Femoral anteversion measurement system and method

Abstract

The embodiment of the present application is applicable to the fields of orthopedics and computer-assisted medical technology, and provides a femoral anteversion angle measurement system and measurement method. The measurement system includes a computer device and an optical navigation device. The optical navigation device is used to navigate by identifying a first tracer and a second tracer. The first tracer and the second tracer are respectively installed on a femoral coronal plane locator and a femoral anteversion angle recording tool. The femoral coronal plane locator is fixed on the patient's calf. One end of the femoral anteversion angle recording tool is in contact with the patient's osteotomy. The computer device is used to receive the first posture sequence of the first tracer and the second posture sequence of the second tracer; the angle of the patient's femoral anteversion angle is calculated based on the first posture sequence and the second posture sequence. Using the above-mentioned measurement system, the patient's femoral anteversion angle can be measured without positioning and aligning the femur.

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:

[0006] 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;

[0007] Calculating a target plane for representing the coronal plane of the femur based on the first pose sequence;

[0008] calculate a target vector for representing an axis of femoral anteversion based on the second pose sequence;

[0009] determine an included angle between the target vector and the target plane, an angle of the included angle being used for representing an angle of the measured femoral anteversion of the patient.

[0010] A second aspect of the embodiment of the present application provides a femoral anteversion measurement method, applied to a computer device, the computer device being connected with an optical navigation device, the optical navigation device being used for navigation by recognizing a first tracker and a second tracker, the first tracker and the second tracker being respectively installed on a femoral coronal plane locator and a femoral anteversion recording tool, the femoral coronal plane locator being fixed on a lower leg of a patient, one end of the femoral anteversion recording tool being in contact with a bone cutting position of the patient, and the femoral anteversion measurement method comprising:

[0011] receiving a first pose sequence of the first tracker and a second pose sequence of the second tracker recognized by the optical navigation device in a case that a thigh and a lower leg of the patient are perpendicular;

[0012] calculating a target plane for representing a femoral coronal plane based on the first pose sequence;

[0013] calculating a target vector for representing an axis of femoral anteversion based on the second pose sequence;

[0014] determining an included angle between the target vector and the target plane, an angle of the included angle being used for representing an angle of the measured femoral anteversion of the patient.

[0015] A third aspect of the embodiment of the present application provides a femoral anteversion measurement device, comprising:

[0016] a pose sequence receiving module, configured to receive a first pose sequence of a first tracker and a second pose sequence of a second tracker recognized by an optical navigation device in a case that a thigh and a lower leg of a patient are perpendicular, the optical navigation device being used for navigation by recognizing the first tracker and the second tracker, the first tracker and the second tracker being respectively installed on a femoral coronal plane locator and a femoral anteversion recording tool, the femoral coronal plane locator being fixed on a lower leg of the patient, one end of the femoral anteversion recording tool being in contact with a bone cutting position of the patient;

[0017] a target plane calculating module, configured to calculate a target plane for representing a femoral coronal plane based on the first pose sequence;

[0018] a target vector calculating module, configured to calculate a target vector for representing an axis of femoral anteversion based on the second pose sequence;

[0019] a femoral anteversion angle measurement module configured to determine an included angle between the target vector and the target plane, the angle of the included angle being used to represent an angle of a measured femoral anteversion angle of the patient.

[0020] A fourth aspect of the embodiments of the present application provides 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 computer device implements the femoral anteversion angle measurement method according to the second aspect.

[0021] A fifth aspect of the embodiments of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, when the computer program is executed by a computer, the femoral anteversion angle measurement method according to the second aspect is implemented.

[0022] A sixth aspect of the embodiments of the present application provides a computer program product, including a computer program, when the computer program is executed, the femoral anteversion angle measurement method according to the second aspect is executed.

[0023] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0024] The embodiments of the present application can combine the pose sequences of the plurality of trackers collected by the optical navigation device to respectively calculate the target plane capable of representing the femoral coronal plane and the target vector capable of representing the femoral anteversion axis. The computer device can quickly calculate the angle value of the femoral anteversion angle of the patient by calculating the included angle between the target plane and the target vector. The femoral anteversion angle measurement system provided by the embodiments of the present application can be used to measure the femoral anteversion angle of the patient without positioning and registering the femur, thereby reducing the operation complexity of the measurement process. Moreover, the measurement system provided by the embodiments of the present application can also be applied to an intraoperative scene to measure the femoral anteversion angle in real time during the operation process, thereby providing a reference for the operation, and helping to improve the operation efficiency and success rate.

