Measurement system and measurement method for femoral anteversion angle

Abstract

The embodiment of the invention is suitable for the technical field of orthopedics and computer-aided medicine, and provides a femoral anteversion angle measuring system and method.The measuring system comprises computer equipment and optical navigation equipment, and the optical navigation equipment is used for conducting navigation by recognizing a first tracer and a second tracer. The first tracer and the second tracer are respectively arranged on a thighbone coronal plane positioner and a thighbone forward inclination angle recording tool, the thighbone coronal plane positioner is fixed on a shank of a patient, one end of the thighbone forward inclination angle recording tool is in contact with an osteotomy position of the patient, and the other end of the thighbone forward inclination angle recording tool is in contact with the thighbone coronal plane positioner. The computer equipment is used for receiving a first pose sequence of the first tracer and a second pose sequence of the second tracer; based on the first pose sequence and the second pose sequence, the angle size of the femoral anteversion angle of the patient is calculated. By adopting the measuring system, the thighbone front inclination angle of the patient can be measured under the condition that the thighbone does not need to be positioned and registered.

Description

Technical Field

[0001] The embodiments of the present application belong to the field of orthopedics and computer-assisted medical technology, and in particular, relate to a femoral anteversion angle measurement system and method. Background Art

[0002] Before orthopedic surgeries such as hip replacements, it's often necessary to measure the patient's femoral anteversion angle during preoperative examinations to provide a reference for the actual procedure. However, existing preoperative femoral anteversion measurements are primarily performed using X-rays or computed tomography (CT) scans. These methods are cumbersome, require high-quality measurement equipment, and pose radiation risks to the patient.

[0003] Furthermore, orthopedic surgery also requires measuring the patient's femoral anteversion angle based on the actual progress of the operation. However, existing measurement methods are difficult to apply during surgery and cannot provide doctors with real-time measurement results, increasing the risk of surgical operations. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a femoral anteversion angle measurement system and method that can measure a patient's femoral anteversion angle without the need for femoral positioning and registration, reducing the operational complexity of the measurement process. Furthermore, the femoral anteversion angle measurement system and method provided by embodiments of the present application can conveniently measure a patient's femoral anteversion angle during surgery, providing surgeons with accurate and real-time measurement results and improving surgical efficiency.

[0005] A first aspect of an embodiment of the present application provides a femoral anteversion angle measurement system, comprising a computer device and an optical navigation device connected to the computer device, wherein the optical navigation device is configured to perform navigation by identifying a first tracer and a second tracer, wherein the first tracer and the second tracer are respectively mounted on a femoral coronal plane locator and a femoral anteversion angle recording tool, wherein the femoral coronal plane locator is fixed to a patient's calf, and one end of the femoral anteversion angle recording tool contacts the patient's osteotomy site. The computer device is configured to perform the following steps of a femoral anteversion angle measurement method to measure the patient's femoral anteversion angle: When the thigh and calf of the patient are perpendicular, receiving a first posture sequence of the first tracer and a second posture sequence of the second tracer identified by the optical navigation device; Calculating a target plane for representing the coronal plane of the femur based on the first pose sequence; Calculating a target vector for representing the axis of the femoral anteversion angle based on the second posture sequence; An angle between the target vector and the target plane is determined, where the angle is used to characterize the measured femoral anteversion angle of the patient.

[0006] A second aspect of an embodiment of the present application provides a femoral anteversion angle measurement method, which is applied to a computer device, wherein the computer device is connected to an optical navigation device, and the optical navigation device is used to navigate by identifying a first tracer and a second tracer, wherein the first tracer and the second tracer are respectively mounted on a femoral coronal plane locator and a femoral anteversion angle recording tool, wherein the femoral coronal plane locator is fixed to a patient's calf, and one end of the femoral anteversion angle recording tool contacts the patient's osteotomy site. The femoral anteversion angle measurement method includes: When the thigh and calf of the patient are perpendicular, receiving a first posture sequence of the first tracer and a second posture sequence of the second tracer identified by the optical navigation device; Calculating a target plane for representing the coronal plane of the femur based on the first pose sequence; Calculating a target vector for representing the axis of the femoral anteversion angle based on the second posture sequence; An angle between the target vector and the target plane is determined, where the angle is used to characterize the measured femoral anteversion angle of the patient.

[0007] A third aspect of the embodiments of the present application provides a femoral anteversion angle measuring device, comprising: a posture sequence receiving module, configured to receive, when the patient's thigh and calf are perpendicular, a first posture sequence of a first tracer and a second posture sequence of a second tracer identified by an optical navigation device, the optical navigation device being configured to perform navigation by identifying the first tracer and the second tracer, the first tracer and the second tracer being respectively mounted on a femoral coronal plane locator and a femoral anteversion angle recording tool, the femoral coronal plane locator being fixed to the patient's calf, and one end of the femoral anteversion angle recording tool being in contact with an osteotomy site of the patient; a target plane calculation module, configured to calculate a target plane for representing the coronal plane of the femur based on the first posture sequence; a target vector calculation module, configured to calculate a target vector representing an axis of femoral anteversion based on the second posture sequence; The femoral anteversion angle measurement module is used to determine the angle between the target vector and the target plane, and the angle of the angle is used to characterize the angular size of the femoral anteversion angle of the patient obtained by measurement.

[0008] The fourth aspect of an embodiment of the present application provides a computer device, comprising 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 device implements the femoral anteversion angle measurement method as described in the second aspect above.

