Guide plate design method, device, equipment, medium and program product

Abstract

The invention discloses a guide plate design method and device, equipment, a medium and a program product. The method comprises the steps of obtaining a skeleton model of a target skeleton; determining operation planning information corresponding to the target skeleton based on the skeleton model, wherein the operation planning information comprises the skeleton model marked with the target feature point information and / or prosthesis model information corresponding to the target skeleton; and adjusting the original guide plate model based on the prosthesis model information and / or the target feature point information, and generating a target guide plate model corresponding to the target skeleton. According to the method, the original guide plate model is adjusted according to the operation planning information corresponding to the target skeleton, and the target guide plate model conforming to the anatomical features of the target skeleton is designed, so that the target guide plate model can be well matched with the target skeleton in practical application, and the operation precision and stability are improved.

Description

Technical Field

[0001] This application belongs to the field of computer technology, and particularly relates to a guide plate design method, device, equipment, medium and program product. Background Art

[0002] In total knee arthroplasty, as a new type of auxiliary tool, the 3D printed guide plate can customize a personalized guide plate according to the specific anatomical structure of the patient through 3D printing technology, helping doctors perform surgical operations more accurately.

[0003] However, traditional industrial 3D design software is mainly used for product design and lacks functions for medical surgical planning and optimization. Total knee arthroplasty requires personalized design of the guide plate according to the patient's anatomical structure, but traditional software cannot finely handle medical requirements such as bones, joint functions, and prosthesis positions. And whenever the surgical plan is modified, the traditional design method requires re-designing the guide plate, resulting in low efficiency and increased time costs. Summary of the Invention

[0004] Embodiments of this application provide a guide plate design method, device, equipment, medium and program product, which can efficiently and accurately design a surgical guide plate that meets the surgical plan.

[0005] In a first aspect, embodiments of this application provide a guide plate design method, the method comprising:

[0006] Obtain a bone model of a target bone;

[0007] Determine surgical planning information corresponding to the target bone based on the bone model, where the surgical planning information includes the bone model marked with target feature point information and / or prosthesis model information corresponding to the target bone;

[0008] Adjust an original guide plate model based on the prosthesis model information and / or the target feature point information to generate a target guide plate model corresponding to the target bone.

[0009] In a possible implementation manner of the first aspect, adjusting the original guide plate model based on the prosthesis model information and / or the target feature point information to generate a target guide plate model corresponding to the target bone includes:

[0010] Convert the bone model marked with target feature point information into a target coordinate system, where the target coordinate system is obtained by aligning the coordinate system of the original guide plate model with the coordinate system of the prosthesis model;

[0011] In the target coordinate system, adjust the original guide plate model based on the prosthesis model information and / or the target feature point information to obtain the target guide plate model.

[0012] In a possible implementation of the first aspect, the original guide plate model includes an osteotomy groove guide plate model and a positioning guide plate model. The positioning guide plate model is used to position the osteotomy groove guide plate model on the bone model. Based on the prosthesis model information and / or the target feature point information, the original guide plate model is adjusted to generate a target guide plate model corresponding to the target bone, including:

[0013] Based on the prosthesis model information and / or the target feature point information, adjust the osteotomy groove guide plate model and / or the positioning guide plate model.

[0014] In a possible implementation of the first aspect, the target feature point information includes: the position information of the first target feature point; the surgical planning information further includes target osteotomy surface information;

[0015] Based on the prosthesis model information and / or the target feature point information, adjusting the osteotomy groove guide plate model and / or the positioning guide plate model includes:

[0016] Based on the target osteotomy surface information, determine the position of the osteotomy groove in the osteotomy groove guide plate model;

[0017] Based on the position information of the first target feature point, determine the distance between the osteotomy groove guide plate model and the bone model, where the first target feature point is the highest point on the anterior side of the bone marked in the bone model;

[0018] Based on the position of the osteotomy groove and the distance between the osteotomy groove guide plate model and the bone model, adjust the osteotomy groove guide plate model.

[0019] In a possible implementation of the first aspect, when the prosthesis model has a matching osteotomy instrument, the prosthesis model information includes osteotomy instrument parameters. Based on the prosthesis model information and / or the target feature point information, adjusting the osteotomy groove guide plate model and / or the positioning guide plate model includes:

[0020] Based on the osteotomy instrument parameters, determine the connection bridge parameters in the positioning guide plate model. The connection bridge parameters in the positioning guide plate model include at least one of the length, width, or scaling ratio of the connection bridge;

[0021] Based on the osteotomy instrument parameters, set positioning holes on the positioning guide plate model;

[0022] Based on the connection bridge parameters and the positioning holes, adjust the positioning guide plate model.

[0023] In a possible implementation of the first aspect, when the prosthesis model does not have a matching osteotomy instrument, the prosthesis model information includes preset parameters. Based on the prosthesis model information and / or the target feature point information, adjusting the osteotomy groove guide plate model and / or the positioning guide plate model includes:

[0024] Based on preset parameters, determine the connection bridge parameters in the positioning guide plate model, where the connection bridge parameters in the positioning guide plate model include at least one of the length, width, or scaling ratio of the connection bridge;

[0025] Adjust the positioning guide plate model based on the connection bridge parameters.

[0026] In a possible implementation manner of the first aspect, when the target bone is the femur, the positioning guide plate model includes a distal femur guide plate model and an anterior femur guide plate model; when the target bone is the tibia, the positioning guide plate model includes a proximal tibia guide plate model and an anterior tibia guide plate model.

[0027] In a possible implementation manner of the first aspect, the target feature point information includes: the position information of the second target feature point and the position information of the third target feature point;

[0028] When the positioning guide plate model is the anterior tibia guide plate model, the method includes:

[0029] Based on the position information of the second target feature point, adjust the connection bridge parameters in the anterior femur guide plate model, where the second target feature point is the position point with the most osteophytes in the tibia.

[0030] Based on the connection bridge parameters in the anterior femur guide plate model and the position information of the third target feature point, adjust the anterior tibia guide plate model, where the third target feature point is the knot point of the tibia.

[0031] In a possible implementation manner of the first aspect, the target feature point information includes: the position information of the fourth target feature point and the position information of the fifth target feature point;

[0032] When the positioning guide plate model is the proximal tibia guide plate model, the method includes:

[0033] According to the position information of the fourth target feature point and the position information of the fifth target feature point, determine the contact points between the proximal tibia guide plate model and the bone model, where the fourth target feature point is the lowest point of the medial tibial plateau and the fifth target feature point is the lowest point of the lateral tibial plateau;

[0034] Set a plurality of control points between the contact points and the cross-section of the connection bridge in the tibia guide plate model, fit a spline curve using the plurality of control points, and combine the fitted spline curve with the cross-sectional profile of the connection bridge in the tibia guide plate model to determine the pose of the connection bridge in the proximal tibia guide plate model;

[0035] Based on the contact points and the pose of the connection bridge in the proximal tibia guide plate model, adjust the proximal tibia guide plate model.

[0036] In a possible implementation manner of the first aspect, the method further includes:

[0037] In response to the received adjustment input, adjust the connection bridge parameters of the positioning guide plate model corresponding to the adjustment input to update the target guide plate model.

[0038] In a possible implementation manner of the first aspect, obtaining the bone model of the target bone includes:

[0039] Obtain the medical image data of the target object;

[0040] Segment the medical image data of the target object to obtain the bone model of the target bone.

[0041] In a possible implementation manner of the first aspect, based on the bone model, determine the surgical planning information corresponding to the target bone. The surgical planning information includes the bone model marked with the target feature point information and / or the prosthesis model information corresponding to the target bone, including:

[0042] In response to receiving a marking operation on the target feature point on the bone model, determine the target feature point information based on the marking operation;

[0043] In response to receiving a selection operation for selecting the corresponding prosthesis model for the target bone, determine the prosthesis model information based on the selection operation;

[0044] Based on the bone model marked with the target feature point information and / or the prosthesis model information, determine the surgical planning information corresponding to the target bone.

