Bone thickness measuring system and device and computer-aided medical equipment

Abstract

The embodiment of the invention is applicable to the technical field of computer-aided medical treatment, and provides a bone thickness measuring system and device and computer-aided medical equipment. The bone thickness measuring system can be applied to realize the following method: responding to an operation of clicking a first position point on a real bone surface by a probe; determining a second position point corresponding to the first position point in a registered three-dimensional bone model, wherein the three-dimensional bone model is obtained by modeling based on bone image data; determining a target vector used for assisting in bone thickness measurement; a ray is drawn with the second position point as a starting point, at least one intersection point where the ray intersects with the three-dimensional bone model is obtained, and the direction of the ray is the same as the direction of the target vector; and measuring the bone thickness based on the second position point and at least one intersection point. By applying the bone thickness measuring system, the bone thickness of a patient can be accurately measured in an operation.

Description

Technical Field

[0001] The embodiments of the present application belong to the field of computer-aided medical technology, and in particular, relate to a bone thickness measurement system, device, and computer-aided medical device. Background Art

[0002] In orthopedic surgeries, it is necessary to measure the thickness of key parts of each bone to provide important anatomical structure information for doctors, which is used to assist in prosthesis installation and the implementation of surgical plans, etc.

[0003] There are various methods for measuring bone thickness in the prior art, such as traditional X-ray film measurement, computed tomography (CT) measurement, ultrasonic measurement, and optical measurement. However, these measurement methods all have some problems more or less in the actual application process. For example, although traditional X-ray film measurement is simple to operate and has a low cost, the X-ray film measurement obtains a two-dimensional image and cannot accurately reflect the three-dimensional structure of the patient's bone, resulting in a large measurement error. In addition, there is a risk of radiation exposure during the X-ray scanning process. CT scan measurement can provide detailed three-dimensional images with high measurement accuracy, but CT equipment is complex to operate and has a large radiation dose during the measurement process, and is not suitable for intraoperative real-time measurement. Compared with X-ray film measurement and CT scan measurement, ultrasonic measurement is radiation-free and the operation process is relatively simple, but ultrasonic measurement is greatly affected by the patient's bone density and has high requirements for the operator, and it is difficult to guarantee the measurement accuracy. In addition, optical measurement is a non-contact measurement and can be applied to various measurement scenarios, but optical measurement is greatly affected by ambient light and the stability of the measurement result is poor. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a bone thickness measurement system, device, and computer-aided medical device to conveniently perform real-time measurement of the patient's bone thickness during surgery and improve the accuracy of intraoperative bone thickness measurement.

[0005] The first aspect of the embodiments of the present application provides a bone thickness measurement system. The following method is implemented by applying the bone thickness measurement system:

[0006] In response to an operation of a probe clicking on a first position point on a real bone surface, determine a second position point corresponding to the first position point in a three-dimensional bone model that has completed registration processing, where the three-dimensional bone model is modeled based on bone image data;

[0007] Determine a target vector for assisting in bone thickness measurement;

[0008] Taking the second position point as a starting point, draw a ray to obtain at least one intersection point where the ray intersects the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector;

[0009] Measure the bone thickness based on the second position point and at least one of the intersection points.

[0010] A second aspect of the embodiments of the present application provides a bone thickness measurement device, including:

[0011] A probe point selection response module, configured to determine a second position point corresponding to the first position point on a real bone surface in a three-dimensional bone model that has completed registration processing in response to an operation of the probe selecting the first position point on the real bone surface, where the three-dimensional bone model is modeled based on bone imaging data;

[0012] A target vector determination module, configured to determine a target vector for assisting in bone thickness measurement;

[0013] An intersection point determination module, configured to draw a ray starting from the second position point to obtain at least one intersection point where the ray intersects the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector;

[0014] A bone thickness measurement module, configured to measure the bone thickness based on the second position point and at least one of the intersection points.

[0015] A third aspect of the embodiments of the present application provides a computer-aided medical device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the computer-aided medical device implements the following method:

[0016] In response to an operation of the probe selecting the first position point on the real bone surface, determine a second position point corresponding to the first position point in a three-dimensional bone model that has completed registration processing, where the three-dimensional bone model is modeled based on bone imaging data;

[0017] Determine a target vector for assisting in bone thickness measurement;

[0018] Draw a ray starting from the second position point to obtain at least one intersection point where the ray intersects the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector;

[0019] Measure the bone thickness based on the second position point and at least one of the intersection points.

