, the parameter information of the target femur can include the prosthesis brand information to which the target femur belongs, the specification information of the target femur, the model information of the target femur, etc. To ensure the fit between the target acetabular cup and the target femur, the same prosthesis brand is selected for the target acetabular cup and the target femur. In addition, the prosthetic joint also includes two components, namely, the liner and the femoral head, which are usually made of metal, titanium alloy, ceramic, polymer materials, etc., and also the same brand as the target acetabular cup and the target femur is selected. The target acetabular cup and the target femur are respectively in contact with and fixed to the patient's main bone. The femoral head and the liner form the friction interface of the hip joint. The target acetabular cup is installed on the pelvic side of the hip joint in the preset human model, and the end of the target femur close to the target acetabular cup is provided with a femoral head.

[0102] The installation position information of the target femur includes the anteversion angle of the target femur and the coordinate position of the target femur in the preset human model. The acquisition method of the pre-created femur bone model can be the same as that of the pre-created hip bone model. In practical applications, steps S101 and S102 can be executed without considering the order.

[0103] Step S103: Create a third 3D model according to the first 3D model and the second 3D model.

[0104] Among them, the first 3D model and the second 3D model can be assembled to obtain the third 3D model. Combine the hip bone model corresponding to the target acetabular cup with the femur bone model corresponding to the target femur to obtain a complete 3D model of the hip joint.

[0105] Step S104: Receive the behavior cycle selected by the user; simulate the behavior cycle through the third 3D model.

[0106] Among them, the behavior cycle is a state that may occur in the patient's life, which can include static actions or dynamic actions. For example, the behavior cycle selected by the user can be static states such as sitting still, standing, lying still, etc.; it can also be dynamic states such as sitting down from standing, walking, bending, standing up from squatting, leaning forward, turning around, going up and down stairs, crossing legs (crossing legs), etc.

[0107] In practical applications, the client can display common behavior cycles on the client interface, and the user can trigger the selection instruction corresponding to the behavior cycle by clicking on the behavior cycle to be selected. After receiving the behavior cycle selection instruction, the client calculates the relative position of the target acetabular cup and the target femur and performs a 3D simulation of the behavior cycle. Among them, the relative position of the target acetabular cup and the target femur can be obtained through a motion capture system.

[0108] Step S105: Determine whether a collision occurs according to the simulation result of the behavior cycle.

[0109] In practical applications, the collisions of the prosthetic joint are not only the collisions between the acetabular cup and the femur, but also the collisions between the prosthetic joint and the patient's bones, and the collisions between the patient's bones. The user can determine whether the above collisions occur by observing the simulation results of the behavior cycle.

[0110] By applying the method of the embodiment of the present application, a third three-dimensional model can be established through the obtained parameter information and installation position information of the target acetabular cup and the target femur, so as to simulate the behavior cycle selected by the user through the third three-dimensional model, and then determine whether there will be collisions between the bones during human movement after installing the prosthesis based on the simulation results.

[0111] In practical applications, there are a large number of acetabular cups to be selected. The client can obtain the parameter information and installation position information of the target acetabular cup according to the following steps:

[0112] Step (1): Obtain the diameter of the acetabular fossa in the hip bone skeletal model.

[0113] After creating the hip bone skeletal model, the client can display the diameter of the acetabular fossa of the patient according to the patient's CT data.

[0114] Step (2): Receive the target acetabular cup selection instruction sent by the user according to the diameter of the acetabular fossa.

[0115] When the user selects the target acetabular cup according to the diameter of the acetabular fossa, the user can select it according to the parameter information of the acetabular cup to be selected. For example, the specification information of the acetabular cup to be selected includes the diameter of the acetabular cup to be selected. By matching the diameter of the acetabular cup to be selected with the diameter of the acetabular fossa, the target acetabular cup is determined. The user can trigger the target acetabular cup selection instruction by clicking the button corresponding to the target acetabular cup.

[0116] Step (3): Determine the target acetabular cup according to the target acetabular cup selection instruction and obtain the parameter information and installation position information of the target acetabular cup.

[0117] After receiving the target acetabular cup selection instruction, the client can determine the target acetabular cup from the acetabular cups to be selected through the parameter information of the target acetabular cup in the target acetabular cup selection instruction, so as to obtain the parameter information and installation position information of the target acetabular cup.

[0118] By applying the method of the embodiment of the present application, the diameter of the acetabular fossa in the hip bone skeletal model can be obtained, so that the user can determine the target acetabular cup through the diameter of the acetabular fossa, and then send a target acetabular cup selection instruction to the client, so as to facilitate the client to plan the target acetabular cup.

[0119] In a possible implementation manner, step S105 can be implemented through the following steps:

[0120] Step Ⅰ: Calculate the relative positions of the target acetabular cup and the femur corresponding to the behavior cycle, and determine whether the target acetabular cup collides with the target femur;

[0121] Step Ⅱ: Calculate the relative positions of the target acetabular cup and the femur corresponding to the behavior cycle, and determine whether there is a collision between the bones in the third three-dimensional model;

[0122] Step Ⅲ: When the target acetabular cup collides with the target femur, and / or there is a collision between the bones in the third three-dimensional model, it is determined that the simulation result of the behavior cycle indicates a collision.