[0009] A fifth aspect of an embodiment 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 femoral anteversion angle measurement method described in the second aspect above is implemented.

[0010] A sixth aspect of an embodiment of the present application provides a computer program product, comprising a computer program, which, when executed, enables the femoral anteversion angle measurement method described in the second aspect to be executed.

[0011] Compared with the prior art, the embodiments of the present application have the following beneficial effects: The embodiment of the present application can combine the posture sequence of multiple tracers collected by the optical navigation device to calculate the target plane that can represent the coronal plane of the femur and the target vector that can represent the axis of the femoral anteversion angle. The computer device can quickly calculate the angle value of the patient's femoral anteversion angle by calculating the angle between the target plane and the target vector. Using the femoral anteversion angle measurement system provided in the embodiment of the present application, the patient's femoral anteversion angle can be measured without positioning and aligning the femur, reducing the operational complexity of the measurement process. In addition, the measurement system provided in the embodiment of the present application can also be applied to intraoperative scenarios to measure the femoral anteversion angle in real time during the operation, which is used to provide a reference for the surgical operation, helping to improve the efficiency and success rate of the operation.

[0012] The femoral anteversion angle measurement system and measurement method provided in the embodiments of the present application can be applied to the field of orthopedic surgery, especially in procedures such as hip replacement and knee replacement. In these surgical procedures, accurate measurement of the femoral anteversion angle is crucial to the success of the operation. The measurement system and measurement method provided in the embodiments of the present application can provide accurate femoral anteversion angle measurement during surgery, help doctors better plan and operate the surgery, and help improve the success rate of the surgery and the patient's postoperative recovery effect. In addition, in the field of rehabilitation medicine, for patients after hip replacement surgery, accurate measurement of the femoral anteversion angle can evaluate the surgical effect and the patient's recovery. The above-mentioned measurement system and measurement method can provide doctors with real-time femoral anteversion angle measurement, helping doctors to better formulate rehabilitation plans and treatment plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0014] Figure 1 is a schematic diagram of the position relationship of the femoral neck in a three-dimensional coordinate system provided in an embodiment of the present application; Figure 2 1 is a schematic diagram of a femoral anteversion angle measurement system provided in an embodiment of the present application; Figure 3 is a schematic diagram of a femoral coronal plane locator provided in an embodiment of the present application; Figure 4 Schematic diagram of a femoral anteversion angle recording tool provided in an embodiment of the present application; Figure 5 This is a simulation schematic diagram of a femoral anteversion angle measurement process provided in an embodiment of the present application; Figures 6 to 9 1 is a schematic diagram of a femoral anteversion angle measurement process provided in an embodiment of the present application; Figure 10 Schematic diagram of a method for measuring femoral anteversion provided in an embodiment of the present application; Figure 11 Schematic diagram of a femoral anteversion angle measuring device provided in an embodiment of the present application; Figure 12 This is a schematic diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0015] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may 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 obstructing the description of the present application with unnecessary details.

[0016] Before introducing the technical solution of the present application, the femoral anteversion angle is first introduced.

[0017] Femoral anteversion, also known as femoral neck anteversion, is the angle between the femoral neck axis and the frontal plane of the femoral condyle (also known as the coronal plane of the femur). In medicine, another term, femoral torsion, is also considered. Femoral anteversion and femoral torsion are two distinct anatomical concepts, with torsion always greater than anteversion.

[0018] For easier understanding, the femoral neck can be placed in a three-dimensional coordinate system, and the longitudinal axis of the femoral shaft can be overlapped with the vertical axis of the human body. Figure 1 , which is a schematic diagram of the position relationship of the femoral neck in a three-dimensional coordinate system provided in an embodiment of the present application. Figure 1 The figure shows a schematic diagram of placing the femoral neck in a three-dimensional coordinate system so that the longitudinal axis of the femoral shaft overlaps the vertical axis of the human body. The X axis is the vertical axis of the human body, the Y axis is the sagittal axis of the human body, and the Z axis is the coronal axis of the human body. Figure 1 The origin of the three-dimensional coordinate system is point O, which is the center point of the junction of the femoral neck and shaft. Figure 1 Point E in the figure is the center of the femoral head. Figure 1 It can be seen that the straight line HO is the axis of the femoral shaft, and the straight line OE is the axis of the femoral neck. From point E, perpendicular lines are drawn to the XOY plane and the XOZ plane, and the feet of the perpendicular lines are points B and D respectively. From point B, a perpendicular line is drawn to the X-axis, and the foot of the perpendicular line is point A. Then, the straight line OD is the projection line of the femoral neck OE on the anteroposterior X-ray of the hip joint (i.e., the XOZ plane of the femoral coronal plane). According to the definition of the femoral neck anteversion angle and the angle between the straight line and the plane, the angle EOD is the femoral neck anteversion angle, i.e. Figure 1 The angle between the middle line OE and the line OD is also the angle between the line OE and the XOZ plane. The femoral anteversion angle measurement system and measurement method provided in the embodiments of the present application are intended to quickly and accurately measure the femoral anteversion angle represented by the angle between the line OE and the XOZ plane.

[0019] The technical solution of this application is described below through specific embodiments.