[0020] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a computer, the following method is implemented:

[0021] In response to an operation of probing and selecting a first position point on the real bone surface, determine a second position point corresponding to the first position point in a three-dimensional bone model that has completed the registration process, where the three-dimensional bone model is modeled based on bone imaging data;

[0022] Determine a target vector for assisting in bone thickness measurement;

[0023] Starting from the second position point, draw a ray to obtain at least one intersection point where the ray intersects the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector;

[0024] Measure the bone thickness based on the second position point and at least one of the intersection points.

[0025] A fifth aspect of the embodiments of the present application provides a computer program product, including a computer program, which, when the computer program runs, causes the following method to be executed:

[0026] In response to an operation of probing and selecting a first position point on the real bone surface, determine a second position point corresponding to the first position point in a three-dimensional bone model that has completed the registration process, where the three-dimensional bone model is modeled based on bone imaging data;

[0027] Determine a target vector for assisting in bone thickness measurement;

[0028] Starting from the second position point, draw a ray to obtain at least one intersection point where the ray intersects the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector;

[0029] Measure the bone thickness based on the second position point and at least one of the intersection points.

[0030] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0031] In the embodiments of the present application, by responding to the operation of probing and selecting the first position point on the real bone surface, the second position point corresponding to the first position point in the three-dimensional bone model that has completed the registration process can be determined. On this basis, by determining the target vector for assisting in bone thickness measurement, a ray can be drawn starting from the second position point in the same direction as the target vector to obtain at least one intersection point where the ray intersects the three-dimensional bone model. Since the three-dimensional bone model is modeled based on bone imaging data and has completed the registration process with the real bone surface, the bone thickness that needs to be measured at the patient's surgical site or key bone part can be converted into the distance between two intersection points on the three-dimensional bone model, thereby achieving accurate measurement of bone thickness during the intraoperative stage, providing important anatomical structure information for orthopedic surgeons, assisting in prosthesis installation, surgical execution, etc., and improving the safety and effectiveness of the surgery. Brief Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is a schematic diagram of a bone thickness measurement method provided by an embodiment of the present application;

[0034] Figure 2 It is a schematic diagram of a probe direction provided by an embodiment of the present application;

[0035] Figure 3 It is a schematic diagram of the viewing direction of a three-dimensional view camera provided by an embodiment of the present application;

[0036] Figure 4 It is a schematic diagram of a vector preset in a three-dimensional bone model provided by an embodiment of the present application;

[0037] Figure 5 It is a schematic diagram of a bone thickness measurement process provided by an embodiment of the present application;

[0038] Figure 6 It is a schematic diagram of a bone thickness measurement system provided by an embodiment of the present application;

[0039] Figure 7 It is a schematic diagram of the data input / output process of each module of a bone thickness measurement system provided by an embodiment of the present application;

[0040] Figure 8 It is a schematic diagram of a bone thickness measurement device provided by an embodiment of the present application;

[0041] Figure 9 It is a schematic diagram of a computer-aided medical device provided by an embodiment of the present application. Detailed Embodiments

[0042] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0043] The following will illustrate the technical solutions of the present application through specific embodiments.

[0044] Reference Figure 1 FIG. 2 shows a schematic diagram of a bone thickness measurement method provided by an embodiment of the present application, which may specifically include the following steps:

[0045] S101. In response to an operation of a probe selecting a first position point on a real bone surface, determine a second position point corresponding to the first position point in a three-dimensional bone model that has completed the registration process, where the three-dimensional bone model is modeled based on bone image data.

[0046] It should be noted that this method can be applied to a computer device, which can be a computer-aided medical device. By executing the various steps of the method provided by the embodiment of the present application, the computer-aided medical device can accurately measure the bone thickness at the surgical site or the key bone site during the intraoperative stage. Exemplarily, the above computer device or computer-aided medical device can be a bone thickness measurement system, that is, the computer device can be used as a carrier of the bone thickness measurement system to execute the various steps of this method for measuring bone thickness.

[0047] In the embodiment of the present application, the three-dimensional bone model can be obtained by scanning the surgical site of a patient before surgery to obtain bone image data and then modeling based on the bone image data. Exemplarily, CT data obtained by CT scanning of the surgical site of a patient can be used as the bone image data for three-dimensional modeling. In this way, through three-dimensional reconstruction, a three-dimensional bone model of the patient can be obtained.

[0048] During the operation, it is necessary to pre-register the real bone surface of the patient with the three-dimensional bone model. After completing the registration process, this method can be applied to accurately measure the bone thickness during the intraoperative stage in combination with an intraoperative navigation device and surgical instruments.