[0123] In practical applications, there are various situations of prosthesis collision. For example, the target acetabular cup collides with the target femur, the prosthesis joint composed of the target acetabular cup and the target femur collides with the patient's bones, and there is a collision between the patient's bones, etc. The client simulates the behavior cycle, and the user can judge whether there is a collision by observing the simulation result of the behavior cycle. When at least one of the situations such as the target acetabular cup collides with the target femur, the prosthesis joint composed of the target acetabular cup and the target femur collides with the patient's bones, and there is a collision between the patient's bones occurs, it is considered that the selected behavior cycle has a prosthesis collision during the three-dimensional simulation process.

[0124] By applying the method of the embodiment of the present application, the user can judge various situations of the behavior cycle result by simulating the behavior cycle. When any one of the situations that the target acetabular cup collides with the target femur and there is a collision between the bones occurs, it is considered that the behavior cycle result indicates a collision, so as to facilitate the user to adjust the target acetabular cup or the target femur to avoid the situation of collision between the bones during human movement after installing the prosthesis.

[0125] In a possible implementation manner, the position of the target acetabular cup is planned first. Therefore, the method of the embodiment of the present application may further include the following steps:

[0126] Step A: Display a three-dimensional simulation view of the hip bone model; receive the user's initial adjustment instruction for the target acetabular cup; in response to the initial adjustment instruction for the target acetabular cup, place the target acetabular cup in the acetabular fossa of the hip bone model to obtain a preliminary acetabular cup adjustment model.

[0127] Among them, the initial adjustment instruction for the target acetabular cup can be triggered in various ways. In one example, the acetabular cup placement model can be pre-trained with sample data. The user only needs to click the corresponding placement button to trigger the initial adjustment instruction for the target acetabular cup, and the client can directly place the target acetabular cup in the acetabular fossa of the hip bone model through the pre-trained acetabular cup placement model. In another example, the user can directly trigger the initial adjustment instruction for the target acetabular cup by dragging the target acetabular cup with the mouse, and the client places the target acetabular cup in the acetabular fossa of the hip bone model in response to the position of the user's mouse movement.

[0128] Step B: Display the CT cross-section of the preliminary acetabular cup adjustment model, and receive the target acetabular cup fine adjustment instruction sent by the user by observing the CT cross-section of the preliminary acetabular cup adjustment model; in response to the target acetabular cup fine adjustment instruction, adjust the position of the target acetabular cup in the preliminary acetabular cup adjustment model to obtain the first acetabular cup adjustment model.

[0129] Among them, the CT cross-section of the preliminary acetabular cup adjustment model is the top view perspective of the preliminary acetabular cup adjustment model, which can facilitate the user to observe the positional relationship between the target acetabular cup and the patient's bone. For the convenience of the user's observation, the client can display the patient's bone and the target acetabular cup in different colors when displaying the CT cross-section of the preliminary acetabular cup adjustment model. During fine adjustment, the user can trigger the target acetabular cup fine adjustment instruction through the arrow keys, or trigger the target acetabular cup fine adjustment instruction by typing the direction and displacement.

[0130] For the convenience of the user to finely adjust the position of the target acetabular cup, the client can display the physiological rotation center of the patient and the center of the ball of the target acetabular cup, and the user adjusts the center of the ball of the target acetabular cup to fit the physiological rotation center of the patient as much as possible. Among them, obtaining the center of the ball of the target acetabular cup can be to select multiple feature points of the target acetabular cup, obtain a fitting sphere through fitting of the multiple feature points, and use the center of the ball of the fitting sphere as the center of the ball of the target acetabular cup.

[0131] In one example, Figure 2 the human body coordinate system shown is translated to obtain the acetabular coordinate system, as Figure 3 shown, in Figure 3 it, the origin O1 of the acetabular coordinate system is the physiological rotation center of the patient, that is, the anatomical rotation center, the X-axis is the direction from inside to outside of the body, the Z-axis is the up-down direction, the Y-axis is the front-back direction, the origin of the acetabular cup coordinate system is the point O2, that is, the center of the ball of the target acetabular cup, and the direction is the same as above. The user can adjust through the arrow keys to make the point O2 close to the point O1.

[0132] Step C: Obtain the position information of the target acetabular cup in the first acetabular cup adjustment model to obtain the installation position information of the target acetabular cup.

[0133] By applying the method of the embodiment of the present application, the position of the target acetabular cup can be initially adjusted and finely adjusted, so that the installation position of the target acetabular cup fits the acetabular fossa of the patient better, and the possibility of collision between bones during human movement after subsequent prosthesis installation is reduced.

[0134] In a possible implementation manner, the position of the target femur also needs to be planned. Therefore, the method of the embodiment of the present application may further include the following steps:

[0135] Step a: Display a three-dimensional simulation view of the femoral bone model; receive a preliminary adjustment instruction for the target femur from the user; in response to the preliminary adjustment instruction for the target femur, place the target femur in the femur of the femoral bone model to obtain a preliminary femoral adjustment model.

