Method for determining installation position of artificial hip joint acetabular cup
The method optimizes acetabular cup placement in hip replacement surgery by using 3D modeling and collision detection to ensure maximum joint mobility and stability, addressing the limitations of existing patient-specific methods.
Patent Information
- Application Number
- CN202510687948.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-27
- Publication Date
- 2025-07-15
AI Technical Summary
The existing hip mortar cup installation methods cannot meet the personalized needs of each patient, resulting in inconsistent hip mobility needs, especially for patients with congenital hip dysplasia, and doctors rely on intuition and experience to adjust.
By establishing a coordinate system and three-dimensional modeling, the upper and lower limits and variation intervals of the installation parameters of the cup prosthesis are determined, and the collision-free movement angle of the hip joint at each installation position is solved in a cycle, the hip joint mobility coefficient is calculated, and the personalized cup installation position is selected.
The personalized installation of the hip mortar cup is achieved, which improves the stability and mobility of the hip joint after surgery, provides the accuracy of preoperative planning, and reduces the dependence of doctors on experience.
Smart Images
Figure CN120304947A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of determining the installation position of an artificial hip acetabular cup, and particularly relates to a method for determining the installation position of an artificial hip acetabular cup. Background Art
[0002] The hip joint is one of the most important joints in the human body, and the native hip joint can be regarded as a "ball and socket" structure. Hip replacement is a method for treating end-stage hip arthritis and can restore the function of the hip joint. Hip replacement mainly uses an artificial acetabulum and an artificial femoral head to replace the necrotic hip joint of the patient. Hip replacement can be divided into total hip replacement (THA), hip resurfacing replacement (TRA), and dual-mobility total hip replacement (DM-THA) according to the replacement type. In hip replacement, an artificial acetabular cup is an essential component. The outer surface of the artificial acetabular cup is usually a part of a spherical surface, and the centers of the acetabular cup ball, the artificial femoral head ball, and the liner are usually coincident. The position of the acetabular cup relative to the rotation center of the acetabular cup is usually defined radiologically, that is, determined by the radiographic abduction angle ( RI ) and the radiographic anteversion angle ( RA ). Therefore, the RI and RA of the acetabular cup need to be adjusted to appropriate values during installation to meet the mobility requirements of the hip joint after surgery and avoid impingement during movement resulting in prosthesis dislocation.
[0003] Currently, there are many methods for obtaining the safe zone of the acetabular cup. There is the Lewinnek safe zone obtained based on clinical statistics, and there is also the patient-specific safe zone. Multiple studies have shown that the Lewinnek safe zone obtained based on clinical statistics is not suitable for every patient, mainly due to the specificity of the patient's pelvic position. The existing patient-specific safe zones mainly calculate the hip joint mobility corresponding to each possible acetabular cup installation and determine whether the hip joint mobility corresponding to the acetabular cup position meets the hip joint mobility requirements. If it meets, the acetabular cup position will be included in the safe zone; otherwise, it will not be included. One problem in the process of solving the patient-specific safe zone is that not everyone has the same mobility requirements. If a relatively high mobility requirement is set at the beginning, it is possible that all acetabular cup installation positions for this patient do not meet this mobility requirement; in addition, for patients with congenital hip dysplasia, even if the mobility requirement is not high, it is difficult for them to meet the mobility requirements. Therefore, in clinical practice, doctors will continuously reduce the mobility requirements to find a suitable safe zone, but how much to reduce and which type of movement's mobility requirement to reduce are mostly based on the doctor's intuition and experience. Summary of the Invention
[0004] The present invention provides a method for determining the installation position of an artificial hip joint acetabular cup, obtaining the personalized installation position of the acetabular cup for the patient during artificial hip joint replacement surgery, enabling the doctor to quickly determine the installation position of the acetabular cup for the patient during the preoperative planning stage and evaluate the impact of the adjustment of the acetabular cup installation position on the postoperative hip joint mobility, thereby improving the postoperative hip joint stability.
[0005] According to the first aspect, in one embodiment, a method for determining the installation position of an artificial hip joint acetabular cup is provided, and the method includes: Input step: Establish a coordinate system and initialize it, perform three-dimensional modeling on the patient's hip joint and acetabular cup prosthesis, determine the upper and lower limits and change intervals of the installation parameters of the acetabular cup prosthesis, and determine the types of movements required to be calculated for the patient. Solution step: Determine each acetabular cup installation position according to the upper and lower limits and change intervals of the installation parameters of the acetabular cup prosthesis, and obtain the collision-free movement angles of the patient's hip joint under each type of movement corresponding to each acetabular cup installation position through iterative solution. Post-processing and output step: Based on the collision-free movement angles of each acetabular cup installation position under different types of movements, calculate the corresponding hip joint mobility coefficients, sort the hip joint mobility coefficients corresponding to each acetabular cup installation position from large to small, and screen and output the representation of the acetabular cup installation position.