[0049] During the operation, the surgeon can use a probe to perform a selection operation on the real bone surface of the patient. For example, the surgeon can hold the probe and select a first position point on the real bone surface of the patient. The above selection operation can be an operation of bringing the front end of the probe into contact with the first position point on the bone surface.

[0050] In the embodiment of the present application, the first position point can be determined by the surgeon according to actual needs. For example, according to the preoperative planning information or plan, a selection is made at a position where bone thickness measurement or bone grinding is required, and the selected position point can be used as the first position point. The embodiment of the present application does not limit how to determine the first position point.

[0051] In a possible implementation manner of the embodiment of the present application, the computer-aided medical device serving as the carrier of the bone thickness measurement system may include a display unit, such as a display screen, etc. The bone thickness measurement system may display the three-dimensional bone model of the patient through the display unit to realize the visualization of the three-dimensional bone model. After responding to the operation of the probe selecting the first position point on the real bone surface, the bone thickness measurement system may determine the second position point corresponding to the first position point in the three-dimensional bone model that has completed the registration process, and display the second position point through the display unit. In this way, the operations during the operation of the surgeon can be intuitively displayed through the display unit to assist the surgeon in implementing the surgical plan.

[0052] In the embodiment of the present application, the bone thickness measurement system may utilize the relevant data collected by the intraoperative navigation device to determine the first position point selected by the probe on the real bone surface, and based on the registration result between the real bone surface and the three-dimensional bone model, determine the corresponding second position point on the three-dimensional bone model, and display the second position point in the three-dimensional bone model through the display unit.

[0053] S102. Determine the target vector for assisting in bone thickness measurement.

[0054] In the embodiment of the present application, the target vector may be a vector for assisting in bone thickness measurement, and the target vector may indicate the direction of the surgical site or the key bone part where bone thickness measurement is required in the three-dimensional bone model. Therefore, the target vector can be determined according to the position of the bone thickness to be measured in the three-dimensional bone model.

[0055] In a possible implementation manner of the embodiment of the present application, the target vector may be determined based on the probe direction.

[0056] Specifically, the bone thickness measurement system may determine the probe direction corresponding to the probe and map the probe direction to the three-dimensional bone model.

[0057] Exemplarily, the intraoperative navigation device may be used to position the probe, and the probe direction corresponding to the probe may be determined based on the positioning result. In the embodiment of the present application, the probe direction may be from the end of the probe to the front end of the probe, and the front end of the probe is also the end that contacts the real bone surface when performing the operation of selecting the first position point on the real bone surface.

[0058] As Figure 2 shown, it is a schematic diagram of a probe direction provided by the embodiment of the present application. In Figure 2 , a schematic diagram of the probe 201 selecting the first position point A1 on the real bone surface 202 is shown. Among them, one end of the probe 201 is the Figure 2 point B1 in Figure 2Point C1 in it. When the probe 201 selects the first position point A1 on the real bone surface 202, the probe direction of the probe 201 can be the direction from the end point B1 to the front end point C1, that is, the vector direction. The front end of the probe 201 contacts the real bone surface 202, and the point C1 corresponding to the front end of the probe 201 coincides with the first position point A1.

[0059] The above probe direction is Figure 2 in the vector After the direction is mapped to the three-dimensional bone model, the bone thickness measurement system can determine the target vector based on the second position point in the model and the probe direction mapped to the model. Among them, the target vector should be parallel to the vector mapped to the model above.

[0060] Specifically, the bone thickness measurement system can use the second position point as the starting point of the target vector, and the direction of the target vector is the probe direction mapped to the three-dimensional bone model. In this way, a target vector that can be used to assist in bone thickness measurement can be determined in the three-dimensional bone model.

[0061] The foregoing method of determining the target vector and its direction based on the probe direction can be used when the probe direction can be used to indicate the bone thickness to be measured during actual operation. That is, when the surgeon holds the probe and selects a certain position point on the real bone surface, the direction pointed by the probe can be recognized by the surgeon. The bone thickness measurement system can determine the target vector based on this direction and achieve accurate measurement of the bone thickness by performing subsequent steps of this method.

[0062] In some cases, when the surgeon holds the probe and selects a certain position point on the real bone surface, the direction pointed by the probe may not accurately indicate the direction or area of the bone thickness to be measured. At this time, the target vector can be determined based on the viewing direction of the three-dimensional view camera. That is, in another possible implementation manner of the embodiment of the present application, the bone thickness measurement system can determine the target vector based on the viewing direction of the three-dimensional view camera.