[0020] like Figure 2 , is a schematic diagram of a femoral anteversion angle measurement system provided by an embodiment of the present application. The measurement system 200 includes a computer device 210 and an optical navigation device 220 connected to the computer device 210. The optical navigation device 220 can navigate by identifying a first tracer 231 and a second tracer 241. The first tracer 231 and the second tracer 241 are respectively mounted on a femoral coronal plane locator 230 and a femoral anteversion angle recording tool 240. During the actual measurement process, the femoral coronal plane locator 230 can be fixed to the patient's calf, and one end of the femoral anteversion angle recording tool 240 contacts the patient's osteotomy site, ensuring that both are within the field of view of the optical navigation device 220. In this way, the optical navigation device 220 can obtain a corresponding posture sequence, i.e., a first posture sequence and a second posture sequence, by identifying the first tracer 231 and the second tracer 241. The first posture sequence and the second posture sequence can be sent by the optical navigation device 220 to the computer device 210 for processing, and the angle of the femoral anteversion angle is output.

[0021] In the embodiment of the present application, the femoral coronal plane locator 230 can be designed as a long axis. When in use, a tracer can be installed at one end of the long axis femoral coronal plane locator 230, that is, the first tracer 231 in the above example. Figure 3 FIG. 1 is a schematic diagram of a femoral coronal plane locator provided in an embodiment of the present application. Figure 3 It can be seen that the upper end of the femoral coronal plane locator 230 includes a first tracer 231, and the first tracer 231 includes a plurality of incompletely collinear marker balls.

[0022] In a possible implementation of the embodiment of the present application, the femoral coronal plane locator 230 may be a long shaft-shaped clamp, including corresponding clamping parts ( Figure 3 The clamping portion is not shown in the femoral coronal plane positioner 230 shown. By designing the femoral coronal plane positioner 230 into a clampable shape, the clamping portion can be used to clamp the patient's calf, thereby fixing the femoral coronal plane positioner 230 on the patient's calf.

[0023] In an embodiment of the present application, during the process of measuring the femoral anteversion angle, the femoral anteversion angle recording tool 240 can be held by a doctor, and the doctor can operate it to contact one end of the femoral anteversion angle recording tool 240 with the patient's osteotomy. In the embodiment of the present application, the femoral anteversion angle recording tool 240 can include two ends, namely a first end and a second end. When the doctor holds the femoral anteversion angle recording tool 240, one end can be brought into contact with the patient's osteotomy. The end that contacts the patient's osteotomy should be opposite to the end of the femoral anteversion angle recording tool 240 on which the second tracer 241 is installed.

[0024] For example, assuming that the femoral anteversion angle recording tool 240 includes a first end and a second end, wherein the second tracer 241 is mounted on the second end of the femoral anteversion angle recording tool 240, during the measurement process, the doctor can hold the femoral anteversion angle recording tool 240 and place the first end in contact with the patient's osteotomy site.

[0025] In a possible implementation of an embodiment of the present application, in order to facilitate the use of the femoral anteversion angle recording tool 240 to mark the osteotomy site for subsequent guidance of prosthesis placement, the femoral anteversion angle recording tool 240 can be designed to be sheet-shaped, or at least the end where the second tracer 241 is not installed can be designed to be sheet-shaped.

[0026] like Figure 4 FIG. 1 is a schematic diagram of a femoral anteversion angle recording tool provided in an embodiment of the present application. Figure 4Part (a) shows separately the femoral anteversion angle recording tool 240 equipped with a second tracer 241. The second tracer 241 is installed at one end of the femoral anteversion angle recording tool 240. Therefore, in actual use, it is the other end of the femoral anteversion angle recording tool 240 that contacts the patient's osteotomy. Figure 4 As shown in part (b) of FIG. 1 , a schematic diagram of bringing the femoral anteversion angle recording tool 240 into contact with the osteotomy site 401 of the patient is shown. Figure 4 The contact state shown in part (b) can be a doctor holding Figure 4 The femoral anteversion angle recording tool 240 shown in part (a) is formed by contacting the patient's osteotomy site 401. Figure 4 The femoral anteversion angle recording tool 240 shown in FIG is a sheet-like object, so when one end thereof is in contact with the osteotomy 401 of the patient, a mark can be engraved at the position of the osteotomy 401 as a mark.

[0027] In a possible implementation of the embodiment of the present application, the femoral anteversion angle recording tool 240 can be a sheet-like object as a whole. Figure 4 The femoral anteversion angle recording tool 240 shown in the figure has both ends and a middle portion in a sheet-like shape. In another possible implementation of the embodiment of the present application, the femoral anteversion angle recording tool 240 can be designed as a sheet only at the end that needs to contact the patient's osteotomy site, while the middle portion and the other end of the tool, i.e., the end for mounting the second tracer, can be designed in other shapes, such as a cylindrical or shaft-like object. The embodiment of the present application is not limited to this.

[0028] In the embodiment of this application, the application Figure 2 When the femoral anteversion angle measurement system 200 is used to measure the anteversion angle, the femoral anteversion angle can be measured by first Figure 3 The femoral coronal plane positioner 230 is fixed to the patient's calf, and the doctor operates to keep the patient's thigh and calf in a vertical position. Figure 4 One end of the femoral anteversion recording tool 240 is shown in contact with the patient's osteotomy site, and the optical navigation device 220 is used to collect the current pose sequences of the two tracers mounted on the femoral coronal plane locator 230 and the femoral anteversion recording tool 240. For example, the first pose sequence of the first tracer 231 and the second pose sequence of the second tracer 241 are collected.