[0006] Further, establishing a coordinate system and initializing it specifically includes: Determine the position of the reconstructed center of rotation of the patient, and ensure that there is sufficient bone coverage on the outer surface of the acetabular cup to maintain mechanical stability. Establish a global coordinate system of the hip joint, and the coordinate origin O is the position of the reconstructed center of rotation, X , Y , Z respectively represent the normal directions of the human coronal plane, sagittal plane, and horizontal plane; Since various movements of the hip joint are related to the posture of the pelvis in the sagittal plane of the human body, it is necessary to adjust the position of the pelvis in the sagittal plane so that the pelvic sagittal plane inclination angle PT has an initial value of 0, where PT is defined as the angle between the connection line of the midpoint of the upper end plate of the first sacral vertebra and the midpoint of the connection line of the rotation centers of both hip joints in the sagittal plane and the longitudinal axis of the human body; Initialize the position of the femur according to the definition of the international ISB coordinate system; The installation position parameters of the acetabular cup include the radiographic abduction angle RI and the radiographic anteversion angle RA , the initial position of the acetabular cup opens downward towards the human body, and the center of the acetabular cup coincides with the coordinate origin.
[0007] Further, performing three-dimensional reconstruction on the patient's hip joint and prosthesis specifically includes: Determine a suitable acetabular cup, liner, ball head, femoral neck, and femoral stem according to the sizes of the patient's acetabular fossa and femoral medullary cavity, determine the installation positions of the femoral stem and femoral neck according to the position of the patient's femoral medullary cavity, and establish three-dimensional models corresponding to each component.
[0008] Furthermore, determine the upper and lower limits and the change interval of the acetabular cup prosthesis installation parameters, specifically including: Determine the upper and lower limits and the change interval of the acetabular cup installation parameters, including the upper limit RI of the radiographic abduction angle RI max , the lower limit RI min and the change interval Δ RI , the upper limit RA of the radiographic anteversion angle RA max , the lower limit RA min and the change interval Δ RA .
[0009] Furthermore, determine the types of movements that need to be calculated for the patient, specifically including: Determine the types of movements that need to be considered for the patient according to the actual situation of the patient, including flexion , extension , adduction , abduction , internal rotation , external rotation in the standing position, flexion , adduction , abduction , internal rotation , external rotation in the sitting position, internal rotation when flexed 60° in the standing position, adduction when flexed 60° in the standing position, internal rotation when flexed 90° in the sitting position, adduction when flexed 90° in the sitting position, external rotation when extended 30° in the standing position, abduction when extended 30° in the standing position, etc.; The movement of the patient's hip joint is expressed as:
[0010]
[0011]
[0012] Under each type of movement, there are three collision-free movement angles IFA, including the bone-bone collision-free movement angle , the bone-prosthesis collision-free movement angle , and the prosthesis-prosthesis collision-free movement angle .
[0013] Furthermore, based on the upper and lower limits and change intervals of the acetabular cup prosthesis installation parameters, each acetabular cup installation position is determined, and the collision-free movement angles of each type of movement corresponding to the patient's hip joint at each acetabular cup installation position are obtained through iterative solution, specifically including: Determine each acetabular cup installation position according to the upper and lower limits and change intervals of the acetabular cup installation parameters; At a certain acetabular cup installation position, the representations of the patient's bone position and prosthesis position include: In a certain posture of the patient, the position of the patient's pelvis is represented as:
[0014] wherein, is the position of the patient's pelvis after initialization; is the rotation matrix about the Y axis, PT is the rotation angle, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the position of the pelvis after rotating PT , PT is the sagittal plane inclination angle of the pelvis; The position of the acetabular cup under certain installation parameters is represented as:
[0015] wherein, is the initial position of the acetabular cup; is the rotation matrix about the Y axis, is the rotation angle about the Y axis, i.e., the imaging anteversion angle of the acetabular cup, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the rotation matrix about the X axis, is the rotation angle about the X axis, i.e., the imaging abduction angle of the acetabular cup, X is the rotation axis, and the rotation direction follows the right-hand rule; is the position of the acetabular cup after rotation; Since the liner is installed inside the acetabular cup, the RI and RA of the liner are consistent with those of the acetabular cup. Therefore, the position of the liner under certain installation parameters is represented as:
[0016] Among them, is the initial position of the acetabular cup; is the rotation matrix about the Y axis, is the rotation angle about the Y axis, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the rotation matrix about the X axis, is the rotation angle about the X axis, that is, the radiographic abduction angle of the acetabular cup, X is the rotation axis, and the rotation direction follows the right-hand rule; is the position of the liner after rotation; Among them, the rotation matrix about the X axis and the rotation matrix about the Y axis are respectively:
[0017]
[0018] is the corresponding rotation angle; The solution of the hip collision-free movement angle includes: Based on the representation of the patient's bone position and the prosthesis position, the solution of the collision-free movement angle of a certain movement type at a certain acetabular cup installation position is obtained according to collision detection, including: the collision-free movement angle of bone-bone is obtained by performing collision detection using the femur model and the pelvic model; the collision-free movement angle of bone-prosthesis is obtained by performing collision detection using the femur model and the acetabular cup model and the pelvic model and the femoral neck model; the collision-free movement angle of prosthesis-prosthesis is obtained by performing collision detection using the femoral neck and the liner model; It is determined whether all components interfere at a certain acetabular cup installation position through collision detection; If interference occurs in the pelvis, femur, acetabular cup, liner, or femoral neck before the hip joint has moved at the corresponding acetabular cup installation position, then the collision-free movement angles of all movements of the hip joint at the corresponding acetabular cup installation position IFA do not exist; If there is no mutual interference between all components at the corresponding acetabular cup installation position, then the collision-free movement angle of the i th movement of the hip joint at the corresponding acetabular cup installation position is:
[0019] Among them, is the bone-bone collision-free movement angle of the i th movement at the corresponding acetabular cup installation position , is the bone-prosthesis collision-free movement angle of the i th movement at the corresponding acetabular cup installation position , is the prosthesis-prosthesis collision-free movement angle of the i th movement at the corresponding acetabular cup installation position ; Obtain the next acetabular cup installation position and perform loop calculations to finally obtain the collision-free angles of each movement of the hip joint at each acetabular cup installation position.