[0025] The femoral anteversion angle measurement system and method provided by the embodiments of the present application can be applied in the field of orthopedic surgery, especially in hip arthroplasty, knee arthroplasty and other surgical procedures. In these surgical procedures, accurate measurement of the femoral anteversion angle is crucial for the success of the surgery. The measurement system and method provided by the embodiments of the present application can provide accurate measurement of the femoral anteversion angle during the surgery, helping doctors better plan and operate the surgery, and helping to improve the success rate of the surgery and the postoperative recovery effect of the patient. In addition, in the field of rehabilitation medicine, for patients after hip arthroplasty, accurate measurement of the femoral anteversion angle can evaluate the surgical effect and the rehabilitation of the patient. The measurement system and method described above can provide real-time measurement of the femoral anteversion angle for doctors, helping doctors better develop rehabilitation plans and treatment plans. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0027] Figure 1 is a schematic diagram of the position relationship of the femoral neck in a three-dimensional coordinate system provided by the embodiments of the present application;

[0028] Figure 2 is a schematic diagram of a femoral anteversion angle measurement system provided by the embodiments of the present application;

[0029] Figure 3 is a schematic diagram of a femoral coronal plane positioner provided by the embodiments of the present application;

[0030] Figure 4 is a schematic diagram of a femoral anteversion angle recording tool provided by the embodiments of the present application;

[0031] Figure 5 is a simulation schematic diagram of a femoral anteversion angle measurement process provided by the embodiments of the present application;

[0032] Figures 6 to 9 is a schematic diagram of a femoral anteversion angle measurement process provided by the embodiments of the present application;

[0033] Figure 10 is a schematic diagram of a femoral anteversion angle measurement method provided by the embodiments of the present application;

[0034] Figure 11 is a schematic diagram of a femoral anteversion angle measurement device provided by the embodiments of the present application;

[0035] Figure 12is a schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0036] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0037] Before introducing the technical solutions of the present application, first introduce femoral anteversion angle.

[0038] Femoral anteversion angle, also known as femoral neck anteversion angle, is the angle between femoral neck axis and femoral condyle frontal plane (i.e. femoral coronal plane). In the medical field, another femoral torsion angle is also included. Femoral anteversion angle and femoral torsion angle are two different anatomical concepts, and the torsion angle is always greater than the anteversion angle.

[0039] For the convenience of understanding, the femoral neck can be put into a three-dimensional coordinate, and the femoral shaft longitudinal axis is overlapped with the vertical axis of the human body. As shown in Figure 1 is a schematic diagram of the position relationship of femoral neck in a three-dimensional coordinate system provided by an embodiment of the present application. Figure 1 The schematic diagram after the femoral neck is put into a three-dimensional coordinate and the femoral shaft longitudinal axis is overlapped with the vertical axis of the human body is shown. 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 O point, which is the center point of the junction of the femoral neck and the femoral shaft, Figure 1 E point in the figure is the center of the femoral head. In combination with Figure 1 It can be seen that the straight line HO is the femoral shaft axis, and the straight line OE is the femoral neck axis. The perpendiculars from the E point to the XOY plane and the XOZ plane are respectively obtained, and the foot points are B point and D point. The perpendicular from the B point to the X axis is the foot point A. Then, the straight line OD is the projection line of the femoral neck OE on the hip joint orthotopic X-ray film (i.e. the femoral coronal plane XOZ 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, that is, Figure 1 The angle between the straight line OE and the straight line OD in the figure is also the angle between the straight line OE and the XOZ plane. The femoral anteversion angle measurement system and the measurement method provided by the embodiment of the present application are used for quickly and accurately measuring the femoral anteversion angle represented by the angle between the straight line OE and the XOZ plane.

[0040] The technical solutions of the present application are described below through specific embodiments.

[0041] As shown in Figure 2As shown in FIG. 2, a schematic diagram of a femoral anteversion measurement system is shown, which includes a computer device 210 and an optical navigation device 220 connected to the computer device 210. The optical navigation device 220 can be navigated by recognizing a first tracker 231 and a second tracker 241. The first tracker 231 and the second tracker 241 are respectively installed on a femoral coronal plane locator 230 and a femoral anteversion recording tool 240. In the actual measurement process, the femoral coronal plane locator 230 can be fixed on the lower leg of the patient, and one end of the femoral anteversion recording tool 240 is in contact with the osteotomy of the patient, and both are ensured to be within the field of view of the optical navigation device 220. In this way, the optical navigation device 220 can obtain the corresponding pose sequence, i.e., the first pose sequence and the second pose sequence, by recognizing the first tracker 231 and the second tracker 241. The first pose sequence and the second pose sequence can be sent by the optical navigation device 220 to the computer device 210 for processing, and the angle of the femoral anteversion is output.