[0029] In a possible implementation of an embodiment of the present application, when using the above-mentioned femoral anteversion angle measurement system 200 to measure the anteversion angle, the patient can lie prone or sideways on the operating table, so that the doctor can operate to keep the patient's thigh and calf in a vertical state in this state.

[0030] For example, when the patient is in a prone position, that is, when the patient is lying on the operating table, the doctor can use the patient's knee as a fulcrum to lift the patient's calf upward, move it to a position where the patient's thigh and calf are perpendicular, and maintain it. Alternatively, when the patient is in a side-lying position, the doctor uses the patient's knee as a fulcrum to move the patient's calf backward so that the patient's thigh and calf are perpendicular, and maintain this vertical state during the anteversion angle measurement process. It should be noted that in actual operation, the vertical state maintained by the thigh and calf can be approximately vertical, and it is not required that the patient's thigh and calf remain in an absolutely vertical state during the measurement process.

[0031] like Figure 5 , which is a simulation schematic diagram of a femoral anteversion angle measurement process provided in an embodiment of the present application. Figure 5 The figure shows a simple example of the anteversion angle measurement process using a femur model and a tibia model. Figure 5 The mid-tibia model 501 can be used to represent the patient's calf, and the femur model 502 can be used to represent the patient's thigh. When measuring the femoral anteversion angle, the femoral coronal plane locator 230 can be fixed on the patient's calf. Figure 5 The femoral coronal plane locator 230 is fixed to the tibial model 501. When the patient is lying prone, the patient's calf is lifted up and the thigh and calf are kept in a vertical state. Figure 5 The tibial model 501 with the femoral coronal plane positioner 230 fixed thereon is shown lifted up. Figure 5 The patient's thigh represented by the femur model 502 and the patient's calf represented by the tibia model 501 are in a vertical state. In this state, the patient can be Figure 1 The illustrated measurement system 200 measures femoral anteversion.

[0032] It should be noted that Figure 5 An example of the femoral anteversion angle recording tool 240 contacting the patient's osteotomy is not shown.

[0033] In the embodiment of the present application, combined with the above Figures 1 to 5As described in the previous section, when the patient's thigh and calf remain perpendicular, the optical navigation device 220 can collect the posture sequences of the two tracers respectively installed on the femoral coronal plane locator 230 and the femoral anteversion angle recording tool 240, and send them to the computer device 210. The computer device 210 can perform calculations based on the first posture sequence of the tracer installed on the femoral coronal plane locator 230, that is, the first tracer 231, to obtain a target plane that can characterize the femoral coronal plane. Specifically, the computer device 210 can calculate the vector representing the femoral coronal plane locator 230 based on the first posture sequence. Since the femoral coronal plane locator 230 is fixed to the patient's calf, and the patient's calf and thigh remain perpendicular, the above-mentioned vector representing the femoral coronal plane locator 230 can be regarded as perpendicular to the patient's thigh. In this way, based on the above-mentioned vector representing the femoral coronal plane locator 230, the computer device 210 can further calculate a target plane, which is the plane representing the femoral coronal plane, that is, the plane representing the femoral coronal plane. Figure 1 The XOZ plane shown in .

[0034] On the other hand, the computer device 210 can process the second posture sequence of the tracer 241 mounted on the femoral anteversion angle recording tool 240 sent by the optical navigation device 220 to obtain a target vector that can represent the femoral anteversion angle axis. The anteversion angle axis represented by the target vector is Figure 1 Then, by calculating the angle between the target vector and the target plane, we can get the straight line OE shown in . Figure 1 The angle between the midline OE and the XOZ plane is the same as the calculated femoral anteversion angle.

[0035] In a possible implementation of the embodiment of the present application, Figure 2 The femoral anteversion angle measurement system 200 shown can be applied in an intraoperative scenario, that is, during the operation, the femoral anteversion angle of the patient can be measured in real time using the above-mentioned femoral anteversion angle measurement system 200.

[0036] Exemplarily, the first posture sequence and the second posture sequence in each of the aforementioned embodiments can be posture sequences of the first tracer 231 and the second tracer 241 collected after osteotomy on the patient. For example, during the operation, the doctor performs osteotomy on the part that needs osteotomy according to the corresponding surgical plan, and after osteotomy, the osteotomy part is usually an elliptical plane. For the elliptical plane, it can generally be considered that it includes a long axis and a short axis. At this time, the doctor can hold the femoral anteversion recording tool 240 equipped with the second tracer 241, and bring the end of the femoral anteversion recording tool 240 that is not equipped with the tracer into contact with the osteotomy part. Specifically, during operation, the doctor can bring one end of the sheet-like femoral anteversion recording tool 240 into contact with the long axis of the elliptical plane. At this point, the patient's thigh and calf can be kept in a vertical position, and then the optical navigation device 220 can be used to collect a first posture sequence of the first tracer 231 mounted on the femoral coronal plane locator 230 and a second posture sequence of the second tracer 241 mounted on the femoral anteversion angle recording tool 240, and send them to the computer device 210. Therefore, the second posture sequence is the posture sequence collected after one end of the femoral anteversion angle recording tool 240 is brought into contact with the long axis of the elliptical plane.

[0037] The computer device 210 can process the received first posture sequence and second posture sequence to calculate the femoral anteversion angle of the patient. The measured femoral anteversion angle of the patient can be displayed in real time on the display unit of the computer device.