[0020] Furthermore, calculate the hip joint mobility coefficient corresponding to each acetabular cup installation according to the collision-free movement angles of each movement type at each acetabular cup installation position, specifically including: At a certain acetabular cup installation position, the hip joint mobility coefficient is calculated as follows:
[0021]
[0022] Among them, is the number of movement types; is the i th movement of the hip joint at the corresponding acetabular cup installation position IFA ; is the angle that the hip joint needs to reach for the i th movement at the corresponding acetabular cup installation position; The value of ranges from 0 to 1, and the larger the value of
[0023] means the greater the hip joint mobility corresponding to the corresponding acetabular cup installation position. Furthermore, sort the hip joint mobility coefficients calculated at each acetabular cup installation position from large to small and output the acetabular cup installation position representation, specifically including: Rank the hip joint mobility coefficients of all acetabular cup installation positions from large to small; Determine the personalized safety zone of the patient's acetabular cup according to the value range of the hip joint mobility coefficient and generate an acetabular cup installation position map, including: Take a and bThe acetabular cup installation position therebetween is used as the personalized installation position of the patient's acetabular cup; a and b The values of are respectively:
[0024]
[0025] Wherein, and respectively represent the maximum value and the minimum value among all values; c is a preset percentage, which is adjusted according to the actual situation of the patient. The larger the ratio, the larger the number of available points in the generated acetabular cup installation position map.
[0026] According to a second aspect, an embodiment provides a system for determining the installation position of an artificial hip joint acetabular cup, and the system includes: An input module, configured to establish a coordinate system and initialize it, perform three-dimensional modeling on the patient's hip joint and the acetabular cup prosthesis, determine the upper and lower limits and the change interval of the installation parameters of the acetabular cup prosthesis, and determine the motion types required to be calculated by the patient; A solution module, configured to determine each acetabular cup installation position according to the upper and lower limits and the change interval of the installation parameters of the acetabular cup prosthesis, and obtain the collision-free motion angles corresponding to each motion type of the patient's hip joint at each acetabular cup installation position through iterative solution; A post-processing and output module, configured to calculate the corresponding hip joint mobility coefficient based on the collision-free motion angles of each acetabular cup installation position under different motion types, sort the hip joint mobility coefficients corresponding to each acetabular cup installation position from large to small, and screen and output the representation of the acetabular cup installation position.
[0027] According to a third aspect, an embodiment provides an electronic device, and the device includes: a processor and a memory; The memory is used to store one or more program instructions; The processor is configured to run one or more program instructions to execute the steps of a method for determining the installation position of an artificial hip joint acetabular cup as described in any one of the above.
[0028] According to a fourth aspect, an embodiment provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of a method for determining the installation position of an artificial hip joint acetabular cup as described in any one of the above are implemented.
[0029] The present invention provides a method for determining the installation position of an artificial hip joint acetabular cup. The hip joint mobility corresponding to each potential installation position of the acetabular cup for a patient is quantified. Compared with the existing publicly disclosed methods, even if all acetabular cup installation positions cannot meet the hip joint mobility requirements, the method disclosed by the present invention can still obtain the acetabular cup installation position that enables the hip joint to have a relatively large mobility. At the same time, when a doctor adjusts the radiographic abduction angle RI and the radiographic anteversion angle RA of the acetabular cup, the acetabular cup installation position map of the patient obtained by the present invention can also enable the doctor to clearly know the impact of the adjustment of the acetabular cup position on the hip joint mobility of the patient. Description of the Drawings
[0030] Figure 1 is a flowchart of a method for determining the installation position of an artificial hip joint acetabular cup provided by an embodiment of the present invention; Figure 2 is a technical roadmap of a method for determining the installation position of an artificial hip joint acetabular cup provided by an embodiment of the present invention; Figure 3 is a schematic diagram of total hip arthroplasty; Figure 4 is a schematic diagram of the hip joint coordinate system of a method for determining the installation position of an artificial hip joint acetabular cup provided by an embodiment of the present invention; Figure 5 is a schematic diagram of the coordinate system where the acetabular cup is located and the position parameters of a method for determining the installation position of an artificial hip joint acetabular cup provided by an embodiment of the present invention; Figure 6 is an example of 6 common hip joint movement types; Figure 7 is a diagram of a high-edge liner (high-edge degree 10°) of a method for determining the installation position of an artificial hip joint acetabular cup provided by an embodiment of the present invention; Figure 8 is a schematic diagram of the acetabular cup installation position of a patient of a method for determining the installation position of an artificial hip joint acetabular cup provided by an embodiment of the present invention. Detailed Embodiments
[0031] The present invention will be further described in detail below in conjunction with specific embodiments and the accompanying drawings. Similar elements in different embodiments are denoted by related similar element numbers. In the following embodiments, many detailed descriptions are provided to enable a better understanding of the present invention. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present invention are not shown or described in the specification, in order to avoid overwhelming the core part of the present invention with excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the descriptions in the specification and the general technical knowledge in the art.