[0045] In a second aspect, an embodiment of the present application provides a guide plate design device, which includes:

[0046] An acquisition module, configured to acquire the bone model of the target bone;

[0047] A planning generation module, configured to determine the surgical planning information corresponding to the target bone based on the bone model. The surgical planning information includes the bone model marked with the target feature point information and / or the prosthesis model information corresponding to the target bone;

[0048] A guide plate generation module, configured to adjust the original guide plate model based on the prosthesis model information and / or the target feature point information to generate a target guide plate model corresponding to the target bone.

[0049] In a third aspect, an embodiment of the present application provides a computer device, which includes: a processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method of any one of the above first aspects.

[0050] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method of any one of the above first aspects is implemented.

[0051] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method according to any one of the above first aspects is implemented.

[0052] The technical solution provided by the embodiment of the present application at least brings the following beneficial effects:

[0053] The guide plate design method provided by the embodiment of the present application obtains medical image data of a target bone, performs three-dimensional reconstruction on it to obtain a bone model corresponding to the target bone. Based on this bone model, surgical planning information corresponding to the target bone is further determined. Then, based on the bone feature point information and / or prosthesis model information in the surgical planning information, the original guide plate model is automatically adjusted to generate a target guide plate model that matches the anatomical structure of the target bone. This method can combine the bone model and the prosthesis model to automatically design a surgical guide plate that conforms to the characteristics of the target bone, not only greatly improving the design efficiency, but also more precisely matching the surgical plan, ensuring the efficiency and accuracy of the surgical process.

[0054] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application, and do not constitute an improper limitation to the present application.

[0056] Figure 1 is a schematic flowchart of a guide plate design method provided by an embodiment of the present application;

[0057] Figure 2 is a schematic flowchart of a guide plate design method provided by an embodiment of the present application;

[0058] Figure 3 is a schematic flowchart of a method for adjusting an osteotomy groove guide plate model provided by an embodiment of the present application;

[0059] Figure 4 is a schematic flowchart of a method for adjusting the distal model of a femoral guide plate provided by an embodiment of the present application;

[0060] Figure 5 is a schematic flowchart of a method for adjusting the proximal model of a tibial guide plate provided by an embodiment of the present application;

[0061] Figure 6 is a schematic flowchart of a method for adjusting the anterior model of a femoral guide plate provided by an embodiment of the present application;

[0062] Figure 7 It is a schematic flow chart of a method for adjusting the anterior model of a tibial guide plate provided by an embodiment of the present application;

[0063] Figure 8 It is a schematic example diagram of a femoral model coordinate system and a femoral guide plate coordinate system provided by an embodiment of the present application;

[0064] Figure 9 It is a schematic example diagram of a tibial model coordinate system and a tibial guide plate coordinate system provided by an embodiment of the present application;

[0065] Figure 10 It is a schematic example diagram of position adjustment of a femoral osteotomy groove guide plate model provided by an embodiment of the present application;

[0066] Figure 11 It is a schematic example diagram of position adjustment of a tibial osteotomy groove guide plate model provided by an embodiment of the present application;

[0067] Figure 12 It is a schematic example diagram of a distal model of a femoral guide plate provided by an embodiment of the present application;

[0068] Figure 13 It is a schematic example diagram of a proximal model of a tibial guide plate provided by an embodiment of the present application;

[0069] Figure 14 It is a schematic example diagram of an anterior model of a femoral guide plate provided by an embodiment of the present application;

[0070] Figure 15 It is a schematic example diagram of position adjustment of an anterior model of a femoral guide plate provided by an embodiment of the present application;

[0071] Figure 16 It is a schematic example diagram of an anterior model of a femoral guide plate provided by an embodiment of the present application;

[0072] Figure 17 It is a schematic example diagram of an anterior model of a femoral guide plate provided by an embodiment of the present application;

[0073] Figure 18 It is a schematic example diagram of an anterior model of a tibial guide plate provided by an embodiment of the present application;

[0074] Figure 19 It is a schematic example diagram of an anterior model of a tibial guide plate provided by an embodiment of the present application;

[0075] Figure 20 It is a schematic example diagram of an anterior model of a tibial guide plate provided by an embodiment of the present application;

[0076] Figures 21 - 26 They are all schematic example diagrams of adjusting a bone guide plate model provided by an embodiment of the present application;

[0077] Figure 27 It is a schematic structural diagram of a guide plate design device provided by an embodiment of the present application;

[0078] Figure 28 It is a schematic structural diagram of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0079] In order to enable those of ordinary skill in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than limiting the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present application by showing examples of the present application.

[0080] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order different from those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples consistent with some aspects of the present application as detailed in the appended claims.

[0081] As described in the background art section, there is no good method for efficiently and accurately designing a bone guide plate in the prior art. To solve this technical problem, the embodiments of the present application provide a guide plate design method, device, equipment, medium and program product. By adjusting the original guide plate model according to the surgical planning information corresponding to the target bone, a target guide plate model that conforms to the anatomical characteristics of the target bone is designed to ensure that the target guide plate model can achieve a good match with the target bone in actual application, improving the surgical precision and stability.

[0082] The guide plate design method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0083] Figure 1 It is a schematic flowchart of a guide plate design method provided by an embodiment of the present application.

[0084] As Figure 1 shown, the guide plate design method provided by the embodiments of the present application may include step 110-step 150.

[0085] Step 110: Obtain the bone model of the target bone.

[0086] The target bone can be the bone to be subjected to total knee replacement surgery, such as the femur and / or tibia.

[0087] The bone model can be a three-dimensional digital representation of the bone structure.

[0088] In some embodiments of the present application, obtaining the bone model of the target bone may include the following steps:

[0089] Step 111: Obtain the medical image data of the target object.

[0090] The target object can be the object to be subjected to total knee replacement surgery, such as the patient to be subjected to total knee replacement surgery.

[0091] The medical image data can be the medical image data of the target bone collected based on a medical imaging device, such as Computed Tomography (CT) image data.

[0092] Step 112: Segment the medical image data of the target object to obtain the medical image data of the target bone.

[0093] Extract the image of the target bone from the overall medical image of the target object.

[0094] In some embodiments of the present application, the target bone region can be identified by an identification algorithm and then separated from other tissues to obtain the medical image data containing only the target bone structure.

[0095] Exemplarily, the medical image data of the femur and tibia are segmented from the medical image data corresponding to the target.

[0096] Step 113: Perform three-dimensional reconstruction on the medical image data of the target bone to obtain the bone model corresponding to the target bone.

[0097] In some embodiments of the present application, the target bone can be reconstructed using a preset three-dimensional reconstruction algorithm to obtain the three-dimensional bone model corresponding to the target bone.

[0098] In some embodiments of the present application, during total knee replacement surgery, segmentation is performed on both lower limbs of the target object. However, during the actual surgery, only one limb needs to be operated on. Therefore, it is necessary to separate the femur and tibia of the operative side from the segmentation results. Specifically, the method of connected component analysis can be used to separate the bones on both sides, and then according to the relative position relationship between the left and right sides (in the world coordinate system, the x coordinate value corresponding to the left knee is less than the x coordinate value corresponding to the right knee, so the left and right sides can be distinguished), in this way, the femur and tibia of the operative side can be obtained.

[0099] In some embodiments of the present application, after distinguishing the femur and tibia of the operative side, three-dimensional reconstruction can be performed on the femur and tibia of the operative side to obtain three-dimensional bone models of the femur and tibia of the operative side.

[0100] Step 120: Determine the surgical planning information corresponding to the target bone based on the bone model.

[0101] Surgical planning information refers to the guiding parameters or position information obtained through imaging data and computational analysis according to the anatomical characteristics and surgical requirements of the target bone before surgery.

[0102] In some embodiments of the present application, the surgical planning information may include, but is not limited to, the bone model marked with target feature point information and the prosthesis model information corresponding to the target bone.