[0038] In the embodiment of the present application, the femoral anteversion angle calculated based on the first posture sequence and the second posture sequence may be the actual femoral anteversion angle of the patient before surgery. Orthopedic surgery can adjust or correct the patient's femoral anteversion angle by inserting a prosthesis, such as a femoral stem prosthesis.

[0039] Therefore, after measuring the patient's femoral anteversion angle in the manner described above, the doctor can also hold the femoral anteversion angle recording tool 240 in his hand, adjust the contact position between the femoral anteversion angle recording tool 240 and the osteotomy site, and use the above-mentioned measurement system 200 to measure the femoral anteversion angle at different contact positions.

[0040] For example, the doctor can hold the femoral anteversion recording tool 240 and adjust its angle so that the contact between the femoral anteversion recording tool 240 and the osteotomy site is adjusted from one end of the femoral anteversion recording tool 240 coinciding with the long axis of the elliptical plane to one end of the femoral anteversion recording tool 240 being at a certain angle to the long axis. The doctor then uses the optical navigation device 220 again to acquire a sequence of the two tracer's postures.

[0041] Specifically, after the position at which one end of the femoral anteversion angle recording tool 240 contacts the elliptical plane changes, the computer device 210 can receive the third posture sequence of the first tracer 231 and the fourth posture sequence of the second tracer 241 identified by the optical navigation device 220, recalculate the angle of the patient's femoral anteversion angle based on the third posture sequence and the fourth posture sequence, and display the remeasured angle of the patient's femoral anteversion angle on the display unit. In this way, the doctor can determine the appropriate femoral anteversion angle by adjusting the contact position of the femoral anteversion angle recording tool 240 with the elliptical plane, and thus guide the placement of the prosthesis into the corresponding position of the osteotomy based on the appropriate position corresponding to the appropriate femoral anteversion angle.

[0042] In one possible implementation of the embodiment of the present application, the target angle range of the patient's femoral anteversion angle can be determined in the preoperative planning stage, and the surgical process requires the insertion of a corresponding prosthesis to make the patient's femoral anteversion angle fall within the above-mentioned target angle range.

[0043] For example, during an actual surgical procedure, the range of the combined anteversion angle needs to be considered. Specifically, the femoral anteversion angle needs to be considered in conjunction with the hip anteversion angle. Typically, the combined anteversion angle needs to be kept within a certain value. Therefore, based on the values of the hip anteversion angle, etc., the femoral anteversion angle can be set within a certain range during the preoperative phase. For example, the target range for the femoral anteversion angle is between 20 and 25 degrees.

[0044] In this way, after the measurement system 200 provided by the embodiment of the present application is used to measure the femoral anteversion angle of the patient, the computer device 210 can display the angle in the display unit to prompt the doctor. If the currently measured anteversion angle is not within the preset target angle range, the doctor can hold the femoral anteversion angle recording tool 240 to adjust the contact position of the tool with the osteotomy. During the adjustment process, the optical navigation device 220 will continue to collect the posture sequence of the two tracers and send it to the computer device 210. The computer device 210 will also calculate in real time the anteversion angle corresponding to the femoral anteversion angle recording tool 240 at different contact positions according to the posture sequence sent by the optical navigation device 220 and display it in the display unit.

[0045] When the angle of the femoral anteversion angle of the patient obtained by re-measurement is within the target angle range, the computer device 210 can display a prompt message through the display unit, and this prompt message can be used to prompt one end of the femoral anteversion angle recording tool 240 to be engraved at the osteotomy site, and the marking information obtained by engraving can be used to guide the insertion of the femoral stem prosthesis. That is, when the femoral anteversion angle obtained by the corresponding measurement is determined to meet the surgical requirements by adjusting the contact position, the doctor can hold the femoral anteversion angle recording tool 240 and use its sheet-shaped end to engrave at the current contact position, leaving a trace as marking information. In this way, the doctor can use the engraved position as a basis to place the femoral stem prosthesis at this position. After the femoral stem prosthesis is placed at this position, the patient's actual femoral anteversion angle is also the value of the same angle size obtained at this position using the femoral anteversion angle recording tool 240.

[0046] In an embodiment of the present application, the position sequence of multiple tracers collected by the optical navigation device can be combined to calculate the target plane that can characterize the coronal plane of the femur and the target vector that can characterize the axis of the femoral anteversion angle. The computer device can quickly calculate the angle value of the patient's femoral anteversion angle by calculating the angle between the target plane and the target vector. Using the femoral anteversion angle measurement system provided in the embodiment of the present application, the patient's femoral anteversion angle can be measured without positioning and aligning the femur, reducing the operational complexity of the measurement process. In addition, the measurement system provided in the embodiment of the present application can also be applied to intraoperative scenarios to measure the femoral anteversion angle in real time during the operation, which is used to provide a reference for the surgical operation, and helps to improve the efficiency and success rate of the operation.

[0047] For ease of understanding, the following introduces a specific example of the process of measuring the femoral anteversion angle using the femoral anteversion angle measurement system provided in the embodiment of the present application.

[0048] like Figures 6 to 9 , which is a schematic diagram of a femoral anteversion angle measurement process provided in an embodiment of the present application. Figures 6 to 9 The measurement process shown is an example of the process of measuring the anteversion angle using a simple model to simulate the femur (thigh) and tibia (lower leg) of the patient. Figures 6 to 9 The patient's actual femur (thigh) and tibia (calf) are not shown.