[0032] In addition, the features, operations, or characteristics described in the specification can be combined in any appropriate manner to form various embodiments. At the same time, the steps or actions in the method description can also be reordered or adjusted in a manner obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for clearly describing a certain embodiment, and do not mean that they are the necessary sequences, unless it is stated that a certain sequence must be followed.
[0033] A method for determining the installation position of an artificial hip joint acetabular cup provided in the first embodiment of the present invention, in order to obtain the installation position of the acetabular cup in total hip arthroplasty, quantifies the hip joint mobility corresponding to each acetabular cup installation position and visualizes it, so that the doctor can install the acetabular cup at a position where the patient has a relatively large range of motion, and can clearly show the impact of the position adjustment on the patient's mobility when adjusting the installation position of the acetabular cup. The following will be described in detail in conjunction with Figure 1 and Figure 2 for detailed description.
[0034] The overall technical route is as shown in Figure 2 The technical solution of the embodiment of the present invention is mainly divided into 3 steps: input, solution, output, and post-processing. The schematic diagram of total hip arthroplasty is as shown in Figure 3 as shown.
[0035] As shown in Figure 1 in step S100, the input step: establish a coordinate system and initialize it, perform three-dimensional modeling on the patient's hip joint and acetabular cup prosthesis, determine the upper and lower limits and change intervals of the acetabular cup prosthesis installation parameters, and determine the type of movement required to be calculated for the patient.
[0036] The above steps specifically include: S110, establish a coordinate system and initialize it, specifically including: Determine the position of the reconstructed center of rotation of the patient to ensure sufficient bone coverage on the outer surface of the acetabular cup to maintain mechanical stability; like Figure 4 As shown, this embodiment takes the left hip of the human body as an example to establish a global coordinate system, with the coordinate origin O is the reconstructed rotation center position, X , Y , Z They represent the normal directions of the coronal, sagittal, and horizontal planes of the human body respectively; Since various movements of the hip joint are related to the posture of the pelvis in the sagittal plane of the human body, it is necessary to adjust the position of the pelvis in the sagittal plane to make the sagittal inclination of the pelvis PT The initial value is 0, where PT The angle is defined as the angle between the middle point of the upper end plate of the first sacral segment on the sagittal plane and the middle point of the line connecting the rotation centers of the hip joints on both sides and the longitudinal axis of the human body; Initialize the position of the femur according to the definition of the international ISB coordinate system; The installation position of the acetabular cup is as follows Figure 5 As shown, the acetabular cup is relative to the acetabular cup rotation center O The position of the sacral region is usually defined radiologically, i.e., by the radiographic abduction angle ( RI ) and radiographic anteversion ( RA ) determines the acetabular cup installation position parameters including radiographic abduction angle RI and radiographic anteversion RA , in the figure X , Y , Z The positive directions represent the front, outside and upper sides of the human body. The initial position of the acetabular cup is such that the opening direction faces directly below the human body, and the center of the acetabular cup coincides with the origin of the coordinate system.
[0037] S120, 3D reconstruction of the patient's hip joint and prosthesis, including: The appropriate acetabular cup, liner, ball head, femoral neck, and femoral stem are determined according to the size of the patient's acetabulum and femoral medullary cavity, the installation position of the femoral stem and femoral neck is determined according to the position of the patient's femoral medullary cavity, and the corresponding three-dimensional models of each component are established.
[0038] S130, determining the upper and lower limits and variation intervals of the acetabular cup prosthesis installation parameters, specifically including: Determine the upper and lower limits and intervals of cup fitting parameters, including radiographic abduction angle RI Upper limit RI max , lower limit RI min and the change interval Δ RI , radiographic anteversion RA Upper limit RA max , lower limit RA min and the change interval ΔRA .
[0039] S140, determine the type of movement to be calculated for the patient, specifically including: Common hip joint movements and the required impingement-free movement angles ( Req IFA ) are shown in Figure 6 and Table 1 respectively. Therefore, the RI and RA of the acetabular cup should be adjusted to appropriate values during installation to meet the range of motion requirements of the hip joint after surgery and avoid prosthesis dislocation caused by impingement during movement.