[0103] The target feature point refers to the key point or feature point on the anatomical structure of the target bone, which is used to help locate the surgical tool or bone guide.

[0104] The target feature point information may refer to the position information of the target feature point.

[0105] Exemplarily, the target feature points may include, but are not limited to, the highest point on the anterior side of the bone, the position point with the most osteophytes, the bone node, or the lowest point of the tibial plateau, etc.

[0106] The prosthesis model refers to the three-dimensional digital representation of the artificial implant used to replace, repair, or support the target bone.

[0107] Exemplarily, the generation of the prosthesis model is usually based on the real shape of the prosthesis and can be created through 3D scanning, CAD design, or other modeling techniques.

[0108] The prosthesis model information may refer to the data and parameters related to the prosthesis model.

[0109] Exemplarily, the prosthesis model information may include the geometric features (such as size, shape) of the prosthesis, material properties, fixation methods, and the registration points or feature points with the target bone, etc.

[0110] Exemplarily, when the target bone is the femur, the prosthesis model is a femoral prosthesis model; when the target bone is the tibia, the prosthesis model is a tibial prosthesis model.

[0111] In some embodiments of the present application, determining the surgical planning information corresponding to the target bone based on the bone model may include the following steps:

[0112] Step 121: In response to receiving a marking operation on the target feature points on the bone model, determine the target feature point information based on the marking operation.

[0113] Exemplarily, the lower limb force line can be marked on the lower limb bone model.

[0114] Step 122: In response to receiving a selection operation for selecting the corresponding prosthesis model for the target bone, determine the prosthesis model information based on the selection operation.

[0115] Step 123: Based on the bone model marked with the target feature point information and / or the prosthesis model information, determine the surgical planning information corresponding to the target bone.

[0116] In some embodiments of the present application, anatomical feature points and morphological features in the bone model can be extracted by geometric analysis, and finally surgical planning information is generated. This method relies on the geometric characteristics of the bone for surgical planning to ensure an accurate match between the personalized plan and the bone anatomical structure.

[0117] In some embodiments of the present application, the medical image data of the target bone can be input into a deep learning model to automatically identify the target bone region and anatomical key points, and the surgical planning information can be predicted and optimized through machine learning algorithms.

[0118] In some embodiments of the present application, the size, shape, angle, and installation position of the prosthesis can be manually set in combination with clinical experience and surgical standards, and the osteotomy or the positioning of the instrument can be optimized according to the bone characteristics and surgical requirements to obtain the surgical planning information.

[0119] Step 130: Based on the prosthesis model information and / or the target feature point information, adjust the original guide plate model to generate the target guide plate model corresponding to the target bone.

[0120] The original guide plate model refers to the standard guide plate model initially created during the surgical planning process, which has not been personalized adjusted according to the individual anatomical characteristics of the patient. The original guide plate model provides a basic support structure and guiding function for assisting the positioning of surgical instruments, but it does not fully match the patient's bone structure in terms of shape, size, or angle.

[0121] The target guide plate model is a guide plate model generated based on the original guide plate model through personalized adjustment and optimization. This model combines the prosthesis model information and bone feature point information of the target bone of the target object, enabling it to precisely fit the patient's bone structure, providing highly accurate guidance and support for the instruments during the operation, and ensuring the accuracy and stability of the surgical path.

[0122] That is to say, according to the surgical planning information, the existing original guide plate model is adjusted to conform to the anatomical structure and surgical requirements of the target bone, thereby generating a target guide plate model applicable to a specific patient.

[0123] In some embodiments of the present application, parameters to be adjusted can be defined according to the surgical planning information, and through computational geometric transformations (such as translation, rotation, scaling, etc.), the shape, size, position, or structure of the original guide plate model is adjusted to dock with the target bone anatomical structure. This method, through repeated optimization, ensures a high degree of fit between the target guide plate model and the anatomical features of the patient's bone.

[0124] In some embodiments of the present application, according to the surgical planning information, doctors or engineers can manually adjust the design parameters of the original guide plate model to ensure that the guide plate matches each key point of the target bone. This method, combining the clinical experience of experts and surgical standards, ensures that the design of the guide plate not only meets the anatomical requirements but also conforms to the accuracy requirements of surgical operations.

[0125] The solution of the present application obtains the medical image data of the target bone, performs three-dimensional reconstruction on it to obtain the bone model corresponding to the target bone. Based on this bone model, the surgical planning information corresponding to the target bone is further determined. Then, based on the bone feature point information and / or prosthesis model information in the surgical planning information, the original guide plate model is automatically adjusted to generate a target guide plate model that matches the target bone anatomical structure. This method can combine the bone model and the prosthesis model to automatically design a surgical guide plate that conforms to the characteristics of the target bone, not only greatly improving the design efficiency but also being more precisely matched with the surgical plan, ensuring the efficiency and accuracy of the surgical process.

[0126] In some embodiments of the present application, based on the prosthesis model information and / or target feature point information, adjusting the original guide plate model to generate a target guide plate model corresponding to the target bone may include the following steps.

[0127] Step 210: Convert the bone model marked with target feature point information into the target coordinate system.

[0128] The target coordinate system is obtained by aligning the coordinate system of the original guide plate model with the coordinate system of the prosthesis model.

[0129] That is to say, the coordinate systems of the original guide plate model and the prosthesis model are aligned to obtain the target coordinate system, and then through coordinate transformation, the feature points and joint positions of the bone model are mapped into the target coordinate system.

[0130] In some examples, referring to Figure 8 . Figure 8 Figure a shows the coordinate system where the femoral prosthesis model is located. Figure 8 The origin of the a coordinate system is located at the center of the distal femoral osteotomy plane. The Z-axis is the up-down direction perpendicular to the distal osteotomy plane, pointing from bottom to top. The y-axis is the front-back axial direction, pointing from front to back. The x-axis is the inside-outside axis direction of the prosthesis. For the left leg, it points from the medial side to the lateral side, and for the right leg, it points from the lateral side to the medial side.

[0131] It should be understood that in this example, the femoral guide plate coordinate system completely overlaps with the femoral prosthesis coordinate system, that is, it corresponds to the target coordinate system. Figure 8 Figure b shows the coordinate system where the femoral guide plate is located. The positive direction of the z-axis is from bottom to top, the positive direction of the y-axis is from front to back (0, 1, 0), the x-axis direction is (1, 0, 0), and the origin is the point (0, 0, 0).

[0132] In some examples, referring to Figure 9 , Figure 9 Figure a shows the coordinate system where the tibial prosthesis model is located. Figure 9 In a, the origin of the coordinate system is located at the center of the proximal tibial osteotomy plane. The Z-axis is the up-down direction perpendicular to the proximal osteotomy plane, pointing from bottom to top. The y-axis is the front-back axial direction, pointing from front to back. The x-axis is the inside-outside axis direction of the prosthesis. For the left leg, it points from the medial side to the lateral side, and for the right leg, it points from the lateral side to the medial side.

[0133] It should be understood that the tibial guide plate coordinate system completely overlaps with the tibial prosthesis coordinate system, and also corresponds to the target coordinate system. Figure 9 Figure b shows the coordinate system where the femoral guide plate is located. As shown in the figure, the positive direction of the z-axis is from bottom to top, the positive direction of the y-axis is from front to back (0, 1, 0), the x-axis direction is (1, 0, 0), and the origin is the point (0, 0, 0).

[0134] It should be noted that the advantage of overlapping the guide plate coordinate system with the prosthesis coordinate system is that the same pose matrix can be set for the guide plate and the prosthesis, that is, the planned osteotomy plane can be completely corresponding to the osteotomy groove of the guide plate. If the surgical plan is adjusted, the main part of the guide plate can directly follow the pose transformation of the prosthesis without any modification.