[0042] In the embodiment of the present application, the femoral coronal plane locator 230 can be designed as a long shaft. In use, the tracker can be installed at one end of the long shaft-shaped femoral coronal plane locator 230, i.e., the first tracker 231 in the foregoing example. As shown in FIG. 3, a schematic diagram of a femoral coronal plane locator is shown. As shown in FIG. 3, the femoral coronal plane locator 230 includes a first tracker 231 at the upper end thereof. Figure 3 Figure 3 As can be seen, the upper end of the femoral coronal plane locator 230 includes the first tracker 231, which includes a plurality of not completely collinear marker balls.

[0043] In a possible implementation manner of the embodiment of the present application, the femoral coronal plane locator 230 can be a long shaft-shaped holder, which includes a corresponding clamping portion (not shown in the femoral coronal plane locator 230 shown in FIG. 3). Figure 3 By designing the femoral coronal plane locator 230 as a clamping shape, the lower leg of the patient can be clamped by the clamping portion, so that the femoral coronal plane locator 230 is fixed on the lower leg of the patient.

[0044] In the embodiment of the present application, in the process of measuring the femoral anteversion, the femoral anteversion recording tool 240 can be held by the doctor, and the doctor operates to contact one end thereof with the osteotomy of the patient. The femoral anteversion recording tool 240 in the embodiment of the present application can include two ends, i.e., a first end and a second end. When the doctor holds the femoral anteversion recording tool 240, one end thereof can be in contact with the osteotomy of the patient. The end in contact with the osteotomy of the patient should be opposite to the end on which the second tracker 241 is installed on the femoral anteversion recording tool 240.

[0045] ​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.

[0046] 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.

[0047] 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 4 Part (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.

[0048] 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.

[0049] 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 3The femoral coronal plane locator 230 is fixed on the patient's lower leg, and the patient's upper leg and lower leg are kept vertical by the doctor's operation. Then, the Figure 4 One end of the femoral anteversion recording tool 240 is in contact with the patient's osteotomy, and the pose sequence of the two trackers installed on the femoral coronal plane locator 230 and the femoral anteversion recording tool 240 in the current state is collected by the optical navigation device 220. For example, the first pose sequence of the first tracker 231 and the second pose sequence of the second tracker 241.

[0050] In a possible implementation of the embodiment of the application, when the femoral anteversion measurement system 200 is applied to measure the anteversion, the patient can be prone or lateral on the operating table, so that the patient's upper leg and lower leg are kept vertical by the doctor's operation in this state.

[0051] For example, when the patient is prone, that is, the patient is in the state of lying on the operating table, the doctor can use the patient's knee as a fulcrum to lift the patient's lower leg upward, move to a position where the patient's upper leg and lower leg are vertical and keep it. Or, when the patient is lateral, the doctor uses the patient's knee as a fulcrum to move the patient's lower leg backward so that the patient's upper leg and lower leg are vertical, and keeps the vertical state unchanged during the anteversion measurement. It should be noted that in actual operation, the vertical state of the upper leg and the lower leg can be approximately vertical, and it is not required that the patient's upper leg and lower leg are kept in an absolute vertical state during the measurement.

[0052] As shown in Figure 5 It is a simulation schematic diagram of the femoral anteversion measurement process provided by the embodiment of the application. Figure 5 It is a simple example of the anteversion measurement process shown by using the femoral model and the tibial model. In Figure 5 The tibial model 501 can be used to represent the patient's lower leg, and the femoral model 502 can be used to represent the patient's upper leg. When measuring the femoral anteversion, the femoral coronal plane locator 230 can be fixed on the patient's lower leg, and the state is shown in Figure 5 The femoral coronal plane locator 230 is fixed on the tibial model 501. When the patient is prone, the patient's lower leg is lifted upward and kept in a vertical state with the upper leg, and the state is shown in Figure 5 The tibial model 501 fixed with the femoral coronal plane locator 230 is lifted upward. Referring to Figure 5 The patient's upper leg represented by the femoral model 502 is in a vertical state with the patient's lower leg represented by the tibial model 501. In this state, the femoral anteversion can be measured by using the measurement system 200 shown in Figure 1

[0053] It should be noted that, Figure 5 ​The femoral anteversion angle measuring system 200 shown in FIG. 1A can be applied in an intraoperative scenario, i.e., the femoral anteversion angle of a patient can be measured in real time during a surgery by using the femoral anteversion angle measuring system 200.