[0136] Step b: Display the CT cross-section of the preliminary femoral adjustment model, and receive a fine adjustment instruction for the target femur sent by the user by observing the CT cross-section of the preliminary femoral adjustment model; in response to the fine adjustment instruction for the target femur, adjust the position of the target femur in the preliminary femoral adjustment model to obtain a first femoral adjustment model.

[0137] Step c: Obtain the position information of the target femur in the first femoral adjustment model to obtain the installation position information of the target femur.

[0138] Among them, the preliminary adjustment and fine adjustment steps of the target femur are similar to the adjustment steps of the target acetabular cup. In one example, the Figure 2 shown human body coordinate system is translated to obtain the femoral side coordinate system, as Figure 4 shown. In Figure 4 , the origin O3 of the femoral coordinate system is the physiological rotation center of the femoral head, the X-axis is the direction from inside to outside the body, the Z-axis is the up-down direction, the Y-axis is the front-back direction, and the origin of the femoral stem coordinate system is the prosthesis rotation center O4, and the direction is the same as above. The user can adjust the direction key to make the point O4 close to the point O3.

[0139] By applying the method of the embodiment of the present application, the installation position of the target femur can be preliminarily adjusted and finely adjusted, so that the installation position of the target femur fits the patient's thigh bone better, and the possibility of collision between bones during human movement after installing the prosthesis is reduced.

[0140] In a possible implementation manner, after step S101, the method of the embodiment of the present application may further include the following steps:

[0141] According to the installation position information of the target acetabular cup, display the part of the acetabular fossa in the hip bone model that needs to be rasped.

[0142] Due to the human physiological structure, the acetabular fossa is not an ideal semi-circular shape. Therefore, in order to place the target acetabular cup in the acetabular fossa, it is necessary to rasp a part of the acetabular fossa. In one example, the client can calculate the overlapping area between the acetabular fossa and the target acetabular cup according to the installation position information and parameter information of the target acetabular cup, and display the overlapping area in a color different from that of the target acetabular cup and the patient's bone. The overlapping area is the part that needs to be rasped.

[0143] By applying the method of the embodiment of the present application, the part of the acetabular fossa that needs to be rasped can be displayed, so as to provide a reference range for rasping for the user and improve the user experience.

[0144] In a possible implementation, if the behavior cycle includes multiple different postures, after step S104, the method embodiments of the present application may further include the following steps:

[0145] Step 1: Calculate the relative positions of the target acetabular cup and the femoral stem corresponding to multiple different behavior cycles.

[0146] Step 2: Generate and display dynamic human models corresponding to multiple different behavior cycles according to the relative positions of the target acetabular cup and the femur.

[0147] In practical applications, patients will have multiple different behavior cycles. Therefore, it is necessary to perform dynamic simulations on multiple different behavior cycles to avoid prosthesis collisions caused by patients changing movements. In one example, the client can display each behavior cycle, such as behavior cycle 1 to behavior cycle 3. The user can select a behavior cycle by clicking on it. After the client receives the behavior cycle selected by the user, it can calculate the relative positions of the target acetabular cup and the femoral stem according to the installation positions of the target acetabular cup and the target femur in the preset human model for 3D simulation, and obtain the dynamic human model corresponding to this behavior cycle.

[0148] In one example, after the client receives the squatting and standing up behavior cycle selected by the user, it calculates the relative positions of the target acetabular cup and the femoral stem during this behavior cycle, and obtains the dynamic human model of squatting and standing up through 3D simulation and displays it. Then the user can observe the movement process of the human model from squatting to standing on the display interface. Secondly, the user clicks on each behavior cycle in turn, and the client performs 3D simulation on each behavior cycle according to the above method to obtain the dynamic human model corresponding to each behavior cycle.

[0149] In another example, the behavior cycle includes postures from standing to sitting, walking, bending, from squatting to standing, leaning forward, turning, going up and down stairs, and crossing legs. Then calculate the relative positions of the target acetabular cup and the femoral stem corresponding to each of these 8 behavior cycles, and perform 3D simulation on each behavior cycle to obtain the dynamic human model corresponding to each behavior cycle.

[0150] By applying the method of the embodiments of the present application, dynamic simulation can be performed on each behavior cycle, so as to obtain a dynamic human model when the patient is performing different posture movements. Furthermore, the user can observe the dynamic human model to judge whether the prosthetic joint is suitable for each movement state of the patient.

[0151] In a possible implementation, before receiving the behavior cycle selected by the user, the method of the embodiments of the present application may further include the following steps:

[0152] For any preset behavior cycle, when it is detected that the user has a pending selection action for the preset behavior cycle, play the animation corresponding to the behavior cycle.

[0153] Among them, the preset behavior cycle refers to the behavior cycle for which the animation effect needs to be pre-displayed. The user can select the preset behavior cycle by moving the mouse to the area where the behavior cycle is located in the client interface. In one example, when the user moves the cursor of the mouse to the behavior cycle 1, it is considered that the behavior cycle 1 is the preset behavior cycle, and a preset behavior cycle display instruction is triggered. When the user selects the behavior cycle by clicking the mouse, the behavior cycle selection instruction can be triggered.