[0135] Converting the femoral bone model to the coordinate system where the femoral prosthesis is located or converting the tibial bone model to the coordinate system where the tibial prosthesis is located, the coordinate transformation process may include:

[0136] Denote the pose matrix of the prosthesis model as

[0137] Among them, [x0 x1 x2] T is the vector in the x-axis direction; [y0 y1 y2] T is the vector in the y-axis direction; [z0 z1 z2] T is the vector in the z-axis direction; [t0 t1 t2] T is the translation component.

[0138] Denote a point on the target model as P, and its homogeneous coordinates are [x y z 1] T , then the coordinates P' after transformation to the coordinate system where the prosthesis model is located is P' = M -1 P.

[0139] Step 220: In the target coordinate system, based on the prosthesis model information and / or target feature point information, adjust the original guide plate model to obtain the target guide plate model.

[0140] This method can achieve high-precision spatial alignment by aligning the bone model and the guide plate model to a unified coordinate system, thereby optimizing the fitting degree and stability of the guide plate, ensuring the accuracy of the surgical instrument path, and reducing errors.

[0141] Exemplarily, the original guide plate model may include an osteotomy slot guide plate model and a positioning guide plate model.

[0142] The osteotomy slot guide plate model is used to guide the bone osteotomy position during the operation.

[0143] The positioning guide plate model is used to accurately position the osteotomy slot guide plate model at a preset position on the target bone.

[0144] In some embodiments of the present application, adjusting the original guide plate model based on the prosthesis model information and / or target feature point information to generate the target guide plate model corresponding to the target bone may include: adjusting the osteotomy slot guide plate model and / or the positioning guide plate model based on the prosthesis model information and / or target feature point information.

[0145] In one embodiment, when only the prosthesis model information is included in the surgical planning information, the positioning guide plate model is adjusted according to the prosthesis model information. It can be understood that in this case, the target feature point information is not provided, so the design of the osteotomy slot guide plate model does not need to be adjusted. For example, assume that during the surgical planning process, the design parameters of the prosthesis have been determined, including the size and placement position of the prosthesis. If the target feature point information is not modified, then the positioning guide plate model will be adjusted according to these prosthesis model information to ensure that the positioning guide plate is consistent with the position of the prosthesis. However, since the target feature points are not modified, the osteotomy slot guide plate model remains unchanged. This method can effectively reduce the impact on other guide plate models, save time, and reduce unnecessary adjustment costs.

[0146] In one embodiment, when the surgical planning information only includes target feature point information, the osteotomy slot guide plate model is adjusted according to the target feature point information. It can be understood that in this case, the prosthesis model information is not provided, so the design of the positioning guide plate model does not need to be adjusted. For example, when making the surgical plan, there may be a situation where the target feature point is marked incorrectly. Through this embodiment, the osteotomy slot guide plate model can be directly adjusted according to the modified target feature point information, so as to correct the position or orientation of the osteotomy slot guide plate, without any adjustment to the positioning guide plate model, and the positioning guide plate model remains unchanged. This method can effectively reduce the impact on other guide plate models and reduce unnecessary adjustment costs.

[0147] In one embodiment, when the surgical planning information includes prosthesis model information and target feature point information, the positioning guide plate model is adjusted according to the prosthesis model information, and the osteotomy slot guide plate model is adjusted according to the target feature point information. It can be understood that in this case, the positioning guide plate model will be adjusted according to the prosthesis model information, while the osteotomy slot guide plate model will be adjusted according to the target feature point information. The adjustments of the two do not interfere with each other, but are equally important and must be modified separately according to their corresponding information to ensure the accuracy and effectiveness of the overall surgery. This embodiment can handle the most common situation where the prosthesis model information and the target feature point information exist simultaneously. This method makes full use of all the information in the surgical plan, so that each guide plate model can be adjusted most appropriately. This method divides the original guide plate model into two parts: the osteotomy slot guide plate and the positioning guide plate, which is convenient for fine adjustment according to surgical needs respectively, so as to improve the matching degree and accuracy of the guide plate.

[0148] Exemplarily, the positioning guide plate model can be divided into two parts: the first guide plate model and the second guide plate model.

[0149] In some embodiments of the present application, based on the prosthesis model information and / or the target feature point information, the original guide plate model is adjusted to generate the target guide plate model corresponding to the target bone, which may include:

[0150] Based on the prosthesis model information and the target feature point information, the osteotomy slot guide plate model, the first guide plate model and the second guide plate model are adjusted.

[0151] The three parts / components of the original guide plate model are respectively adjusted to match the target bone anatomical structure and the surgical planning information.

[0152] The osteotomy slot guide plate model is used to guide the osteotomy operation. According to the size of the prosthesis model and the anatomical shape of the target bone, the shape and positioning of the osteotomy slot guide plate model are adjusted to ensure that the target bone can be accurately cut, meeting the cutting angle and depth in the surgical plan.

[0153] The first guide plate model and the second guide plate model are used to locate and fix the target bone during surgery, ensuring the accurate installation position of the prosthesis or surgical instruments. The first guide plate model and the second guide plate model are adjusted based on the target feature point information to ensure accurate positioning and stable fixation of the bone, avoiding deviation.

[0154] The adjusted osteotomy groove guide plate model, the first guide plate model, and the second guide plate model are combined to obtain the target guide plate model.

[0155] Exemplarily, the components of the guide plate (osteotomy groove guide plate model, first guide plate model, and second guide plate model) can be combined together by means of Boolean operation.

[0156] It should be understood that the surgical planning information may also include the target osteotomy surface information.

[0157] The target osteotomy surface refers to the cutting plane planned according to the surgical requirements, and its position and direction are based on the anatomical structure of the target bone, and are used to guide the osteotomy operation during the surgery.

[0158] As an example rather than a limitation, the target osteotomy surface information may include the position information, direction information, and range information of the target osteotomy surface, etc.

[0159] Among them, the position information may refer to the specific position of the target osteotomy surface in the bone model. For example, it can be represented by three-dimensional coordinates.

[0160] The direction information may refer to the normal direction of the target osteotomy surface or the inclination angle of the cutting plane. For example, it can be represented by a normal vector or an angle value.

[0161] The range information may refer to the geometric range of the target osteotomy surface, and is used to define the size and shape of the area that needs to be osteotomized.

[0162] These several kinds of information jointly determine the geometric characteristics of the target osteotomy surface, providing comprehensive data support for surgical planning and related guide plate design.

[0163] The adjustment method of the osteotomy groove guide plate model is introduced below.

[0164] Step 310: Based on the target osteotomy surface information, determine the position of the osteotomy groove in the osteotomy groove guide plate model.

[0165] Exemplarily, the target feature point information may include: the position information of the first target feature point.

[0166] In this step, according to the position information, direction information, and range information of the target osteotomy surface, an osteotomy groove is opened in the osteotomy groove guide plate model, and the osteotomy groove matches the target osteotomy surface. That is to say, based on the matching of three-dimensional geometric information, it is ensured that the design of the guide plate can fully meet the surgical requirements, thereby improving the accuracy of cutting and surgical safety.

[0167] To ensure the accuracy of the osteotomy groove, default saw blade parameters (such as the thickness, width, and angle of the saw blade) are used to create the groove, and one plane of the osteotomy groove is made to coincide with the xoy plane of the target coordinate system, thereby ensuring that the position and angle of the osteotomy groove meet the requirements of the surgical plan. During specific implementation, adjustments can be made with reference to the actual anatomical structure of the femur or tibia to ensure that the grooving process meets anatomical requirements.

[0168] Exemplarily, such as Figure 8 b, use the default saw blade parameters to create a groove for the osteotomy groove guide model in the femoral guide model, and make the upper plane of the osteotomy groove coincide with the xoy plane of the coordinate system of the femoral prosthesis model.

[0169] Exemplarily, such as Figure 9 b, use the default saw blade parameters to create a groove for the osteotomy groove guide model in the tibial guide model, and make the lower plane of the osteotomy groove coincide with the xoy plane of the coordinate system of the tibial prosthesis model.