[0040] Table 1 Examples of Range of Motion Required for the Hip Joint
[0041] Determine the type of movement to be considered for the patient according to the actual situation of the patient, including flexion , extension , adduction , abduction , internal rotation , external rotation in the standing position, flexion , adduction , abduction , internal rotation , external rotation in the sitting position, internal rotation when flexed 60° in the standing position , adduction when flexed 60° in the standing position , internal rotation when flexed 90° in the sitting position , adduction when flexed 90° in the sitting position , external rotation when extended 30° in the standing position , abduction when extended 30° in the standing position etc.; The movement of the patient's hip joint is expressed as:
[0042]
[0043]
[0044] The above formula can be increased or decreased according to the actual situation of the patient. The more types of movements, the longer the calculation time required. There are three collision-free movement angles IFA for each type of movement, including the bone-bone collision-free movement angle , the bone-prosthesis collision-free movement angle , and the prosthesis-prosthesis collision-free movement angle .
[0045] As Figure 1 shown, in step S200, the solution steps are as follows: Determine each acetabular cup installation position according to the upper and lower limits and the change interval of the acetabular cup prosthesis installation parameters, and obtain the collision-free movement angles corresponding to each movement type of the patient's hip joint at each acetabular cup installation position through iterative solution.
[0046] Iteratively solve the patient and prosthesis models and patient parameters obtained in the input step, and output the collision-free movement angles of the patient's hip joint for each movement at each acetabular cup installation position ( ).
[0047] The above steps specifically include: S210, determine each acetabular cup installation position according to the upper and lower limits and the change interval of the acetabular cup installation parameters; S220, for each iteration, that is, at a certain acetabular cup installation position: S221, representation of the patient bone position and prosthesis position, including: In a certain posture of the patient, the position of the patient's pelvis is represented as:
[0048] wherein, is the position of the patient's pelvis after initialization; is the rotation matrix about the Y axis, PT is the rotation angle, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the position of the pelvis after rotation by PT , PT is the inclination angle of the pelvic sagittal plane; The position of the acetabular cup under a certain installation parameter is represented as:
[0049] wherein, is the initial position of the acetabular cup; is the rotation matrix about the Y axis, is the rotation angle about the Y axis, i.e., the radiographic anteversion angle of the acetabular cup, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the rotation matrix about the X axis, is the rotation angle about the X axis, i.e., the radiographic abduction angle of the acetabular cup, X is the rotation axis, and the rotation direction follows the right-hand rule; is the position of the acetabular cup after rotation; Since the liner is installed inside the acetabular cup, the RI and RA of the liner are consistent with the acetabular cup. Therefore, the position of the liner under certain installation parameters is expressed as:
[0050] where is the initial position of the acetabular cup; is the rotation matrix about the Y axis, is the rotation angle about the Y axis, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the rotation matrix about the X axis, is the rotation angle about the X axis, which is also the radiographic abduction angle of the acetabular cup, X is the rotation axis, and the rotation direction follows the right-hand rule; is the position of the liner after rotation; where the rotation matrix X about the axis and the rotation matrix Y about the axis are respectively:
[0051]
[0052] is the corresponding rotation angle; S222, Solving the hip non-collision movement angle includes: Based on the representation of the patient's bone position and the prosthesis position, the non-collision movement angle of a certain movement type under a certain acetabular cup installation position is obtained according to collision detection, including: the non-collision movement angle of bone-bone is obtained by performing collision detection using the femur model and the pelvic model ( ); the non-collision movement angle of bone-prosthesis is obtained by performing collision detection using the femur model and the acetabular cup model ( ) and the pelvic model ( ) and the femoral neck model; the non-collision movement angle of prosthesis-prosthesis is obtained by performing collision detection using the femoral neck and the liner model ( ); There are various methods for collision detection, such as obtaining by using three-dimensional simulation methods, which will not be elaborated too much in this embodiment; Judge whether all components interfere under a certain acetabular cup installation position through collision detection; If interference occurs in the pelvis, femur, acetabular cup, liner, or femoral neck before the hip joint moves at the corresponding acetabular cup installation position, then there is no collision-free movement angle for all movements of the hip joint at the corresponding acetabular cup installation position IFA does not exist; If there is no mutual interference between all components at the corresponding acetabular cup installation position, then the collision-free movement angle i of the th movement of the hip joint at the corresponding acetabular cup installation position is:
[0053] Among them, is the bone-bone collision-free movement angle of the i th movement of the hip joint at the corresponding acetabular cup installation position , is the bone-prosthesis collision-free movement angle of the i th movement of the hip joint at the corresponding acetabular cup installation position , is the prosthesis-prosthesis collision-free movement angle of the i th movement of the hip joint at the corresponding acetabular cup installation position .
[0054] S230, obtain the next acetabular cup installation position and perform cyclic calculation to finally obtain the collision-free angle of each movement of the hip joint at each acetabular cup installation position.
[0055] As Figure 1 shown, in step S300, the post-processing and output step: calculate the hip joint mobility coefficient at each acetabular cup installation position according to the collision-free movement angle corresponding to each movement type at each acetabular cup installation position, sort the calculated hip joint mobility coefficients at each acetabular cup installation position from large to small, and output the acetabular cup installation position representation.