[0154] When displaying the animation corresponding to the preset behavior cycle, the preset behavior cycle can be 3D simulated according to the relative positions of the target acetabular cup and the femoral stem corresponding to the preset behavior cycle, and the animation corresponding to the preset behavior cycle can be obtained. In one example, the names of each behavior cycle are displayed in area A, which is located on the left side of the client interface, the dynamic human model is displayed in area B, which is located on the right side of area A, and the animation of the preset behavior cycle appears in the form of a small window above the area where the behavior cycle name is displayed. When the cursor corresponding to the mouse falls on the behavior cycle 1, the preset behavior cycle is the behavior cycle 1, and correspondingly, the animation of the behavior cycle 1 is displayed in the area above the name of the behavior cycle 1.

[0155] Applying the method of the embodiment of the present application can display the animation effect of the behavior cycle before the user selects the behavior cycle, thereby improving the user experience.

[0156] In a possible implementation manner, after step S105, the method of the embodiment of the present application may further include:

[0157] For any preset behavior cycle, if the behavior cycle simulation result indicates a collision, play the animation corresponding to the collision behavior, where the animation corresponding to the collision behavior includes the collision part and behavior.

[0158] In practical applications, the behavior cycle simulation result can be obtained by calculating the relative positions of the target acetabular cup and the femoral stem for 3D simulation. When the behavior cycle simulation result indicates that the target acetabular cup collides with the target femur and / or a collision occurs between the patient's bones, the collision position can be marked and displayed. At the same time, the animation corresponding to the collision behavior, including the collision part and behavior, is played. This is to facilitate the user to better observe the collision result. When marking the marked posture of the behavior cycle corresponding to the collision, the marking of the behavior cycle can be completed by increasing the marking display, or by using different colors for marking. Such as Figure 5As shown, when the animation corresponding to the collision behavior is played, the user can also observe the animation corresponding to the behavior cycle to perform relevant operations on the prosthetic joint in the operation list display area to adjust the position of the prosthetic joint.

[0159] In one example, an exclamation mark is added to the display of the behavior cycle corresponding to the collision to indicate that the prosthetic joint collides in this behavior cycle. When the user selects this behavior cycle, the collided structure is displayed, as Figure 6 shown. In practical applications, different structures can also be displayed in different colors to facilitate the observation of the collision results.

[0160] By applying the method of the embodiment of the present application, the behavior cycle corresponding to the collision can be played as an animation, so that the user can more intuitively obtain the behavior cycle corresponding to the collision, and then adjust the position of the target acetabular cup according to the collision result, so that the prosthetic joint is more suitable for various living states of the patient.

[0161] In a possible implementation manner, after step S103, the method of the embodiment of the present application may further include the following steps:

[0162] Step 1: Calculate the optional angle range of the target acetabular cup according to the installation position information of the target acetabular cup to obtain the set of acetabular cup angles to be detected.

[0163] To ensure that the selected acetabular cup angles to be detected are more in line with the patient's living state, the optional angle range of the target acetabular cup can be obtained by taking the intersection after calculation in various ways. For example, the first set of target acetabular cup angles to avoid collision between the target acetabular cup and the target femur in the prosthetic joint is calculated using the Japanese algorithm; the second set of target acetabular cup angles to avoid dislocation of the prosthetic joint is calculated using the Zhou Yixin paper algorithm; the third set of target acetabular cup angles is determined according to the doctor's traditional experience; the intersection of the first set of target acetabular cup angles, the second set of target acetabular cup angles, and the third set of target acetabular cup angles is taken as the set of acetabular cup angles to be detected. When calculating the acetabular cup angles, it is necessary to calculate whether a collision occurs for the acetabular cup angles in each behavior cycle. Taking the calculation of the first set of target acetabular cup angles as an example, the first set of target acetabular cup angles can be calculated through the following steps:

[0164] Step (1): Obtain the parameter information and installation position information of the target acetabular cup.

[0165] Among them, the installation position information includes the initial acetabular cup angle of the target acetabular cup; the initial acetabular cup angle includes the initial acetabular cup anteversion angle and the initial acetabular cup abduction angle.

[0166] Step (2): Calculate the first set of acetabular cup angles to avoid collision between the pelvis and the femur in the preset human model according to the parameter information of the target acetabular cup.

[0167] In practical applications, calculating the set of first acetabular cup angles can be achieved through corresponding bone collision detection algorithms. In one example, after obtaining the parameter information and installation position information of the target acetabular cup and the target femur, the prosthesis, pelvis, and the femur on the operative side are combined according to the planned information to obtain a unified coordinate system. In this coordinate system, the pelvis always remains stationary. After rotating the femur on the operative side around the center of the femoral head to a specified angle, it is calculated whether there is a collision between the femur on the operative side and the pelvis at this time. This collision is detected based on the intersection of the facets of the STL (STereoLithography) model, so as to obtain the detection result corresponding to the initial acetabular cup angle. According to Figure 2 、 Figure 3 and Figure 4 the coordinate system shown, after rotating the femur on the operative side around the center of the femoral head to a specified angle, it is calculated whether there is a collision between the femur on the operative side and the pelvis at this time.