[0170] Step 320: Based on the position information of the first target feature point, determine the distance between the osteotomy groove guide model and the bone model. The first target feature point is the highest point on the anterior side of the bone marked in the bone model.

[0171] In this step, the front-to-back distance between the osteotomy groove guide and the bone model is determined through the coordinate information of the first target feature point (such as the highest point on the anterior side of the femur or tibia). Ensure an appropriate gap is maintained between the osteotomy groove and the anterior side of the bone to avoid unnecessary interference or damage during the operation.

[0172] The calculation method is to first determine the position of the highest point on the anterior side of the femur or tibia, then calculate the offset in the front-to-back direction of the osteotomy groove, and reserve a certain gap margin. Calculate the minimum value in the y direction of the distal part of the femur or tibia, and then determine the final position of the osteotomy groove based on a certain margin between this minimum value and the inner y coordinate of the guide osteotomy groove.

[0173] In addition, to meet the requirement of a more medial incision during the operation, the entire osteotomy groove needs to be rotated by a certain angle around the z-axis to ensure that the guide plate can be properly installed and facilitate osteotomy from the medial side.

[0174] Exemplarily, determine the position of the highest point on the anterior side of the femur, and calculate the offset in the front-to-back direction of the osteotomy groove to leave an appropriate gap between the osteotomy groove and the anterior side of the femur. Such as Figure 10 , a comparison diagram of two different gaps is given.

[0175] Calculate the minimum value in the y direction of the distal part of the femur, and then the inner y coordinate y of the guide osteotomy groove medial and this minimum value y minAfter leaving a certain margin distanceAP, it is the final placement position of the osteotomy groove, that is, y medial = y min + distanceAP.

[0176] Exemplarily, determine the position of the highest point on the anterior side of the tibia to calculate the offset of the osteotomy groove in the anterior-posterior direction, so as to leave an appropriate gap between the osteotomy groove and the anterior side of the tibia. As Figure 11 , a comparison diagram of two different gaps is given.

[0177] Specifically, calculate the minimum value y min in the y direction of the proximal part of the tibia, and then leave a certain margin distanceAP between the inner y coordinate y medial of the osteotomy groove of the guide plate and this minimum value y min After that, it is the final placement position of the osteotomy groove, that is, y medial = y min + distanceAP.

[0178] Step 330: Adjust the osteotomy groove guide plate model based on the position of the osteotomy groove and the distance between the osteotomy groove guide plate model and the bone model.

[0179] In this embodiment, by comprehensively considering the position of the osteotomy groove, the distance between the osteotomy groove guide plate and the bone model, and the anatomical structure characteristics, the precise adjustment of the osteotomy groove guide plate model is carried out. Through calculation and optimization, it is ensured that the final position and angle of the osteotomy groove are completely matched with the anatomical structure of the target bone, so as to achieve accurate and smooth osteotomy operation during the surgery. Through this adjustment, the osteotomy groove guide plate model can adapt to the personalized bone characteristics of the patient, ensuring the efficiency and accuracy of the surgical process.

[0180] The adjustment method of the positioning guide plate model is introduced below.

[0181] It should be understood that when the prosthesis model has a matching osteotomy instrument, the prosthesis model information may include the osteotomy instrument parameters matching the prosthesis model. When the prosthesis model does not have a matching osteotomy instrument, the prosthesis model information includes preset parameters.

[0182] The osteotomy instrument parameters matching the prosthesis model refer to the key parameters of the osteotomy tool set to meet the installation and fixation requirements of the prosthesis model.

[0183] The preset parameters can be general parameters.

[0184] In some embodiments of the present application, when the prosthesis model has a matching osteotomy instrument, based on the prosthesis model information and / or the target feature point information, adjusting the positioning guide plate model may include the following steps:

[0185] Based on the osteotomy instrument parameters, determine the connection bridge parameters in the positioning guide model.

[0186] The connection bridge parameters in the positioning guide model may include at least one of the length, width, or scaling ratio of the connection bridge.

[0187] Based on the osteotomy instrument parameters, set positioning holes on the positioning guide model.

[0188] Based on the connection bridge parameters and positioning holes, adjust the positioning guide model.

[0189] This method, based on the prosthesis model information and specific osteotomy instrument parameters, adjusts the positioning guide model through steps such as adjusting the connection bridge and setting positioning holes, which can ensure that the guide model can perfectly cooperate with the osteotomy instrument, making the cutting position highly match the bone shape required by the prosthesis, thereby improving the stability and accuracy of prosthesis installation.

[0190] In some embodiments of the present application, when there is no matching osteotomy instrument for the prosthesis model, based on the prosthesis model information and / or target feature point information, adjusting the positioning guide model may include the following steps:

[0191] Based on preset parameters, determine the connection bridge parameters in the positioning guide model.

[0192] The connection bridge parameters in the positioning guide model may include at least one of the length, width, or scaling ratio of the connection bridge.

[0193] Based on the connection bridge parameters, adjust the positioning guide model.

[0194] This method adjusts the positioning guide model through preset parameters to ensure that components such as the connection bridge meet the basic cutting requirements, which can improve flexibility, enabling reasonable adjustment of the guide even when a completely matching instrument is missing, thereby meeting the basic requirements for prosthesis installation.

[0195] It should be noted that when the target bone is the femur, the positioning guide model may include a distal femur guide model and an anterior femur guide model; when the target bone is the tibia, the positioning guide model may include a proximal tibia guide model and an anterior tibia guide model.

[0196] The method for adjusting the first guide model is introduced below.

[0197] It should be noted that when adjusting the first guide plate model, the first guide plate model used will be different according to the type of the target bone (femur or tibia). If the target bone is the femur, then the first guide plate model corresponds to the distal part of the femur and is named the distal femur guide plate model; if the target bone is the tibia, then the first guide plate model corresponds to the proximal part of the tibia and is named the proximal tibia guide plate model. This means that the shape and position of the first guide plate model need to be adjusted accordingly according to the different bone types to ensure that it can correctly cooperate with and support the positioning and operation of the bone during the operation.

[0198] Figure 4 The adjustment method of the distal femur guide plate model in a femur guide plate model provided by an embodiment of the present application is shown.

[0199] Step 410: Determine a first parameter according to the type of the prosthesis model.

[0200] The first parameter is the first positioning hole parameter or the first preset parameter of the osteotomy instrument corresponding to the prosthesis model.

[0201] Exemplarily, the first preset parameter is the default parameter.

[0202] Step 420: Based on the first parameter, determine the width of the first connecting bridge in the distal femur guide plate model.

[0203] The first connecting bridge is an intermediate structural component in the distal femur guide plate model, one end is connected to the osteotomy groove guide plate model, and the other end is fitted to the contact point of the distal femur, playing a role of fixing and stabilizing.

[0204] It should be understood that the distal femur refers to the end of the femur away from the body center, that is, the lower end of the femur.

[0205] Step 430: Adjust the distal femur guide plate model based on the width of the first connecting bridge.

[0206] According to the determined width of the first connecting bridge, adjust the geometric shape of the distal femur guide plate model to match the anatomical structure of the femur and ensure its stability and accuracy during the operation.

[0207] In some embodiments of the present application, when the first parameter is the positioning hole parameter of the osteotomy instrument corresponding to the prosthesis model, the method for adjusting the distal femur guide plate model further includes:

[0208] Based on the first parameter, set a first positioning hole on the distal femur guide plate model.

[0209] Adjust the distal femur guide plate model according to the first positioning hole and the length of the first connecting bridge.

[0210] Exemplarily, such as Figure 12As shown, load the distal model of the femoral guide plate. If the planned prosthesis has the corresponding parameters of the traditional osteotomy instrument, read the parameters of the four-in-one traditional osteotomy instrument positioning holes corresponding to the prosthesis, and use these parameters to calculate the length and scaling ratio of the connecting bridge of the femoral distal guide plate model, so that the distal model fits tightly with the osteotomy groove, and open the four-in-one positioning holes on the distal guide plate assembly.