[0056] The above steps specifically include: S310, hip joint mobility coefficient calculation: At a certain acetabular cup installation position, the hip joint mobility coefficient calculation formula is:
[0057]
[0058] Among them, is the number of movement types; is the i th movement of the hip joint at the corresponding acetabular cup installation position IFA ; is the iThe angles to be achieved for a certain movement; The value ranges from 0 to 1. The larger the value, the greater the hip joint mobility corresponding to the corresponding acetabular cup installation position.
[0059] S320, the acetabular cup installation position indicates: Rank the hip joint mobility coefficients of all acetabular cup installation positions From largest to smallest; According to the hip joint mobility coefficient Determine the personalized installation position map of the patient's acetabular cup based on the value range, including: Take The value ranges between a And b The acetabular cup installation positions in between as the personalized safety zone of the patient's acetabular cup; a And b The values are respectively:
[0060]
[0061] Among them, And Respectively represent the maximum and minimum values among all Values; c Is a preset percentage, which is adjusted according to the actual situation of the patient. The larger the proportion, the larger the number of available points in the generated acetabular cup installation position map. In this embodiment, 10% is taken.
[0062] In addition, other restrictive conditions can also be added to the installation position of the acetabular cup, such as the acetabular cup RI Should not be greater than 50° to reduce the edge load of the liner, and the combined anteversion angle ( RA The sum of the acetabular anteversion angle and the femoral anteversion angle) ranges between 25° and 50°.
[0063] Application example: The installation position of the acetabular cup of a patient was calculated using the method of the present invention. The liner uses Figure 7 The 10° high-edge liner shown, and the high-edge direction is 60° below the lower rear side of the human body. Other installation parameters are shown in Table 2. The main movement types considered are flexion ( ), extension ( ), adduction ( ), abduction ( ), internal rotation ( ), and external rotation ( ) in the standing position. The conditions that the ideal acetabular cup installation position needs to meet are shown in Table 3.
[0064] Table 2 Prosthesis installation parameters
[0065] Table 3 Conditions that the ideal acetabular cup installation position needs to meet
[0066] After calculation, the final acetabular cup installation position of this patient is as Figure 8 shown Figure 8 The dark red area in it corresponds to the maximum range of motion of the hip joint
[0067] Corresponding to the method for determining the installation position of an artificial hip joint acetabular cup disclosed above, the embodiment of the present invention also discloses a system for determining the installation position of an artificial hip joint acetabular cup, which specifically includes: An input module, used to establish a coordinate system and initialize it, perform three-dimensional modeling on the patient's hip joint and acetabular cup prosthesis, determine the upper and lower limits and change intervals of the installation parameters of the acetabular cup prosthesis, and determine the types of movements that the patient needs to calculate A solution module, used to determine each acetabular cup installation position according to the upper and lower limits and change intervals of the acetabular cup prosthesis installation parameters, and obtain the collision-free movement angles of each type of movement corresponding to the patient's hip joint at each acetabular cup installation position through iterative solution A post-processing and output module, used to calculate the hip joint mobility coefficient at each acetabular cup installation position according to the collision-free movement angles of each type of movement corresponding to each acetabular cup installation position, sort the hip joint mobility coefficients calculated at each acetabular cup installation position from large to small, and screen and output the representation of the acetabular cup installation position
[0068] It should be noted that for the detailed description of a system for determining the installation position of an artificial hip joint acetabular cup provided in the embodiment of the present invention, reference can be made to the relevant description of the method for determining the installation position of an artificial hip joint acetabular cup provided in the embodiment of the present invention, which will not be elaborated here
[0069] In addition, the embodiment of the present invention also provides an electronic device, the device includes: a processor and a memory; the memory is used to store one or more program instructions; the processor is used to run one or more program instructions to execute the steps of the method for determining the installation position of an artificial hip joint acetabular cup as described in any one of the above
[0070] It should be noted that for the detailed description of an electronic device provided in the embodiment of the present invention, reference can be made to the relevant description of the method for determining the installation position of an artificial hip joint acetabular cup provided in the embodiment of the present application, which will not be elaborated here
[0071] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for determining the installation position of an artificial hip joint acetabular cup as described in any one of the above are implemented.
[0072] It should be noted that for the detailed description of a computer-readable storage medium provided by an embodiment of the present invention, reference can be made to the relevant description of the method for determining the installation position of an artificial hip joint acetabular cup provided by an embodiment of the present application, which will not be elaborated here.
[0073] Those skilled in the art can understand that all or part of the functions of the above methods can be implemented in a hardware manner or in a computer program manner. When all or part of the functions in the above embodiments are implemented in a computer program manner, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc. The above functions are implemented by a computer executing the program. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, the above all or part of the functions can be implemented. In addition, when all or part of the functions in the above embodiments are implemented in a computer program manner, the program can also be stored in a storage medium such as a server, another computer, magnetic disk, optical disk, flash drive or mobile hard disk, and is saved to the memory of the local device by downloading or copying, or the system of the local device is updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be implemented.
[0074] The above uses specific examples to elaborate on the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art of the present invention, according to the idea of the present invention, several simple deductions, deformations or substitutions can also be made.