[0168] Starting from the initial acetabular cup angle, each time it is incremented or decremented by 1 degree to obtain a new acetabular cup angle, and the above steps are repeated to calculate the detection result corresponding to the new acetabular cup angle. Finally, the detection results corresponding to each acetabular cup angle are obtained, and the acetabular cup angles corresponding to the detection results indicating that there is no collision between the pelvis and the femur in the preset human model are combined into a set to obtain the set of first acetabular cup angles.

[0169] Step (3): Calculate the set of second acetabular cup angles that avoid collision between the target acetabular cup and the target femur in the prosthetic joint.

[0170] Among them, calculating the collision between the target acetabular cup and the target femur in the prosthetic joint can also be calculated by the Japanese algorithm. In one example, the collision between the target acetabular cup and the target femur can be converted into a comparison of the angle between the femoral neck and the central axis of the acetabular cup. Referring to Figure 7 , part A represents the femoral head, part B represents the acetabular cup or liner, part C is the femoral neck, R1 is the radius of the femoral head, and R2 is the radius of the femoral neck. Then, the collision between the target acetabular cup and the target femur can be calculated through the following steps:

[0171] Step ①: Calculate the prosthetic ROM (Range of motion).

[0172] In one example, it can be calculated by the following formula:

[0173]

[0174] Among them, θ represents the angular range of motion of the target femur; A represents the cross-section of the femoral head; r head represents the diameter of the femoral head; r neck represents the diameter of the femoral neck.

[0175] Step ②: Convert human motion into the rotation of the femoral neck in the acetabular cup coordinate system.

[0176] In one example, human motion can be converted into the rotation of the femoral neck in the acetabular cup coordinate system through the following formula.

[0177]

[0178]

[0179]

[0180]

[0181]

[0182] Among them, R femur2pelvis,n represents the rotation coefficient from the femoral coordinate system to the pelvic coordinate system; R pelvis2body represents the rotation coefficient from the pelvic coordinate system to the body coordinate system; R leg2body,n represents the rotation coefficient from the leg coordinate system to the body coordinate system; R femur2leg represents the rotation coefficient from the femoral coordinate system to the body coordinate system; R X represents the preset rotation matrix along the x-axis; R Y represents the preset rotation matrix along the y-axis; R Z represents the preset rotation matrix along the z-axis; R neck2cup,n,φincl,φant represents the rotation coefficient from the femoral neck coordinate system to the acetabular cup coordinate system; R cup2pelvis,φincl,φant represents the rotation coefficient from the acetabular cup coordinate system to the pelvic coordinate system; R neck2femur represents the rotation coefficient from the femoral neck coordinate system to the femoral coordinate system; φ tilt represents the preset rotation angle; φ incl represents the anteversion angle; φ ant represents the abduction angle; φ stemFlex represents the neck bend angle; φ antetorsion represents the torsion angle; φ CCD represents the preset angle; φ stemAdd represents the neck plus angle.

[0183] Step ③: Calculate the angle between the current femoral neck and the central axis of the acetabular cup.

[0184]

[0185]

[0186] Among them, ρ n,φincl,φant represents the characteristic angle, R 11 、R 12 、R 13 、R21 , R 22 , R 23 , R 31 , R 32 , R 33 are the elements of the matrix.

[0187] Step ④: Determine whether the current angle exceeds the ROM. If it does, it is determined that a collision has occurred.

[0188]

[0189] where d min (φ incl , φ ant ) represents the minimum value of the anteversion angle and the abduction angle calculated by the min dn function.

[0190] Step (4): Calculate the intersection of the first acetabular cup angle set and the second acetabular cup angle set to obtain the first target acetabular cup angle set.

[0191] Step two: Display the set of acetabular cup angles to be detected on the preset interface of the client.

[0192] In practical applications, the client can display the set of acetabular cup angles to be detected. When the user selects the target acetabular cup angle, the user can first view it through the cursor on the display interface of the set of acetabular cup angles to be detected and then make a selection. In one example, the client displays the set of acetabular cup angles to be detected in the form of a coordinate system, where the horizontal axis represents the abduction angle of the acetabular cup and the vertical axis represents the anteversion angle of the acetabular cup. When the cursor moves to a certain acetabular cup angle to be detected, the client can display the corresponding value of the acetabular cup angle to be detected. After the user determines that the acetabular cup angle to be detected is the target acetabular cup angle to be selected, the user can confirm the target acetabular cup angle to be selected by clicking.

[0193] The set of acetabular cup angles to be detected can be displayed on the client interface together with the dynamic human model. After receiving the acetabular cup angle to be detected selected by the user from the display interface of the set of acetabular cup angles to be detected, perform a 3D simulation on the acetabular cup angle to be detected and display the dynamic human model corresponding to the acetabular cup angle to be detected on the client interface. In practical applications, the display interface of the acetabular cup angle to be detected or the display interface of the dynamic human model can be appropriately enlarged. For example, when the user is more concerned about the movement simulation process of the prosthetic joint during the behavior cycle, the display of the dynamic human model can be enlarged; if the user is more concerned about the angle selection range of the target acetabular cup, the display interface of the acetabular cup angle to be detected can be enlarged; among them, the display interface of the acetabular cup angle to be detected and the display interface of the dynamic human model can be switched with each other for the user to select the page size according to their own needs.