[0063] Specifically, the three-dimensional view camera can be a part of the intraoperative navigation device or a part of the bone thickness measurement system, and is used to collect images of the surgical site in the intraoperative scene. The images collected by the three-dimensional view camera can be displayed through the display unit. Usually, during orthopedic surgery, the position of the patient and the surgical site should be kept as stable as possible, which makes it impossible to adjust the viewing angle by moving the surgical site during the operation. If it is necessary to adjust the image of the surgical site displayed in the display unit, it can be achieved by adjusting the viewing angle of the three-dimensional view camera. On this basis, the target vector can be determined based on the adjusted viewing angle of the three-dimensional view camera; so that the direction of the target vector is the same as the direction indicated by the viewing angle of the three-dimensional view camera.

[0064] As Figure 3 shown, it is a schematic diagram of the viewing direction of a three-dimensional view camera provided by an embodiment of the present application. Relative to Figure 2 , Figure 3 also shows the three-dimensional view camera 301. At a certain moment, the three-dimensional view camera 301 before the viewing angle adjustment is at the position Pa, and the viewing angle of the three-dimensional view camera 301 at this moment is Figure 3 shown by the angle range S1 in Figure 3 , that is, it points from the position Pa to the first position point A1 on the real bone surface 201. According to the actual bone region where the bone thickness needs to be measured, the bone thickness measurement system can respond to the instruction and adjust the three-dimensional view camera 301 to the Figure 3 position Pb in

[0065] . At this time, the viewing angle of the three-dimensional view camera 301 is

[0066] shown by the angle range S2 in

[0067] , that is, it points from the position Pb to the first position point A1 on the real bone surface 201. The above instruction can be issued by the surgeon, and the angle that the three-dimensional view camera 301 needs to be adjusted can be determined according to the actual needs during the operation. The image collected by the three-dimensional view camera after the viewing angle adjustment can continue to be displayed on the display unit provided by the bone thickness measurement system.

[0068] In a possible implementation manner of the embodiment of the present application, the image collected by the three-dimensional view camera can be combined with the three-dimensional bone model for display. In this way, the viewing direction of the three-dimensional view camera can be used as the direction of the target vector for assisting in bone thickness measurement. In the three-dimensional bone model, the target vector is the vector starting from the second position point and having the viewing direction of the three-dimensional view camera as the direction.

[0069] In another possible implementation manner of the embodiment of the present application, vectors in multiple directions can be preset in advance, and a target vector that can assist in measuring the bone thickness can be selected from the multiple vectors.

[0070] Specifically, the bone region where the bone thickness to be measured is located can be determined, and then the target vector can be determined from the multiple vectors preset in advance according to the bone region and the second position point. The above multiple vectors preset in advance can be determined according to the preoperative planning information. Figure 4 As Figure 4The bone surface 401 and multiple marked points thereon are shown. For example, Figure 4 the marked points T1, T2, and T3 in Figure 4 can be set based on a preoperative planning scheme. For example, the marked point T1 is a certain position point where bone grinding is required. During the preoperative planning stage, the surgeon can mark this point, so that during the intraoperative stage, the computer-aided medical device can prompt the surgeon of the specific position. When marking the above-mentioned marked point T1, the surgeon can also determine the direction of bone grinding according to the preoperative planning scheme. Suppose it is the direction from the marked point T1 to the point D1 in Then a vector can be preset in this direction in the three-dimensional bone model, that is, the vector

[0071] S103: Draw a ray starting from the second position point to obtain at least one intersection point where the ray intersects the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector.

[0072] After determining the second position point and the target vector in the three-dimensional bone model, the bone thickness measurement system can draw a ray starting from the second position point in the same direction as the direction of the target vector, so that the ray forms at least one intersection point with the three-dimensional bone model. Each intersection point in the three-dimensional bone model can determine a corresponding position point on the patient's real bone surface.

[0073] S104: Measure the bone thickness based on the second position point and at least one of the intersection points.

[0074] In the embodiment of the present application, the first intersection point and the second intersection point can be determined from the second position point and at least one intersection point. Since the line segment between the first intersection point and the second intersection point can be used to indicate the bone thickness to be measured, the bone thickness can be measured according to the first intersection point and the second intersection point.