[0211] Exemplarily, load the distal model of the guide plate. If the planned prosthesis does not have the corresponding parameters of the traditional osteotomy instrument, load the default parameters, and use these parameters to calculate the length and scaling ratio of the connecting bridge of the femoral distal guide plate model, so that the distal model fits tightly with the osteotomy groove.

[0212] The calculation method of the center point coordinates of the positioning hole can include: Denote the center point coordinates of the positioning hole as P1(x1, y1, z1), P2(x2, y2, z2), and the center point coordinates of the connecting bridge interface contour of the guide plate model are P3(x3, y3, z3) and P4(x4, y4, z4) respectively. Then the length of the connecting bridge is (y1 - y2) / cos(2), and the model scaling factor is (x1 + (tan(2) * (y1 - y2))) / x2, where 2° is the angle between the connecting bridge and the positive direction of the y-axis.

[0213] In this embodiment, by determining the first connecting bridge parameters of the femoral guide plate distal model, and by setting the positioning holes and adjusting the length of the connecting bridge, the femoral guide plate distal model is precisely adjusted to fit highly with the prosthesis model and the anatomical features of the femur.

[0214] Figure 5 Shows an adjustment method for the proximal model of the tibial guide plate in the tibial guide plate model provided by the embodiment of the present application.

[0215] Step 510: Determine the contact points between the proximal model of the tibial guide plate and the bone model according to the positions of the fourth target feature point and the fifth target feature point.

[0216] The fourth target feature point is the lowest point of the medial tibial plateau.

[0217] The fifth target feature point is the lowest point of the lateral tibial plateau.

[0218] By selecting these lowest points, the position where the tibial guide plate model contacts the bone surface is precisely defined to ensure the matching of the guide plate and the bone.

[0219] Step 520: Set a plurality of control points between the contact points and the cross-section of the third connecting bridge in the tibial guide plate model, fit a spline curve using the plurality of control points, and combine the fitted spline curve with the cross-section contour of the third connecting bridge to determine the pose of the third connecting bridge in the proximal model of the tibial guide plate.

[0220] Between the contact point position and the cross-section of the third connecting bridge in the tibial guide plate model, a plurality of control points are set, and a spline curve is fitted using these control points to achieve a smooth transition of the connecting bridge.

[0221] In this step, different types of spline curves (such as B-spline, adaptive cubic spline, Hermite spline, Cardinal spline, Kochanek-Bartels spline, etc.) can be used for fitting, so as to generate a spline curve that highly conforms to the bone surface.

[0222] Combine the curve obtained by fitting with the cross-sectional profile of the third connecting bridge to determine the pose of the third connecting bridge in the proximal tibial guide plate model.

[0223] It should be understood that the arc design of the third connecting bridge not only facilitates the installation of the guide plate during the operation, but also takes into account the situation of less tibial exposure and limited operating space, improving the installation convenience.

[0224] Step 530: Adjust the proximal tibial guide plate model based on the contact point position and the pose of the third connecting bridge.

[0225] Based on the contact point position and the pose of the third connecting bridge, adjust the proximal tibial guide plate model to ensure that the guide plate can accurately fit the anatomical position of the tibial model. The adjustment of this step not only makes the docking between the guide plate and the bone tight, but also achieves a natural and smooth transition in terms of vision and mechanical structure, improving the stability and accuracy of the guide plate model.

[0226] Exemplarily, Figure 13 is a schematic diagram of the proximal tibial guide plate model.

[0227] Combined with Figure 5 It can be seen that when the positioning guide plate model is the proximal tibial guide plate model, the adjustment method of the positioning guide plate model can also include the following steps:

[0228] According to the position information of the fourth target feature point and the position information of the fifth target feature point, determine the contact point position between the proximal tibial guide plate model and the bone model. The fourth target feature point is the lowest point of the medial tibial plateau, and the fifth target feature point is the lowest point of the lateral tibial plateau;

[0229] Between the contact point position and the cross-section of the connecting bridge in the tibial guide plate model, set a plurality of control points, fit a spline curve using the plurality of control points, and combine the spline curve obtained by fitting with the cross-sectional profile of the connecting bridge in the tibial guide plate model to determine the pose of the connecting bridge in the proximal tibial guide plate model;

[0230] Based on the contact point position and the pose of the connecting bridge in the proximal tibial guide plate model, adjust the proximal tibial guide plate model.

[0231] This method realizes the precise docking of the tibial guide plate model with the bone structure by selecting reasonable contact points and control points to fit the curve. By precisely adjusting the structure of the third connecting bridge, the guide plate not only adapts to the tibial anatomical structure but also has good installation adaptability, improving the reliability and stability of the guide plate model during the operation.

[0232] The method for adjusting the second guide plate model is introduced below.

[0233] It should be noted that when adjusting the second guide plate model, the first guide plate model used will be different according to the type of the target bone (femur or tibia). If the target bone is the femur, then the second guide plate model corresponds to the anterior part of the femur and is named the anterior femur guide plate model; if the target bone is the tibia, then the second guide plate model corresponds to the anterior part of the tibia and is named the anterior tibia guide plate model. This means that the shape and position of the second guide plate model need to be adjusted accordingly according to the different bone types to ensure that it can correctly cooperate and support the positioning and operation of the bone during the operation.

[0234] Figure 6 The adjustment method of the anterior femur guide plate model in a femur guide plate model provided by an embodiment of the present application is shown.

[0235] Step 610: Determine the second parameter based on the type of the prosthesis model.

[0236] The second parameter is the second positioning hole parameter or the second preset parameter of the osteotomy instrument corresponding to the prosthesis model.

[0237] The second preset parameter is the default drilling parameter used when there is no matching osteotomy instrument for the prosthesis model.

[0238] Step 620: Set the second positioning hole on the anterior femur guide plate model based on the second parameter.

[0239] Use the second positioning hole parameter or the second preset parameter to set the second positioning hole on the anterior femur guide plate model.

[0240] Step 630: Determine the width of the second connecting bridge in the anterior femur guide plate model based on the second parameter.

[0241] The second connecting bridge is the intermediate structural component in the anterior femur guide plate model, one end is connected to the osteotomy groove guide plate model, and one end is in contact with the contact point of the proximal femur.

[0242] It should be understood that the proximal femur refers to the end of the femur close to the body center, that is, the upper end of the femur.

[0243] Step 640: Adjust the anterior femur guide plate model according to the second positioning hole and the width of the second connecting bridge.

[0244] Exemplarily, when loading the anterior model of the femoral guide plate, if the planned prosthesis has corresponding traditional osteotomy instrument parameters, read the positioning hole parameters of the distal traditional osteotomy instrument corresponding to the prosthesis, use these parameters to calculate the distance between the connecting bridges and the internal and external offsets of the anterior femoral guide plate model, so that the positioning holes are exactly located at the centers of the connecting bridges, then cut off the redundant parts in the guide plate model, and drill the positioning holes for the corresponding distal traditional osteotomy instrument on the anterior guide plate connecting bridges.

[0245] Exemplarily, when loading the anterior model of the guide plate, if the planned prosthesis does not have corresponding traditional osteotomy instrument parameters, load the default parameters, use these parameters to calculate the distance between the connecting bridges and the internal and external offsets of the anterior femoral guide plate model, so that the positioning holes are exactly located at the centers of the connecting bridges, then cut off the redundant parts in the guide plate model, and drill the fixing holes for fixing the guide plate on the anterior guide plate connecting bridges.

[0246] In some embodiments of the present application, the method for adjusting the anterior model of the femoral guide plate may further include:

[0247] S650. Determine the length of the second connecting bridge in the anterior model of the femoral guide plate based on the position of the second target feature point.

[0248] The second target feature point is the position point with the most osteophytes in the target bone.

[0249] The length of the second connecting bridge is used to determine the contact position between the anterior model of the femoral guide plate and the bone model.