[0194] By applying the method of the embodiments of the present application, the calculation of the acetabular cup angle to be detected can be realized in advance through an algorithm, and the set of acetabular cup angles to be detected can be displayed on the client interface, so that the user can more intuitively select the acetabular cup angle to be detected through the client interface.

[0195] In the second aspect of the embodiments of the present application, a prosthetic joint collision detection device is provided. The device is applied to a client and includes the following Figure 8 structure shown:

[0196] A target acetabular cup installation module 801, configured to obtain parameter information and installation position information of a target acetabular cup; calculate a three-dimensional model of a pre-created hip bone skeletal model after installing the target acetabular cup according to the parameter information and installation position information of the target acetabular cup to obtain a first three-dimensional model;

[0197] A target femur installation module 802, configured to obtain parameter information and installation position information of a target femur; calculate a three-dimensional image of a pre-created femur skeletal model after installing the target femur according to the parameter information and installation position information of the target femur to obtain a second three-dimensional model;

[0198] A third three-dimensional model creation module 803, configured to create a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model;

[0199] A behavior cycle simulation module 804, configured to receive a behavior cycle selected by a user; simulate the behavior cycle through the third three-dimensional model;

[0200] A collision result judgment module 805, configured to judge whether a collision occurs according to the behavior cycle simulation result.

[0201] In a possible implementation manner, the behavior cycle simulation module includes:

[0202] A behavior cycle selection instruction receiving module, specifically configured to receive a behavior cycle selected from multiple preset behavior cycles, where the multiple preset behavior cycles include: standing-to-sitting posture, walking posture, bending posture, squatting-to-standing posture, leaning-forward posture, turning posture, up-and-down stairs posture, and cross-legged posture.

[0203] In a possible implementation manner, the device further includes:

[0204] An animation playing module, configured to play an animation corresponding to the behavior cycle when it detects that the user has an action to be selected for the preset behavior cycle.

[0205] In a possible implementation manner, the device further includes:

[0206] A collision location display module, which is configured to, for any preset behavior cycle, if the simulation result of the behavior cycle indicates a collision, play an animation corresponding to the collision behavior, where the animation corresponding to the collision behavior includes the location and behavior of the collision.

[0207] In a possible implementation manner, the target acetabular cup installation module includes:

[0208] An acetabular fossa diameter acquisition sub-module, which is specifically configured to acquire the diameter of the acetabular fossa in the hip bone skeletal model;

[0209] A target acetabular cup selection instruction receiving sub-module, which is specifically configured to receive a target acetabular cup selection instruction sent by the user according to the diameter of the acetabular fossa;

[0210] A target acetabular cup information acquisition sub-module, which is specifically configured to determine the target acetabular cup according to the target acetabular cup selection instruction and acquire the parameter information and installation location information of the target acetabular cup.

[0211] In a possible implementation manner, the collision result judgment module includes:

[0212] A prosthesis collision judgment sub-module, which is specifically configured to calculate the relative position of the target acetabular cup and the femur corresponding to the behavior cycle, and judge whether a collision occurs between the target acetabular cup and the target femur;

[0213] A bone collision judgment sub-module, which is specifically configured to calculate the relative position of the target acetabular cup and the femur corresponding to the behavior cycle, and judge whether a collision occurs between the bones in the third 3D model;

[0214] A collision result judgment sub-module, which is specifically configured to determine that the simulation result of the behavior cycle indicates a collision when a collision occurs between the target acetabular cup and the target femur, and / or a collision occurs between the bones in the third 3D model.

[0215] In a possible implementation manner, the device according to the embodiment of the present application further includes:

[0216] A target acetabular cup preliminary adjustment module, which is configured to display a 3D simulation view of the hip bone skeletal model; receive a target acetabular cup preliminary adjustment instruction from the user; in response to the target acetabular cup preliminary adjustment instruction, place the target acetabular cup in the acetabular fossa of the hip bone skeletal model to obtain a preliminary acetabular cup adjustment model;

[0217] A target acetabular cup fine adjustment module, which is configured to display a CT cross-section of the preliminary acetabular cup adjustment model, and receive a target acetabular cup fine adjustment instruction sent by the user by observing the CT cross-section of the preliminary acetabular cup adjustment model; in response to the target acetabular cup fine adjustment instruction, adjust the position of the target acetabular cup in the preliminary acetabular cup adjustment model to obtain a first acetabular cup adjustment model;

[0218] The target acetabular cup position information acquisition module is used to acquire the position information of the target acetabular cup in the first acetabular cup adjustment model, so as to obtain the installation position information of the target acetabular cup.

[0219] In a possible implementation manner, the device according to the embodiment of the present application further includes:

[0220] The target femur preliminary adjustment module is used to display a three-dimensional simulation view of the femur bone model; receive the target femur preliminary adjustment instruction of the user; in response to the target femur preliminary adjustment instruction, place the target femur in the femur of the femur bone model to obtain a preliminary femur adjustment model;

[0221] The target femur fine adjustment module is used to display the CT section of the preliminary femur adjustment model, and receive the target femur fine adjustment instruction sent by the user by observing the CT section of the preliminary femur adjustment model; in response to the target femur fine adjustment instruction, adjust the position of the target femur in the preliminary femur adjustment model to obtain a first femur adjustment model;

[0222] The target femur position information acquisition module is used to acquire the position information of the target femur in the first femur adjustment model, so as to obtain the installation position information of the target femur.