[0075] Exemplarily, as Figure 5 shown, it is a schematic diagram of a bone thickness measurement process provided by an embodiment of the present application. Figure 5 shows the one related to Figure 2 and Figure 3 An example of a three-dimensional bone model corresponding to the real bone surface shown, where Figure 5 the bone surface 502 shown is the bone surface corresponding to the real bone surface after three-dimensional modeling, that is, Figure 2 and Figure 3 the bone surface 202 in Figure 5 The point A2 in Figure 2 and Figure 3The second position point corresponding to the first position point A1 shown in. After making a ray in the same direction as the target vector starting from the second position point A2, an intersection point can be determined on the bone surface. For example, taking Figure 2 the probe direction corresponding in to determine the target vector and making a ray, it can intersect with the point F2 on the bone surface. The first intersection point and the second intersection point shown in the three-dimensional bone model can be point A2 and point F2, and the line segment between the two can be used to represent the bone thickness to be measured, that is, Figure 2 the bone thickness between point A1 and point F1 on the real bone surface in.

[0076] For another example, taking Figure 3 the viewing direction of the adjusted three-dimensional view camera in to determine the target vector and making a ray, it can intersect with the point G2 on the bone surface. The first intersection point and the second intersection point shown in the three-dimensional bone model can be point A2 and point G2, and the line segment between the two can be used to represent the bone thickness to be measured, that is, Figure 3 the bone thickness between point A1 and point G1 on the real bone surface in.

[0077] Therefore, the distance between the first intersection point and the second intersection point in the three-dimensional bone model can be calculated, so as to determine the real bone thickness based on the distance in the model. For example, after calculating Figure 5 the distance between point A2 and point F2 in, the bone thickness between point A1 and point F1 on the real bone surface can be determined.

[0078] The calculation of the distance between any two intersection points in the three-dimensional bone model can be realized by using the existing calculation methods in the prior art, such as -Trumbore algorithm, etc., and the embodiments of the present application do not limit this.

[0079] In the embodiments of the present application, by responding to the operation of the probe to select the first position point on the real bone surface, the second position point corresponding to the first position point in the three-dimensional bone model that has completed the registration process can be determined. On this basis, by determining the target vector for assisting in bone thickness measurement, a ray can be made in the same direction as the target vector starting from the second position point, and at least one intersection point where the ray intersects with the three-dimensional bone model can be obtained. Since the three-dimensional bone model is modeled based on bone imaging data and has completed the registration process with the real bone surface, the bone thickness that needs to be measured at the patient's surgical site or the key bone part can be converted into the distance between two intersection points on the three-dimensional bone model, so as to realize the accurate measurement of bone thickness during the intraoperative stage, provide important anatomical structure information for orthopedic surgeons, assist in prosthesis installation, surgical execution, etc., and improve the safety and effectiveness of the surgery.

[0080] The bone thickness measurement system provided by the embodiments of the present application can be applied to scenarios such as trauma orthopedics and joint replacement. For example, in a fracture surgery, using the above system to perform real-time bone thickness measurement can assist doctors in determining the fracture reduction situation, ensuring the precise placement of internal fixation devices, improving surgical efficiency, reducing the pain of patients, and reducing radiation. In hip or knee replacement surgeries, using the system to measure the thickness of bone-related parts can help doctors select appropriate prosthesis sizes and positions, ensuring surgical effects and postoperative comfort of patients. In addition, the above system can also be applied to plastic surgery, sports medicine, or as a tool for medical research and teaching, playing an important role in multiple medical fields.

[0081] It should be noted that the methods provided in the above respective embodiments can be implemented by the bone thickness measurement system, that is, applying the bone thickness measurement system can implement the methods in the foregoing respective embodiments. The magnitudes of the sequence numbers of the steps in each embodiment do not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0082] For the sake of easy understanding, the following introduces the intraoperative bone thickness measurement by applying the bone thickness measurement system provided by the embodiments of the present application in combination with a complete example.

[0083] As Figure 6 shown, it is a schematic diagram of a bone thickness measurement system provided by the embodiments of the present application. Figure 6 The bone thickness measurement system shown can include a data acquisition module 601, a three-dimensional modeling module 602, an intraoperative navigation module 603, etc. Completing the complete intraoperative bone thickness measurement process requires the cooperation of each module shown. Among them: Figure 6 shown.

[0084] The data acquisition module 601 can be used to acquire bone image data of a patient, such as the CT data in the foregoing respective embodiments. In a specific implementation, the data acquisition module 601 can have an interface for connecting to other medical devices, so as to be able to directly import the corresponding bone image data from other devices. For example, the data acquisition module 601 can be connected to a CT device and directly import CT data from the CT device.

[0085] As Figure 7 shown, it is a schematic diagram of the data input and output process of each module of a bone thickness measurement system provided by the embodiments of the present application. As Figure 7 shown. Figure 6 The input data of the data acquisition module 601 in it can include information such as CT data, the surgical site of the patient, and indications.