Claims
1. A method for determining the installation position of an artificial hip joint acetabular cup, characterized in that The method includes: Input step: Establish a coordinate system and initialize it, perform three-dimensional modeling on the patient's hip joint and acetabular cup prosthesis, determine the upper and lower limits and change intervals of the acetabular cup prosthesis installation parameters, and determine the types of movements to be calculated for the patient; Solution step: Determine each acetabular cup installation position according to the upper and lower limits and change intervals of the acetabular cup prosthesis installation parameters, and obtain the collision-free movement angles of each type of movement corresponding to the patient's hip joint at each acetabular cup installation position through iterative solution; Post-processing and output step: Calculate the corresponding hip joint mobility coefficients based on the collision-free movement angles of each acetabular cup installation position under different movement types, sort the hip joint mobility coefficients corresponding to each acetabular cup installation position from largest to smallest, and filter and output the acetabular cup installation position representation.
2. The method for determining the installation position of an artificial hip joint acetabular cup according to claim 1, wherein Establish a coordinate system and initialize it, specifically including: Determine the position of the reconstructed center of rotation of the patient to ensure sufficient bone coverage on the outer surface of the acetabular cup to maintain mechanical stability; Establish a global coordinate system for the hip joint, with the coordinate origin O being the position of the reconstructed center of rotation, X , Y , Z respectively representing the normal directions of the human coronal plane, sagittal plane, and horizontal plane; Since various movements of the hip joint are related to the posture of the pelvis in the sagittal plane of the human body, it is necessary to adjust the position of the pelvis in the sagittal plane to make the pelvic sagittal plane inclination angle PT The initial value is 0, where PT is defined as the angle between the connecting line between the midpoint of the upper endplate of the first sacral vertebra on the sagittal plane and the midpoint of the connecting line between the rotation centers of both hip joints and the longitudinal axis of the human body; Initialize the position of the femur according to the definition of the international ISB coordinate system; The installation position parameters of the acetabular cup include the radiographic abduction angle RI and the radiographic anteversion angle RA . The opening direction of the initial position of the acetabular cup faces directly downward of the human body, and the center of the ball of the acetabular cup coincides with the origin of coordinates.
3. The method for determining the installation position of an artificial hip joint acetabular cup according to claim 1, characterized in that, Perform three-dimensional reconstruction on the patient's hip joint and prosthesis, specifically including: Determine appropriate acetabular cups, liners, ball heads, femoral necks, and femoral stems according to the sizes of the patient's acetabular fossa and femoral medullary cavity, determine the installation positions of the femoral stem and femoral neck according to the position of the patient's femoral medullary cavity, and establish three-dimensional models corresponding to each component.
4. The method for determining the installation position of an artificial hip joint acetabular cup according to claim 1, wherein, Determine the upper and lower limits and change intervals of the acetabular cup prosthesis installation parameters, specifically including: Determine the upper and lower limits and the change intervals of the acetabular cup installation parameters, including the radiographic abduction angle RI upper limit RI max , lower limit RI min and the change interval Δ RI , the radiographic anteversion angle RA upper limit RA max , lower limit RA min and the change interval Δ RA .
5. The method for determining the installation position of an artificial hip joint acetabular cup according to claim 1, characterized in that, Determine the types of movements to be calculated for the patient, specifically including: Determine the types of movements to be considered for the patient according to the patient's actual situation, including flexion in the standing position , extension , adduction , abduction , internal rotation , external rotation , flexion in the sitting position , adduction , abduction , internal rotation , external rotation , internal rotation when flexed 60° in the standing position , adduction when flexed 60° in the standing position , internal rotation when flexed 90° in the sitting position , adduction when flexed 90° in the sitting position , external rotation when extended 30° in the standing position , abduction when extended 30° in the standing position ; Movement of the patient's hip joint It is expressed as: Under each type of movement, there are three collision-free movement angles IFA , including the collision-free movement angles of bone-bone , the collision-free movement angles of bone-prosthesis , and the collision-free movement angles of prosthesis-prosthesis .