[0223] In a possible implementation manner, the device according to the embodiment of the present application further includes:

[0224] The rasping part display module is used to display the part of the acetabular fossa in the hip bone model that needs to be rasped according to the installation position information of the target acetabular cup.

[0225] In a possible implementation manner, the device according to the embodiment of the present application further includes:

[0226] The relative position calculation module is used to calculate the relative positions of the target acetabular cup and the femoral stem corresponding to multiple different behavior cycles;

[0227] The behavior cycle simulation module is used to generate and display dynamic human body models corresponding to multiple different behavior cycles according to the relative positions of the target acetabular cup and the femur.

[0228] In a possible implementation manner, the device according to the embodiment of the present application further includes:

[0229] The acetabular cup angle calculation module is used to calculate the optional angle range of the target acetabular cup according to the installation position information of the target acetabular cup, so as to obtain a set of acetabular cup angles to be detected;

[0230] The acetabular cup angle display module is used to display the set of acetabular cup angles to be detected at a preset interface of the client.

[0231] By applying the device according to the embodiments of the present application, parameter information and installation position information of a target acetabular cup and a target femur can be obtained, and a third three-dimensional model can be established, so as to simulate the behavior cycle selected by the user through the third three-dimensional model, and then judge whether there will be a collision between bones during human movement after installing the prosthesis according to the simulation result.

[0232] The embodiments of the present application also provide an electronic device, as Figure 9 shown, including a processor 901, a communication interface 902, a memory 903, and a communication bus 904. Among them, the processor 901, the communication interface 902, and the memory 903 complete mutual communication through the communication bus 904.

[0233] The memory 903 is used to store a computer program.

[0234] When the processor 901 is used to execute the program stored on the memory 903, the following steps are implemented:

[0235] Obtain parameter information and installation position information of the target acetabular cup; calculate a three-dimensional model of the pre-created hip bone model after installing the target acetabular cup according to the parameter information and installation position information of the target acetabular cup to obtain a first three-dimensional model.

[0236] Obtain parameter information and installation position information of the target femur; calculate a three-dimensional image of the pre-created femur bone model after installing the target femur according to the parameter information and installation position information of the target femur to obtain a second three-dimensional model.

[0237] Create a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model.

[0238] Receive the behavior cycle selected by the user; simulate the behavior cycle through the third three-dimensional model.

[0239] Judge whether a collision occurs according to the simulation result of the behavior cycle.

[0240] The communication bus mentioned in the above electronic device may 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 used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0241] The communication interface is used for communication between the above electronic device and other devices.

[0242] The memory may include a Random Access Memory (RAM), or 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 away from the aforementioned processor.

[0243] The aforementioned 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.

[0244] For the electronic device applying the embodiment of the present application, the installation position of the target acetabular cup in the human model can be determined through the target acetabular cup angle input by the user, and it can be calculated whether the femoral neck of the femoral stem collides with the target acetabular cup in the selected behavior cycle corresponding to this position, so as to determine whether the prosthetic joint will collide in the human body. And the user can obtain the prosthetic joint collision results of the patient under different actions by selecting different behavior cycles, and then can adjust the placement position of the prosthetic joint according to the collision results, improving the applicability of the prosthetic joint.

[0245] In another embodiment provided by the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above prosthetic joint collision detection methods are implemented.

[0246] In another embodiment provided by the present application, there is also provided a computer program product containing instructions, which when running on a computer, causes the computer to execute any of the prosthetic joint collision detection methods in the above embodiments.

[0247] 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 application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may 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)).

[0248] It should be noted that in this document, 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 terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device that includes the element.

[0249] Each embodiment in this specification is described in a related manner. The same or similar parts among the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the device, electronic device, and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0250] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. A method for detecting collisions of a prosthetic joint, characterized in that, The method is applied to a client, and the method includes: Obtain the parameter information and installation position information of the target acetabular cup; according to the parameter information and installation position information of the target acetabular cup, calculate the three-dimensional model of the pre-created hip bone skeleton model after installing the target acetabular cup to obtain a first three-dimensional model; Obtain the parameter information and installation position information of the target femur; according to the parameter information and installation position information of the target femur, calculate the three-dimensional image of the pre-created femur skeleton model after installing the target femur to obtain a second three-dimensional model; Create a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model; Receive the behavior cycle selected by the user; simulate the behavior cycle through the third three-dimensional model; Judge whether a collision occurs according to the simulation result of the behavior cycle.

2. The method according to claim 1, wherein The receiving the behavior cycle selected by the user includes: Receive the behavior cycle selected from multiple preset behavior cycles, where the multiple preset behavior cycles include: standing-to-sitting posture, walking posture, bending posture, squatting-to-standing posture, leaning-forward posture, turning posture, up-and-down stairs posture, and cross-legged posture.