[0049] See also Figure 6 , is a schematic diagram of a femur and tibia provided in an embodiment of the present application. Figure 6 The figure shows the femur and tibia of a patient simulated using a simple model. Figure 6 The model shown in part (a) of FIG. 5 is used to represent a femur 601 , which is an example of a femur before osteotomy. Figure 6The model shown in part (b) is used to represent the tibia 602, Figure 6 The model shown in part (c) is used to represent the femur 601 after osteotomy. Figure 6 An example of the femur 601 before osteotomy in part (a) is shown. Figure 6 In part (c), part of the bone is cut off at the osteotomy site 603. The osteotomy site 603 is an elliptical plane.

[0050] The measurement system required for the measurement process can be found in Figure 2 As shown, the required femoral coronal plane locator and femoral anteversion angle recording tool can be found in Figure 3 and Figure 4 shown.

[0051] like Figure 7 As shown, the osteotomy site is cut according to the surgical plan. The process can be seen in Figure 7 As shown in parts (a) and (b), at the osteotomy 603 of the femur 601, part of the bone is cut off so that the osteotomy 603 presents an elliptical plane. Figure 7 As shown in (c) in Figure 2 The femoral coronal plane locator 230 shown in FIG is fixed to the patient's lower leg.

[0052] Then, see Figure 8 , doctors can hold Figure 3 The femoral anteversion recording tool 240 shown in FIG is positioned so that one end of the plate coincides with the long axis of the elliptical plane at the osteotomy site 603. At this point, while the patient's thigh and calf are maintained in a vertical position, the optical navigation device 220 can collect a position sequence of the femoral coronal plane locator 230 and the tracers on the femoral anteversion recording tool 240 and transmit it to the computer device 210, which then processes the received position sequence.

[0053] like Figure 9 As shown, after the computer device processes the received posture sequence, it can calculate the target plane 901 representing the coronal plane of the femur and the target vector 902 representing the axis of the femoral anteversion angle. By calculating the angle between the above target plane 901 and the target vector 902, the patient's femoral anteversion angle can be calculated.

[0054] In combination with the above embodiments, the present application also provides a method for measuring the femoral anteversion angle. Figure 10 , is a schematic diagram of a method for measuring femoral anteversion provided by an embodiment of the present application, which method may specifically include the following steps: S1001: Receive a first pose sequence of the first tracer and a second pose sequence of the second tracer identified by the optical navigation device when the thigh and calf of the patient are perpendicular.

[0055] S1002. Calculate a target plane for representing the coronal plane of the femur based on the first posture sequence.

[0056] S1003. Calculate a target vector for representing the femoral anteversion axis based on the second posture sequence.

[0057] S1004: Determine the angle between the target vector and the target plane, where the angle is used to characterize the measured femoral anteversion angle of the patient.

[0058] Figure 10 The illustrated measurement method can be implemented using the femoral anteversion measurement system described in the aforementioned embodiments. The required measurement system and related tools, such as a femoral coronal plane locator and a femoral anteversion recording tool, as well as the detailed process of using these measurement systems and tools to obtain a sequence of multiple tracer positions and calculate the patient's femoral anteversion angle, can be found in the descriptions of the aforementioned embodiments and will not be further elaborated here.

[0059] The femoral anteversion angle measurement method provided by the embodiment of the present application can be combined with an optical navigation device, a femoral coronal plane locator with a tracer, and a femoral anteversion angle recording tool with a tracer to quickly measure the patient's femoral anteversion angle. The entire measurement process does not require positioning of the femur or alignment. The femoral anteversion angle can be accurately calculated using the femoral coronal plane and the femoral anteversion angle axis, helping clinicians to detect the required original femoral anteversion angle and the expected femoral anteversion angle after prosthesis implantation in real time. Compared to the measurement methods in the prior art, this method has high accuracy, achieves accurate measurement of the femoral anteversion angle, and can provide reliable data support for surgery. Measurements can be performed at any time during the operation, helping doctors to adjust the surgical plan in time, improving the safety and effectiveness of the operation, and having extremely strong real-time performance. In addition, the application of this method is not only easy to operate and the difficulty of operation is greatly reduced compared to the prior art, but also can avoid the use of X-rays or CT scans for repeated postoperative review, reducing the patient's radiation exposure, and is conducive to protecting the patient's health.

[0060] The size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0061] Reference Figure 11, shows a schematic diagram of a femoral anteversion angle measurement device provided in an embodiment of the present application, which may specifically include a posture sequence receiving module 1101, a target plane calculation module 1102, a target vector calculation module 1103, and a femoral anteversion angle measurement module 1104, wherein: A posture sequence receiving module 1101 is configured to receive, with the patient's thigh and calf perpendicular, a first posture sequence of a first tracer and a second posture sequence of a second tracer identified by an optical navigation device, wherein the optical navigation device is configured to perform navigation by identifying the first tracer and the second tracer, wherein the first tracer and the second tracer are respectively mounted on a femoral coronal plane locator and a femoral anteversion angle recording tool, wherein the femoral coronal plane locator is fixed to the patient's calf, and one end of the femoral anteversion angle recording tool is in contact with the patient's osteotomy site; a target plane calculation module 1102, configured to calculate a target plane for representing the coronal plane of the femur based on the first posture sequence; A target vector calculation module 1103 is configured to calculate a target vector representing the femoral anteversion axis based on the second posture sequence; The femoral anteversion angle measurement module 1104 is used to determine the angle between the target vector and the target plane, and the angle is used to represent the measured femoral anteversion angle of the patient.