[0250] S660. Adjust the anterior model of the femoral guide plate according to the distance between the second positioning holes, the second connecting bridge, and the length of the second connecting bridge.

[0251] Exemplarily, Figure 14 A schematic example diagram of the anterior model of the femoral guide plate is given. Figure 15 The notch reference point in [[ ]] is an example of the second target feature point. As Figure 15 shown, calculate the vertical offset of the anterior contact surface of the femoral guide plate through the notch reference point, and place the anterior contact surface of the guide plate above the notch reference point to avoid the area with more osteophytes at the distal femur.

[0252] Exemplarily, as Figure 16 , in order to reduce the intraoperative wound, the anterior contact surface of the femoral guide plate can be designed in a cut - corner shape.

[0253] Exemplarily, as Figure 17 , to increase the installation stability of the guide plate, a third hole can be added to the anterior contact surface of the femoral guide plate, and the third hole is an inclined hole (i.e., the third hole is not parallel to the other two holes on the anterior side).

[0254] Exemplarily, to strengthen the guiding function of the positioning holes, the positioning holes can be lengthened.

[0255] Combination Figure 6 It can be seen that when the positioning guide plate model is the anterior tibial guide plate model, the adjustment method of the positioning guide plate model may further include the following steps:

[0256] Based on the position information of the second target feature point, adjust the connecting bridge parameters in the anterior femoral guide plate model, where the second target feature point is the position point with the most osteophytes in the tibia.

[0257] Based on the connecting bridge parameters in the anterior femoral guide plate model and the position information of the third target feature point, adjust the anterior tibial guide plate model, where the third target feature point is the knot point of the tibia.

[0258] This method determines the key structural parameters of the anterior femoral guide plate model and precisely adjusts the position of the guide plate to make it fit precisely with the prosthesis model and the femoral anatomical features. This adjustment method can provide support for the positioning and fixation of osteotomy instruments and guarantee the stability and accuracy during the surgical procedure.

[0259] Figure 7 Illustrates an adjustment method for the anterior tibial guide plate model in a tibial guide plate model provided by an embodiment of the present application.

[0260] Step 710: Determine the third parameter according to the type of the prosthesis model.

[0261] The third parameter is the third positioning hole parameter of the osteotomy instrument required for the prosthesis model, or the default parameter used when there is no matching osteotomy instrument.

[0262] The third parameter will be used for the precise setting of the guide plate positioning hole to achieve the best fit with the prosthesis model and the instrument.

[0263] Step 720: Based on the third parameter, set the third positioning hole on the anterior tibial guide plate model.

[0264] According to the third parameter, set the positioning hole on the anterior guide plate model. The position of this positioning hole is carried out according to the precise requirements of specific osteotomy instrument parameters or default parameters to ensure the accurate cooperation between the guide plate and the instrument.

[0265] Step 730: Based on the positions of the third positioning hole and the third target feature point, adjust the anterior tibial guide plate model, where the third target feature point is the tibial knot point in the target bone.

[0266] The third target feature point is the tibial knot point in the target bone, marking a key anatomical position of the tibia and used to determine the final fitting position of the guide plate.

[0267] By adjusting the anterior model of the tibial guide plate according to the relative positions of the third positioning hole and the third target feature point, the shape and position of the model are made highly consistent with the target bone anatomical structure, thereby achieving close contact. This adjustment ensures the stable docking of the guide plate model with the bone during actual surgical applications and supports precise instrument operation.

[0268] Exemplarily, Figure 18 A schematic example diagram of the anterior contact surface of the tibial guide plate is given.

[0269] If the planned prosthesis has corresponding traditional osteotomy instrument parameters, the positioning hole parameters of the traditional tibial osteotomy instrument corresponding to the prosthesis are read, and these parameters are used to drill positioning holes on the anterior contact surface of the tibial end guide plate.

[0270] If the planned prosthesis does not have corresponding traditional osteotomy instrument parameters, default parameters are loaded, and these parameters are used to drill positioning holes on the anterior contact surface of the tibial end guide plate.

[0271] Exemplarily, such as Figure 19 , the anterior side of the tibial guide plate can be designed in a cut - corner mode, aiming to avoid the tibial tubercle.

[0272] Exemplarily, such as Figure 20 , to increase the stability of the guide plate installation, a third hole is added on the anterior contact surface of the tibial guide plate, and the third hole is an inclined hole (i.e., the third hole is not parallel to the other two holes on the anterior side).

[0273] Exemplarily, to strengthen the guiding function of the third positioning hole, the third positioning hole can be lengthened.

[0274] In this embodiment, in the anterior model of the tibial guide plate, by combining the prosthesis model features and the anatomical information of the target bone, precise adjustment of the guide plate model is achieved. Such a method not only ensures the close fit between the guide plate and the bone but also improves the fixation effect of the instrument, providing highly precise and stable support for surgical operations.

[0275] In some embodiments of the present application, the method of the present application may further include: in response to the received adjustment input, adjusting the connection bridge parameters of the positioning guide plate model corresponding to the adjustment input to update the target guide plate model.

[0276] Exemplarily, the connection bridge parameters may include at least one of the first connection bridge parameter, the second connection bridge parameter, or the third connection bridge parameter.

[0277] Exemplarily, such as Figure 21 , keeping the position of the femoral distal contact surface unchanged, adjusting the anterior part of the femur and the osteotomy groove part for front - rear offset to adjust to have a proper gap between the anterior side of the guide plate and the femoral anterior condyle bone surface.

[0278] Exemplarily, such asFigure 22 , the position of the anterior contact surface is adjusted by adjusting the vertical offset of the anterior contact surface of the femoral guide plate and changing the length of the anterior connecting bridge.

[0279] Exemplarily, such as Figure 23 , the distal femoral contact surface is an elliptical plate, and the major and minor radii of the ellipse can be adjusted to adjust the size of the contact surface, thereby providing a better fit between the guide plate and the bone surface.

[0280] Exemplarily, such as Figure 24 , the anterior-posterior offset of the anterior contact surface of the tibial guide plate is adjusted to achieve a proper gap between the anterior contact surface of the tibial guide plate and the anterior tibial bone surface.

[0281] Exemplarily, such as Figure 25 , to ensure that the position of the anterior contact surface of the tibial guide plate is convenient for intraoperative operation and avoids the tibial tubercle, an internal-external adjustment function of the anterior contact surface of the tibial guide plate can be provided.

[0282] Exemplarily, such as Figure 26 , the distal tibial contact surface is an elliptical plate, and the major and minor radii of the ellipse can be adjusted to adjust the size of the contact surface, thereby providing a better fit between the guide plate and the bone surface.

[0283] This method allows for the personalized configuration of the guide plate model, enabling the guide plate to not only better adapt to the patient's anatomical characteristics but also be flexibly adjusted according to the surgical operation habits of different surgeons. For example, for some areas with a relatively narrow operating space, the length of the connecting bridge can be shortened to facilitate the installation and operation of the guide plate; while in some positions where greater stability is required, the connecting bridge can be extended to provide better support. This dynamic adjustment function provides greater flexibility for surgical design, enabling the guide plate design to better conform to the preferences of the surgeon during actual operation, improving the efficiency and accuracy of surgical operation, and ultimately making the designed guide plate more in line with the clinical application requirements.

[0284] Figure 27 It is a schematic structural diagram of a device provided by an embodiment of the present invention. As Figure 27 shown, the device 1100 may include:

[0285] An acquisition module 1101, configured to acquire a bone model of a target bone.

[0286] A surgical planning generation module 1102, configured to determine surgical planning information corresponding to the target bone based on the bone model.

[0287] The surgical planning information includes a bone model marked with target feature point information and / or prosthesis model information corresponding to the target bone.

[0288] The guide plate generation module 1103 adjusts the original guide plate model based on the prosthesis model information and / or the target feature point information to generate a target guide plate model corresponding to the target bone.

[0289] Figure 28 FIG. shows a schematic hardware structure diagram of a computer device provided by an embodiment of the present invention.