[0086] The 3D modeling module 602 can generate a 3D model of the patient's bone, i.e., a 3D bone model, based on the collected data. Among them, the 3D modeling module 602 can use image processing algorithms to process the bone image data, so as to quickly and accurately construct a 3D model and provide multi-angle views and interactive operations.

[0087] As Figure 7 shown, Figure 6 the input data of the 3D modeling module 602 in Figure 6 can include the output data of the data acquisition module 601 in and information such as interactive segmentation. The output data of the 3D modeling module 602 is the 3D bone model after modeling is completed.

[0088] The intraoperative navigation module 603 can be used to provide functions such as real-time interaction with surgical instruments during the operation, and guide the surgeon to perform accurate bone thickness measurement.

[0089] Specifically, the intraoperative navigation module 603 can be used in conjunction with specific surgical instruments to track the position and movement of the surgical instruments through sensors or fiducial points, such as tracking the position of the probe and the operations performed based on the probe, and display them in real time on the 3D bone model for measuring the bone thickness at the specified position and direction. The information that can represent the position and movement of the surgical instrument displayed on the above 3D bone model can be implemented through the display unit.

[0090] As Figure 7 shown, Figure 6 the input data of the intraoperative navigation module 603 in Figure 6 can include the output data of the 3D modeling module 602 in and information such as interactive registration. The output data of the intraoperative navigation module 603 is the registration information, the real-time bone position, and the bone thickness in each direction.

[0091] As a specific application example of the bone thickness measurement system provided in the embodiments of the present application, the bone thickness measurement system can be applied to measure the bone thickness at the bone grinding site in real time before and after bone grinding. Exemplarily, before bone grinding, by performing a point selection operation on the probe at the position of the bone to be ground, the current bone thickness can be measured by applying the processes described in the foregoing embodiments. Then, bone grinding can be performed on this position. After the bone to be ground has been ground for a period of time, the surgeon can perform a point selection operation on the bone again. Since the three-dimensional bone model does not change during the operation, the ground bone surface part will still be reflected in the three-dimensional bone model. Therefore, the first position point determined by performing a point selection at the position where a part of the bone has been ground can be regarded as a certain position point embedded in the three-dimensional bone model corresponding to the second position point in the three-dimensional bone model. At this time, the current bone thickness can also be measured by applying the processes described in the foregoing embodiments. In this way, by comparing the bone thickness before and after bone grinding, it can be confirmed whether the ground bone thickness meets the preoperative planning requirements, thereby ensuring the safety of the operation and improving the success rate of the operation.

[0092] Referring to Figure 8 , a schematic diagram of a bone thickness measurement device provided in the embodiments of the present application is shown, which may specifically include a probe point selection response module 801, a target vector determination module 802, an intersection point determination module 803, and a bone thickness measurement module 804, where:

[0093] The probe point selection response module 801 is configured to, in response to an operation of the probe selecting a first position point on the real bone surface, determine a second position point corresponding to the first position point in the three-dimensional bone model that has completed the registration process, and the three-dimensional bone model is modeled based on bone image data;

[0094] The target vector determination module 802 is configured to determine a target vector for assisting in bone thickness measurement;

[0095] The intersection point determination module 803 is configured to draw a ray starting from the second position point to obtain at least one intersection point where the ray intersects the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector;

[0096] The bone thickness measurement module 804 is configured to measure the bone thickness based on the second position point and at least one of the intersection points.

[0097] In a possible implementation manner of the embodiments of the present application, the target vector determination module 802 may specifically be configured to:

[0098] Determine the probe direction corresponding to the probe and map the probe direction to the three-dimensional bone model;

[0099] Determine a target vector based on the second position point and the probe direction mapped to the three-dimensional bone model; the starting point of the target vector is the second position point, and the direction of the target vector is the probe direction mapped to the three-dimensional bone model.

[0100] In an embodiment of the present application, applying the target vector determination module 802 to determine the probe direction corresponding to the probe may specifically include:

[0101] Locate the probe using an intraoperative navigation device;

[0102] Determine the probe direction corresponding to the probe based on the positioning result, where the probe direction is that the end of the probe points to the front end of the probe, and the front end of the probe contacts the real bone surface when performing the operation of selecting the first position point on the real bone surface.

[0103] In another possible implementation manner of the embodiment of the present application, the bone thickness measurement system includes a three-dimensional view camera, and the target vector determination module 802 may further be used for:

[0104] Adjust the viewing angle of the three-dimensional view camera, where the three-dimensional view camera is used to collect images of the surgical site in the intraoperative scene;

[0105] Determine a target vector based on the viewing angle of the three-dimensional view camera; the direction of the target vector is the same as the direction indicated by the viewing angle of the three-dimensional view camera.