[0062] In an embodiment of the present application, the femoral anteversion angle recording tool is held by a surgeon with a first end thereof in contact with the patient's osteotomy site, and the second tracer is mounted on a second end of the femoral anteversion angle recording tool, opposite the first end. Exemplarily, the first end of the femoral anteversion angle recording tool is sheet-shaped.

[0063] In an embodiment of the present application, the femoral coronal plane locator is a long-axis clamp, and the femoral coronal plane locator is fixed to the patient's calf by clamping the patient's calf.

[0064] In the embodiment of the present application, when the patient lies prone, the patient's calf is lifted upward with the knee as a fulcrum so that the patient's thigh is perpendicular to the calf; or, When the patient lies on his side, the patient's calf is moved backward with the knee as a fulcrum so that the patient's thigh is perpendicular to the calf.

[0065] In an embodiment of the present application, the first posture sequence and the second posture sequence are posture sequences of the first tracer and the second tracer collected after osteotomy is performed on the patient. After osteotomy is performed on the patient, the osteotomy site is an elliptical plane. The second posture sequence is a posture sequence collected after one end of the femoral anteversion angle recording tool is brought into contact with the long axis of the elliptical plane. The measured femoral anteversion angle of the patient is displayed in real time by the display unit of the computer device.

[0066] In a possible implementation of an embodiment of the present application, the posture sequence receiving module 1101 can also be used to receive the third posture sequence of the first tracer and the fourth posture sequence of the second tracer identified by the optical navigation device after the position where one end of the femoral anteversion angle recording tool contacts the elliptical plane changes.

[0067] Correspondingly, the femoral anteversion angle measurement module 1104 can also be used to recalculate the angle of the patient's femoral anteversion angle based on the third posture sequence and the fourth posture sequence, and display the remeasured angle of the patient's femoral anteversion angle through the display unit.

[0068] In another possible implementation of the embodiment of the present application, the femoral anteversion angle measurement module 1104 can also be used to determine the target angle range of the patient's femoral anteversion angle; when the angle of the patient's femoral anteversion angle measured or re-measured after osteotomy is within the target angle range, a prompt message is displayed through the display unit, and the prompt message is used to prompt the use of one end of the femoral anteversion angle recording tool to engrave at the osteotomy site, and the engraved marking information is used to guide the placement of the femoral stem prosthesis.

[0069] The femoral anteversion angle measurement device provided in the embodiments of the present application can be the femoral anteversion angle measurement system described in the aforementioned embodiments or a related unit in the measurement system. The device can be used to implement the related functions that can be implemented by the measurement system in the aforementioned embodiments.

[0070] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the description of the system embodiment and method embodiment.

[0071] Reference Figure 12 , showing a schematic diagram of a computer device provided in an embodiment of the present application. Figure 12 The computer device 210 may be a computer device that Figure 2 The same device as the computer device 210 in FIG. Figure 12As shown, the computer device 210 in the embodiment of the present application includes: a processor 1210, a memory 1220, and a computer program 1221 stored in the memory 1220 and executable on the processor 1210. When the processor 1210 executes the computer program 1221, the steps in each embodiment of the above-mentioned femoral anteversion angle measurement method are implemented, for example Figure 10 Alternatively, when the processor 1210 executes the computer program 1221, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 11 Functions of modules 1101 to 1104 are shown.

[0072] Exemplarily, the computer program 1221 can be divided into one or more modules / units, which are stored in the memory 1220 and executed by the processor 1210 to complete the present application. The one or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments can be used to describe the execution process of the computer program 1221 in the computer device 210. For example, the computer program 1221 can be divided into a posture sequence receiving module, a target plane calculation module, a target vector calculation module, and a femoral anteversion angle measurement module. The specific functions of each module are as follows: a posture sequence receiving module, configured to receive, when the patient's thigh and calf are perpendicular, a first posture sequence of a first tracer and a second posture sequence of a second tracer identified by an optical navigation device, the optical navigation device being configured to perform navigation by identifying the first tracer and the second tracer, the first tracer and the second tracer being respectively mounted on a femoral coronal plane locator and a femoral anteversion angle recording tool, the femoral coronal plane locator being fixed to the patient's calf, and one end of the femoral anteversion angle recording tool being in contact with an osteotomy site of the patient; a target plane calculation module, configured to calculate a target plane for representing the coronal plane of the femur based on the first posture sequence; a target vector calculation module, configured to calculate a target vector representing an axis of femoral anteversion based on the second posture sequence; The femoral anteversion angle measurement module is used to determine the angle between the target vector and the target plane, and the angle of the angle is used to characterize the angular size of the femoral anteversion angle of the patient obtained by measurement.

[0073] The computer device 210 may be any of the computer devices described in the aforementioned system embodiments. The computer device 210 may be a desktop computer, a cloud server, or other computing device. The computer device 210 may include, but is not limited to, a processor 1210 and a memory 1220. Those skilled in the art will appreciate that Figure 12 This is merely an example of the computer device 210 and does not constitute a limitation of the computer device 210 . The computer device 210 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device 210 may also include input and output devices, network access devices, buses, etc.