[0290] The computer device may include a processor 301 and a memory 302 storing computer program instructions.

[0291] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0292] The memory 302 may include a mass storage for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc, a magneto-optical disc, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 302 may include removable or non-removable (or fixed) media, or the memory 302 is a non-volatile solid state memory. The memory 302 may be internal or external to the integrated gateway disaster recovery device.

[0293] In one example, the memory 302 may be a read only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.

[0294] The memory 302 may include a read only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in reference to the method according to one aspect of the present disclosure.

[0295] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement Figure 1 the method in the illustrated embodiment.

[0296] In addition, in combination with the method in the above embodiment, an embodiment of the present invention can be implemented by providing a computer storage medium. Computer program instructions are stored on the computer storage medium; when the computer program instructions are executed by a processor, any of the methods in the above embodiment is implemented.

[0297] An embodiment of the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, any of the methods in the above embodiment is implemented.

[0298] It should be clear that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present invention.

[0299] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave on a transmission medium or a communication link. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0300] It should also be noted that in the exemplary embodiments mentioned in the present invention, some methods or systems are described based on a series of steps or devices. However, the present invention is not limited to the order of the above steps. That is to say, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0301] As described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowchart and / or block diagram, and the combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / operations specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It is also understood that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0302] As mentioned above, the above is only the specific implementation manner of the present invention. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described systems, modules, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered by the protection scope of the present invention.

Claims

1. A guide plate design method, characterized in that: include: Get the bone model of the target bone; Determine surgical planning information corresponding to the target bone based on the bone model, wherein the surgical planning information includes the bone model marked with target feature point information and / or prosthesis model information corresponding to the target bone; Based on the prosthesis model information and / or the target feature point information, the original guide plate model is adjusted to generate a target guide plate model corresponding to the target bone.

2. The method according to claim 1, characterized in that The adjusting the original guide plate model based on the prosthesis model information and / or the target feature point information to generate a target guide plate model corresponding to the target bone includes: Converting the skeleton model marked with target feature point information into a target coordinate system, wherein the target coordinate system is obtained by aligning the coordinate system of the original guide plate model with the coordinate system of the prosthesis model; In the target coordinate system, the original guide plate model is adjusted based on the prosthesis model information and / or the target feature point information to obtain the target guide plate model.

3. The method according to claim 1 or 2, characterized in that: The original guide model includes an osteotomy groove guide model and a positioning guide model, wherein the positioning guide model is used to position the osteotomy groove guide model on the bone model, and the original guide model is adjusted based on the prosthesis model information and / or the target feature point information to generate a target guide model corresponding to the target bone, including: Based on the prosthesis model information and / or the target feature point information, the osteotomy groove guide model and / or the positioning guide model is adjusted.

4. The method according to claim 3, characterized in that The target feature point information includes the position information of the first target feature point; the surgical planning information also includes the target osteotomy surface information; The adjusting the osteotomy groove guide plate model and / or the positioning guide plate model based on the prosthesis model information and / or the target feature point information includes: Based on the target osteotomy surface information, determining the position of the osteotomy groove in the osteotomy groove guide plate model; Determine the distance between the osteotomy groove guide plate model and the bone model based on the position information of the first target feature point, wherein the first target feature point is the highest point on the front side of the bone marked in the bone model; Based on the position of the osteotomy groove and the distance between the osteotomy groove guide model and the bone model, the osteotomy groove guide model is adjusted.

5. The method according to claim 3, characterized in that: When the prosthesis model has a matching osteotomy instrument, the prosthesis model information includes osteotomy instrument parameters, and adjusting the osteotomy groove guide model and / or the positioning guide model based on the prosthesis model information and / or target feature point information includes: Based on the osteotomy instrument parameters, determining the connection bridge parameters in the positioning guide model, wherein the connection bridge parameters in the positioning guide model include at least one of the length, width or scaling ratio of the connection bridge; Based on the osteotomy instrument parameters, setting positioning holes on the positioning guide model; Based on the connection bridge parameters and the positioning holes, the positioning guide plate model is adjusted.

6. The method according to claim 3, characterized in that When the prosthesis model does not have a matching osteotomy instrument, the prosthesis model information includes preset parameters, and adjusting the osteotomy groove guide model and / or the positioning guide model based on the prosthesis model information and / or the target feature point information includes: Based on the preset parameters, determining the connection bridge parameters in the positioning guide plate model, wherein the connection bridge parameters in the positioning guide plate model include at least one of the length, width or scaling ratio of the connection bridge; Based on the connection bridge parameters, the positioning guide model is adjusted.

7. The method according to claim 3, characterized in that When the target bone is a femur, the positioning guide model includes a distal femoral guide model and an anterior femoral guide model; when the target bone is a tibia, the positioning guide model includes a proximal tibial guide model and an anterior tibial guide model.

8. The method according to claim 7, characterized in that The target feature point information includes: position information of the second target feature point and position information of the third target feature point; When the positioning guide model is the anterior tibial guide model, the method comprises: Based on the position information of the second target feature point, adjusting the connection bridge parameters in the anterior model of the femoral guide plate, wherein the second target feature point is the position point with the most osteophytes in the tibia; Based on the connection bridge parameters and the position information of the third target feature point in the anterior femoral guide model, the anterior tibial guide model is adjusted, and the third target feature point is the node of the tibia.

9. The method according to claim 7, characterized in that: The target feature point information includes: position information of a fourth target feature point and position information of a fifth target feature point; When the positioning guide model is a tibial guide proximal model, the method comprises: Determine the contact point between the proximal end model of the tibial guide plate and the bone model according to the position information of the fourth target feature point and the position information of the fifth target feature point, wherein the fourth target feature point is the lowest point of the medial tibial plateau, and the fifth target feature point is the lowest point of the lateral tibial plateau; A plurality of control points are set between the contact point and the cross section of the connecting bridge in the proximal end model of the tibial guide, a spline curve is fitted using the plurality of control points, and the spline curve obtained by fitting is combined with the cross section profile of the connecting bridge in the proximal end model of the tibial guide to determine the position and posture of the connecting bridge in the proximal end model of the tibial guide; Based on the contact point position and the position of the connecting bridge in the proximal tibial guide model, the proximal tibial guide model is adjusted.

10. The method according to any one of claims 5 to 9, characterized in that The method further comprises: In response to the received adjustment input, the connection bridge parameters of the positioning guide plate model corresponding to the adjustment input are adjusted to update the target guide plate model.

11. The method according to claim 1 or 2, characterized in that: The step of obtaining a skeleton model of a target skeleton comprises: Acquire medical imaging data of a target object; Segmenting the medical image data of the target object to obtain medical image data of the target skeleton; The medical image data of the target bone is three-dimensionally reconstructed to obtain a bone model of the target bone.

12. The method according to claim 1 or 2, characterized in that: The method further comprises: In response to receiving a marking operation on a target feature point on the skeleton model, determining target feature point information based on the marking operation; In response to receiving a selection operation of selecting a corresponding prosthesis model for the target bone, determining prosthesis model information based on the selection operation; Based on the bone model marked with the target feature point information and / or the prosthesis model information, the surgical planning information corresponding to the target bone is determined.

13. A guide plate design device, characterized in that: include: An acquisition module, used for acquiring a bone model of a target bone; A planning generation module, used to determine the surgical planning information corresponding to the target bone based on the bone model, wherein the surgical planning information includes the bone model marked with target feature point information and / or the prosthesis model information corresponding to the target bone; The guide plate generation module is used to adjust the original guide plate model based on the prosthesis model information and / or the target feature point information to generate a target guide plate model corresponding to the target bone.

14. A computer device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the guide plate design method according to any one of claims 1 to 12.

15. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the guide plate design method according to any one of claims 1 to 12 is implemented.

16. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of a computer device, the computer device is caused to execute the guide plate design method according to any one of claims 1 to 12.

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