3. The method according to claim 2, wherein Before the receiving the behavior cycle selected by the user, the method further includes: For any preset behavior cycle, when it is detected that the user's action to be selected for the preset behavior cycle, play the animation corresponding to the behavior cycle.

4. The method according to claim 3, characterized in that After the judging whether a collision occurs according to the simulation result of the behavior cycle, the method further includes: For any preset behavior cycle, if the simulation result of the behavior cycle indicates that a collision occurs, play the animation corresponding to the collision behavior, where the animation corresponding to the collision behavior includes the collision part and behavior.

5. The method according to claim 1, wherein The obtaining the parameter information and installation position information of the target acetabular cup includes: Obtain the diameter of the acetabular fossa in the hip bone skeleton model; Receive the target acetabular cup selection instruction sent by the user according to the diameter of the acetabular fossa; Determine the target acetabular cup according to the target acetabular cup selection instruction and obtain the parameter information and installation position information of the target acetabular cup.

6. The method according to claim 1, wherein The judging whether a collision occurs according to the simulation result of the behavior cycle includes: Calculate the relative positions of the target acetabular cup and the femur corresponding to the behavior cycle, and judge whether the target acetabular cup and the target femur collide; Calculate the relative positions of the target acetabular cup and the femur corresponding to the behavior cycle, and judge whether a collision occurs between the bones in the third three-dimensional model; When the target acetabular cup and the target femur collide, and / or a collision occurs between the bones in the third three-dimensional model, it is determined that the simulation result of the behavior cycle indicates that a collision occurs.

7. The method according to claim 1, characterized in that, Before the obtaining the parameter information and installation position information of the target acetabular cup, the method further includes: Display the three-dimensional simulation view of the hip bone skeleton model; receive the user's initial adjustment instruction for the target acetabular cup; in response to the initial adjustment instruction for the target acetabular cup, place the target acetabular cup in the acetabular fossa in the hip bone skeleton model to obtain a preliminary acetabular cup adjustment model; Display the CT cross-section of the preliminary acetabular cup adjustment model, and receive the target acetabular cup fine adjustment instruction sent by the user by observing the CT cross-section of the preliminary acetabular cup adjustment model; in response to the target acetabular cup fine adjustment instruction, adjust the position of the target acetabular cup in the preliminary acetabular cup adjustment model to obtain the first acetabular cup adjustment model; Obtain the position information of the target acetabular cup in the first acetabular cup adjustment model to obtain the installation position information of the target acetabular cup.

8. The method according to claim 1, characterized in that Before obtaining the parameter information and installation position information of the target femur; the method further includes: Display the three-dimensional simulation view of the femur bone model; receive the target femur preliminary adjustment instruction of the user; in response to the target femur preliminary adjustment instruction, place the target femur in the femur of the femur bone model to obtain the preliminary femur adjustment model; Display the CT cross-section of the preliminary femur adjustment model, and receive the target femur fine adjustment instruction sent by the user by observing the CT cross-section of the preliminary femur adjustment model; in response to the target femur fine adjustment instruction, adjust the position of the target femur in the preliminary femur adjustment model to obtain the first femur adjustment model; Obtain the position information of the target femur in the first femur adjustment model to obtain the installation position information of the target femur.

9. The method according to claim 1, wherein After calculating the three-dimensional model of the pre-created hip bone model after installing the target acetabular cup according to the parameter information and installation position information of the target acetabular cup to obtain the first three-dimensional model, the method further includes: According to the installation position information of the target acetabular cup, display the parts of the acetabular fossa in the hip bone model that need to be rasped.

10. The method according to claim 1, wherein The behavior cycle includes behavior cycles of multiple different actions. After simulating the behavior cycle through the third three-dimensional model, the method further includes: Calculate the relative positions of the target acetabular cup and the femoral stem corresponding to the multiple different behavior cycles; Generate and display the dynamic human body models corresponding to the multiple different behavior cycles according to the relative positions of the target acetabular cup and the femur.

11. The method according to claim 1, wherein After creating the third three-dimensional model according to the first three-dimensional model and the second three-dimensional model, the method further includes: Calculate the optional angle range of the target acetabular cup according to the installation position information of the target acetabular cup to obtain the set of acetabular cup angles to be detected; Display the set of acetabular cup angles to be detected at the preset interface of the client.

12. A prosthetic joint collision detection device, characterized in that, The device is applied to the client, and the device includes: A target acetabular cup installation module, configured to obtain parameter information and installation position information of a target acetabular cup; calculate a three-dimensional model of a pre-created hip bone model after installing the target acetabular cup according to the parameter information and installation position information of the target acetabular cup to obtain a first three-dimensional model; A target femur installation module, configured to obtain parameter information and installation position information of a target femur; calculate a three-dimensional image of a pre-created femur bone model after installing the target femur according to the parameter information and installation position information of the target femur to obtain a second three-dimensional model; A third three-dimensional model creation module, configured to create a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model; A behavior cycle simulation module, configured to receive a behavior cycle selected by a user; and simulate the behavior cycle through the third 3D model; A collision result determination module, configured to determine whether a collision occurs according to the simulation result of the behavior cycle.

13. 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 1-11 when executing the programs stored on the memory.

14. 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 1-11 are implemented.

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