[0074] The processor 1210 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0075] The memory 1220 can be an internal storage unit of the computer device 210, such as a hard drive or memory of the computer device 210. The memory 1220 can also be an external storage device of the computer device 210, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on the computer device 210. Furthermore, the memory 1220 can include both an internal storage unit of the computer device 210 and an external storage device. The memory 1220 is used to store the computer program 1221 and other programs and data required by the computer device 210. The memory 1220 can also be used to temporarily store data that has been output or is about to be output.

[0076] An embodiment of the present application further discloses a computer 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 aforementioned embodiments are implemented.

[0077] An embodiment of the present application further discloses a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a computer, the methods described in the aforementioned embodiments are implemented.

[0078] An embodiment of the present application further discloses a computer program product, including a computer program. When the computer program is run on a computer, the computer is caused to execute the methods described in the aforementioned embodiments.

[0079] The above embodiments are intended only to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the above embodiments or replace some of the technical features therein with equivalents; and such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application and should be included within the scope of protection of the present application.

Claims

1. A femoral anteversion angle measurement system, characterized in that: The device comprises a computer device and an optical navigation device connected to the computer device, wherein the optical navigation device is used to perform navigation by identifying a first tracer and a second tracer, wherein the first tracer and the second tracer are respectively mounted on a femoral coronal plane locator and a femoral anteversion angle recording tool, wherein the femoral coronal plane locator is fixed to the patient's lower leg, and one end of the femoral anteversion angle recording tool contacts the patient's osteotomy site, and the computer device is used to perform the following steps of a femoral anteversion angle measurement method to achieve measurement of the patient's femoral anteversion angle: When the thigh and calf of the patient are perpendicular, receiving a first posture sequence of the first tracer and a second posture sequence of the second tracer identified by the optical navigation device; Calculating a target plane for representing the coronal plane of the femur based on the first pose sequence; Calculating a target vector for representing the axis of the femoral anteversion angle based on the second posture sequence; An angle between the target vector and the target plane is determined, where the angle is used to characterize the measured femoral anteversion angle of the patient.

2. The measurement system according to claim 1, characterized in that The femoral anteversion angle recording tool is held by a doctor with a first end thereof in contact with the patient's osteotomy site, and the second tracer is installed on a second end of the femoral anteversion angle recording tool opposite to the first end.

3. The measurement system according to claim 2, characterized in that The first end of the femoral anteversion angle recording tool is sheet-shaped.

4. The measuring system according to any one of claims 1 to 3, characterized in that The femoral coronal plane locator is a long-axis clamp, and the femoral coronal plane locator is fixed on the patient's calf by clamping the patient's calf.

5. The measurement system according to claim 4, characterized in that When the patient is lying prone, the patient's calf is lifted upward using the knee as a fulcrum so that the patient's thigh is perpendicular to the calf; or, When the patient lies on his side, the patient's calf is moved backward with the knee as a fulcrum so that the patient's thigh is perpendicular to the calf.

6. The measuring system according to any one of claims 1 to 3 or 5, characterized in that The first posture sequence and the second posture sequence are posture sequences of the first tracer and the second tracer collected after osteotomy is performed on the patient. After osteotomy is performed on the patient, the osteotomy site is an elliptical plane. The second posture sequence is a posture sequence collected after one end of the femoral anteversion angle recording tool is aligned with the long axis of the elliptical plane. The measured femoral anteversion angle of the patient is displayed in real time through the display unit of the computer device.

7. The measurement system according to claim 6, characterized in that The computer device is further configured to execute the following steps of the femoral anteversion angle measurement method: After the position where one end of the femoral anteversion angle recording tool contacts the elliptical plane changes, receiving a third posture sequence of the first tracer and a fourth posture sequence of the second tracer identified by the optical navigation device; The angle of the femoral anteversion angle of the patient is recalculated based on the third posture sequence and the fourth posture sequence, and the re-measured angle of the femoral anteversion angle of the patient is displayed on the display unit.

8. The measurement system according to claim 7, characterized in that The computer device is further configured to execute the following steps of the femoral anteversion angle measurement method: determining a target angle range of the patient's femoral anteversion; When the angle of the patient's femoral anteversion measured or remeasured after osteotomy is within the target angle range, a prompt message is displayed through the display unit, and the prompt message is used to prompt the use of one end of the femoral anteversion angle recording tool to engrave at the osteotomy, and the engraved marking information is used to guide the placement of the femoral stem prosthesis.

9. A method for measuring femoral anteversion, characterized in that: The invention is applied to a computer device connected to an optical navigation device, wherein the optical navigation device is used to perform navigation by identifying a first tracer and a second tracer, wherein the first tracer and the second tracer are respectively mounted on a femoral coronal plane locator and a femoral anteversion angle recording tool, wherein the femoral coronal plane locator is fixed to the patient's calf, and one end of the femoral anteversion angle recording tool contacts the patient's osteotomy site. The femoral anteversion angle measurement method includes: When the thigh and calf of the patient are perpendicular, receiving a first posture sequence of the first tracer and a second posture sequence of the second tracer identified by the optical navigation device; Calculating a target plane for representing the coronal plane of the femur based on the first pose sequence; Calculating a target vector for representing the axis of the femoral anteversion angle based on the second posture sequence; An angle between the target vector and the target plane is determined, where the angle is used to characterize the measured femoral anteversion angle of the patient.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the computer device is caused to implement the method according to claim 9.

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