6. The method for determining the installation position of an artificial hip joint acetabular cup according to claim 4, characterized in that, Determine each acetabular cup installation position according to the upper and lower limits and change intervals of the acetabular cup prosthesis installation parameters, and obtain the collision-free movement angles of each type of movement corresponding to the patient's hip joint at each acetabular cup installation position through iterative solution, specifically including: Determine each acetabular cup installation position according to the upper and lower limits and change intervals of the acetabular cup installation parameters; At a certain acetabular cup installation position, the representations of the patient's bone position and prosthesis position include: In a certain posture of the patient, the position of the patient's pelvis is represented as: Among them, is the position after initializing the patient's pelvis; is the rotation matrix around Y axis, PT is the rotation angle, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the position after the pelvis rotates PT , PT is the inclination angle of the pelvic sagittal plane; The position of the acetabular cup under certain installation parameters is represented as: Among them, is the initial position of the acetabular cup; is the rotation matrix about Y axis, is the rotation angle about Y axis, that is, the imaging anteversion angle of the acetabular cup, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the rotation matrix about X axis, is the rotation angle about X axis, that is, the imaging abduction angle of the acetabular cup, X is the rotation axis, and the rotation direction follows the right-hand rule; is the position of the acetabular cup after rotation; Since the liner is installed inside the acetabular cup, the RI and RA of the liner are consistent with the acetabular cup. Therefore, the position of the liner under certain installation parameters is expressed as: Among them, is the initial position of the acetabular cup; is the rotation matrix about the Y axis, is the rotation angle about the Y axis, Y is the rotation axis, and the rotation direction follows the right-hand rule; is the rotation matrix about the X axis, is the rotation angle about the X axis, which is also the radiographic abduction angle of the acetabular cup, X is the rotation axis, and the rotation direction follows the right-hand rule; is the position of the liner after rotation; Among them, the rotation matrix around X axis and the rotation matrix around axis are respectively: Y axis are respectively: is the corresponding rotation angle; The solution of the collision-free movement angles of the hip includes: Based on the representations of the patient's bone position and the prosthesis position, the solution of the collision-free movement angle of a certain movement type at a certain acetabular cup installation position is obtained through collision detection, including: the collision-free movement angle of bone-bone is obtained by performing collision detection using the femur model and the pelvic model; the collision-free movement angle of bone-prosthesis is obtained by performing collision detection using the femur model and the acetabular cup model and by performing collision detection between the pelvic model and the femoral neck model; the collision-free movement angle of prosthesis-prosthesis is obtained by performing collision detection using the femoral neck and the liner model; Determine whether there is interference between all components at a certain acetabular cup installation position through collision detection; If interference occurs in the pelvis, femur, acetabular cup, liner, or femoral neck before the hip joint moves at the corresponding acetabular cup installation position, then there is no collision-free movement angle for all movements of the hip joint at the corresponding acetabular cup installation position IFA does not exist; If there is no mutual interference between all components at the corresponding acetabular cup installation position, the collision-free movement angle of the hip joint during the i th movement at the corresponding acetabular cup installation position is: Among them, is the bone-bone collision-free movement angle of the i th movement at the corresponding acetabular cup installation position , is the bone-prosthesis collision-free movement angle of the i th movement at the corresponding acetabular cup installation position , is the prosthesis-prosthesis collision-free movement angle of the i th movement at the corresponding acetabular cup installation position ; Obtain the next acetabular cup installation position and perform iterative calculation to finally obtain the collision-free angles of each movement of the hip joint at each acetabular cup installation position.
7. The method for determining the installation position of an artificial hip joint acetabular cup according to claim 6, characterized in that, Calculate the hip joint mobility coefficients corresponding to each acetabular cup installation position according to the collision-free movement angles of each type of movement at each acetabular cup installation position, specifically including: Under a certain cup installation position, the hip joint mobility coefficient The calculation formula is as follows: Among them, is the number of motion types; is the i th motion of the hip joint at the corresponding acetabular cup installation position IFA ; is the angle that the i th motion of the hip joint needs to reach at the corresponding acetabular cup installation position; The value of ranges from 0 to 1, and the larger the value of , the greater the range of motion of the hip joint corresponding to the corresponding acetabular cup installation position.
8. The method for determining the installation position of an artificial hip joint acetabular cup according to claim 7, characterized in that, Sort the hip joint mobility coefficients calculated for each acetabular cup installation position from largest to smallest, and output the acetabular cup installation position representation, specifically including: Rank the hip joint mobility coefficients at all cup installation positions from largest to smallest; According to the hip joint mobility coefficient Determine the personalized installation position diagram of the patient's acetabular cup within the value range, including: Take The value is between a and b The acetabular cup installation position in between is used as the personalized installation position of the patient's acetabular cup; a and b The values are respectively: Among them, and respectively represent the maximum value and the minimum value among all values; c is a preset percentage, which is adjusted according to the actual situation of the patient. The larger the ratio, the larger the number of available points in the generated acetabular cup installation position map.
9. A system for determining the installation position of an artificial hip joint acetabular cup, characterized in that, The system includes: An input module for establishing a coordinate system and initializing it, performing three-dimensional modeling on the patient's hip joint and acetabular cup prosthesis, determining the upper and lower limits and change intervals of the acetabular cup prosthesis installation parameters, and determining the types of movements to be calculated for the patient; A solution module, configured to determine each acetabular cup installation position according to the upper and lower limits and change intervals of acetabular cup prosthesis installation parameters, and obtain the collision-free motion angles corresponding to each motion type of the patient's hip joint at each acetabular cup installation position through iterative solution; A post-processing and output module, configured to calculate the corresponding hip joint mobility coefficients based on the collision-free motion angles of each acetabular cup installation position under different motion types, sort the hip joint mobility coefficients corresponding to each acetabular cup installation position from largest to smallest, and filter and output the acetabular cup installation position representation.
10. An electronic device, characterized in that, The device includes: a processor and a memory; The memory is used to store one or more program instructions; The processor is configured to run one or more program instructions to execute the steps of a method for determining the installation position of an artificial hip joint acetabular cup according to any one of claims 1 to 8.