[0106] In yet another possible implementation manner of the embodiment of the present application, the target vector determination module 802 may further be used for:

[0107] Determine the bone region where the bone thickness to be measured is located;

[0108] Determine a target vector from a plurality of preset vectors according to the bone region and the second position point; the plurality of preset vectors are determined according to preoperative planning information.

[0109] In an embodiment of the present application, the bone thickness measurement module 804 may specifically be used for:

[0110] Determine a first intersection point and a second intersection point from the second position point and at least one of the intersection points; the line segment between the first intersection point and the second intersection point is used to indicate the bone thickness to be measured;

[0111] Measure the bone thickness according to the first intersection point and the second intersection point.

[0112] In the embodiments of the present application, the bone thickness measurement module 804 is used to measure the bone thickness according to the first intersection point and the second intersection point, which may specifically include:

[0113] Calculate the distance between the first intersection point and the second intersection point in the three-dimensional bone model;

[0114] Determine the true bone thickness based on the distance.

[0115] A bone thickness measurement device provided by the embodiments of the present application may be a computer-aided medical device in the foregoing various embodiments or other devices that can implement corresponding functions. By applying this device, each step in the foregoing various method embodiments can be implemented, achieving the purpose of accurately measuring the bone thickness during the operation.

[0116] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For related parts, refer to the description in the method embodiment section.

[0117] Refer to Figure 9 , which shows a schematic diagram of a computer-aided medical device provided by the embodiments of the present application. As Figure 9 shown, the computer-aided medical device 900 in the embodiments of the present application includes: a processor 910, a memory 920, and a computer program 921 stored in the memory 920 and executable on the processor 910. When the processor 910 executes the computer program 921, the steps in the various embodiments of the above bone thickness measurement method are implemented, such as Figure 1 the steps S101 to S104 shown. Alternatively, when the processor 910 executes the computer program 921, the functions of each module / unit in the above device embodiments are implemented, such as Figure 8 the functions of the modules 801 to 804 shown.

[0118] Exemplarily, the computer program 921 may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 920 and executed by the processor 910 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments can be used to describe the execution process of the computer program 921 in the computer-aided medical device 900. For example, the computer program 921 may be divided into a probe point selection response module, a target vector determination module, an intersection point determination module, and a bone thickness measurement module. The specific functions of each module are as follows:

[0119] A probe point selection response module, configured to determine, in response to an operation of probing and selecting a first position point on a real bone surface, a second position point corresponding to the first position point in a three-dimensional bone model that has completed registration processing, where the three-dimensional bone model is modeled based on bone imaging data;

[0120] A target vector determination module, configured to determine a target vector for assisting in bone thickness measurement;

[0121] An intersection point determination module, configured to draw a ray starting from the second position point, to obtain at least one intersection point where the ray intersects with the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector;

[0122] A bone thickness measurement module, configured to measure bone thickness based on the second position point and at least one of the intersection points.

[0123] The computer-aided medical device 900 may be a device capable of implementing the steps in the foregoing various method embodiments, and the computer-aided medical device 900 may serve as a carrier of the bone thickness measurement system in the foregoing various embodiments. The computer-aided medical device 900 may include, but is not limited to, a processor 910 and a memory 920. Those skilled in the art can understand that Figure 9 This is only an example of the computer-aided medical device 900, and does not constitute a limitation on the computer-aided medical device 900. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the computer-aided medical device 900 may further include input / output devices, network access devices, buses, etc.

[0124] The processor 910 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc.

[0125] The memory 920 may be an internal storage unit of the computer-aided medical device 900, such as a hard disk or memory of the computer-aided medical device 900. The memory 920 may also be an external storage device of the computer-aided medical device 900, such as a plug-in hard disk equipped on the computer-aided medical device 900, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, and so on. Further, the memory 920 may also include both the internal storage unit of the computer-aided medical device 900 and an external storage device. The memory 920 is used to store the computer program 921 and other programs and data required by the computer-aided medical device 900. The memory 920 may also be used to temporarily store data that has been output or is to be output.

[0126] An embodiment of the present application also discloses a computer-aided medical device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the methods described in the foregoing embodiments are implemented.

[0127] An embodiment of the present application also discloses a computer-readable storage medium storing a computer program, and when the computer program is executed by a computer, the methods described in the foregoing embodiments are implemented.

[0128] An embodiment of the present application also discloses a computer program product including a computer program, and when the computer program runs on a computer, the computer is caused to execute the methods described in the foregoing embodiments.

[0129] The foregoing embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A bone thickness measurement system, characterized in that, Implement the following method using the bone thickness measurement system: In response to the operation of the probe selecting the first position point on the real bone surface, determine the second position point corresponding to the first position point in the three-dimensional bone model that has completed the registration process, where the three-dimensional bone model is modeled based on bone mass image data; Determine the target vector for assisting in bone thickness measurement; Taking the second position point as the starting point, draw a ray to obtain at least one intersection point where the ray intersects with the three-dimensional bone model, and the direction of the ray is the same as the direction of the target vector; Measure the bone thickness based on the second position point and at least one of the intersection points.

2. The bone thickness measurement system according to claim 1, wherein The determination of the target vector for assisting in bone thickness measurement includes: Determine the probe direction corresponding to the probe and map the probe direction into the three-dimensional bone model; Determine the target vector based on the second position point and the probe direction mapped into the three-dimensional bone model; the starting point of the target vector is the second position point, and the direction of the target vector is the probe direction mapped into the three-dimensional bone model.

3. The bone thickness measurement system according to claim 2, wherein, The determination of the probe direction corresponding to the probe includes: Locate the probe using an intraoperative navigation device; Based on the positioning result, determine the probe direction corresponding to the probe, where the probe direction is from the end of the probe to the front end of the probe, and the front end of the probe contacts the real bone surface when performing the operation of selecting the first position point on the real bone surface.

4. The bone thickness measurement system according to claim 1, wherein The bone thickness measurement system includes a three-dimensional view camera, and the determination of the target vector for assisting in bone thickness measurement includes: Adjust the viewing angle of the three-dimensional view camera, where the three-dimensional view camera is used to collect images of the surgical site in the intraoperative scene; Determine the target vector based on the viewing angle of the three-dimensional view camera; the direction of the target vector is the same as the direction indicated by the viewing angle of the three-dimensional view camera.

5. The bone thickness measurement system according to claim 1, wherein The determination of the target vector for assisting in bone thickness measurement includes: Determine the bone region where the bone thickness to be measured is located; According to the bone region and the second position point, determine the target vector from a plurality of preset vectors; the plurality of preset vectors are determined according to preoperative planning information.

6. The bone thickness measurement system according to any one of claims 1 to 5, characterized in that The measurement of the bone thickness based on the second position point and at least one of the intersection points includes: Determine the first intersection point and the second intersection point from the second position point and at least one of the intersection points; the line segment between the first intersection point and the second intersection point is used to indicate the bone thickness to be measured; Measure the bone thickness according to the first intersection point and the second intersection point.

7. The bone thickness measurement system according to claim 6, wherein, The measurement of the bone thickness according to the first intersection point and the second intersection point includes: Calculate the distance between the first intersection point and the second intersection point in the three-dimensional bone model; Determine the real bone thickness based on the distance.

8. An apparatus for measuring bone thickness, characterized in that, Includes: A probe point selection response module for, in response to the operation of the probe selecting the first position point on the real bone surface, determining the second position point corresponding to the first position point in the three-dimensional bone model that has completed the registration process, where the three-dimensional bone model is modeled based on bone mass image data; A target vector determination module for determining a target vector for assisting in bone thickness measurement; An intersection point determination module for drawing a ray starting from the second position point to obtain at least one intersection point where the ray intersects the three-dimensional bone model, the direction of the ray being the same as the direction of the target vector; A bone thickness measurement module for measuring the bone thickness based on the second position point and at least one of the intersection points.

9. A computer-aided medical device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the computer-aided medical device realizes the following method: In response to an operation of a probe selecting a first position point on a real bone surface, determining a second position point corresponding to the first position point in a three-dimensional bone model that has completed registration processing, the three-dimensional bone model being built based on bone image data; Determining a target vector for assisting in bone thickness measurement; Drawing a ray starting from the second position point to obtain at least one intersection point where the ray intersects the three-dimensional bone model, the direction of the ray being the same as the direction of the target vector; Measuring the bone thickness based on the second position point and at least one of the intersection points.

10. A computer program product comprising a computer program, characterized in that, When the computer program runs, the following method is executed: In response to an operation of a probe selecting a first position point on a real bone surface, determining a second position point corresponding to the first position point in a three-dimensional bone model that has completed registration processing, the three-dimensional bone model being built based on bone image data; Determining a target vector for assisting in bone thickness measurement; Drawing a ray starting from the second position point to obtain at least one intersection point where the ray intersects the three-dimensional bone model, the direction of the ray being the same as the direction of the target vector; Measuring the bone thickness based on the second position point and at least one of the intersection points.

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