[0054] In the embodiments of the present application, in combination with the foregoing Figures 1 to 5 With the introduction of the foregoing, under the condition that the thigh and the lower leg of the patient are kept vertical, the optical navigation device 220 can acquire the pose sequences of the two trackers 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 calculation based on the first pose sequence of the first tracker 231 installed on the femoral coronal plane locator 230, and obtain a target plane that can represent the femoral coronal plane. Specifically, the computer device 210 can calculate a vector representing the femoral coronal plane locator 230 according to the first pose sequence. Since the femoral coronal plane locator 230 is fixed to the lower leg of the patient, and the thigh and the lower leg of the patient are kept vertical, the above-mentioned vector representing the femoral coronal plane locator 230 can be regarded as being perpendicular to the thigh of the patient. 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 a plane representing the femoral coronal plane, i.e., a plane representing the XOZ plane shown in FIG. 1B. Figure 1

[0055] On the other hand, the computer device 210 can process the second pose sequence of the second tracker 241 installed on the femoral anteversion angle recording tool 240 sent by the optical navigation device 220, and obtain a target vector that can represent the femoral anteversion axis. The anteversion axis represented by the target vector is the straight line OE shown in FIG. 1B. Then, by calculating the included angle between the target vector and the target plane, i.e., calculating the included angle between the straight line OE and the XOZ plane shown in FIG. 1B, the angle of the femoral anteversion angle can be obtained. Figure 1 Figure 1

[0056] In a possible implementation manner of the embodiments of the present application, Figure 2 The femoral anteversion angle measuring system 200 shown in FIG. 1A can be applied in an intraoperative scenario, i.e., the femoral anteversion angle of a patient can be measured in real time during a surgery by using the femoral anteversion angle measuring system 200.

[0057] ​​​Exemplarily, the first pose sequence and the second pose sequence in each of the foregoing embodiments can be pose sequences of the first tracker 231 and the second tracker 241 collected after osteotomy is performed on the patient. For example, during the surgery, the doctor performs osteotomy on the osteotomy site according to the corresponding surgical plan, and the osteotomy site is generally an elliptical plane after osteotomy. For the elliptical plane, it can be generally considered to include a major axis and a minor axis. At this time, the doctor can hold the femoral anteversion recording tool 240 provided with the second tracker 241, and contact the end of the femoral anteversion recording tool 240 without the tracker with the osteotomy site. Specifically, in operation, the doctor can contact one end of the sheet-shaped femoral anteversion recording tool 240 with the major axis of the elliptical plane. At this time, the thigh and the lower leg of the patient can be kept in a vertical state, and then the first pose sequence of the first tracker 231 installed on the femoral coronal plane locator 230 and the second pose sequence of the second tracker 241 installed on the femoral anteversion recording tool 240 are collected by using the optical navigation device 220 and sent to the computer device 210. Therefore, the second pose sequence described above is the pose sequence collected after the end of the femoral anteversion recording tool 240 is contacted with the major axis of the elliptical plane.

[0058] The computer device 210 can process the received first pose sequence and second pose sequence, and calculate the femoral anteversion angle of the patient. The measured angle of the femoral anteversion angle of the patient can be displayed in real time by the display unit of the computer device.

[0059] In the embodiments of the present application, the femoral anteversion angle calculated based on the first pose sequence and the second pose sequence described above can be the actual femoral anteversion angle of the patient before surgery. The orthopedic surgery can adjust or correct the femoral anteversion angle of the patient by placing a prosthesis, such as a femoral stem prosthesis.

[0060] Therefore, after the femoral anteversion angle of the patient is measured in the manner described above, the doctor can also hold the femoral anteversion recording tool 240 and measure the femoral anteversion angle at different contact positions by adjusting the contact position of the femoral anteversion recording tool 240 with the osteotomy site by using the measurement system 200.

[0061] Exemplarily, the doctor can hold the femoral anteversion recording tool 240 and adjust the angle of the femoral anteversion recording tool 240, so that the contact of the femoral anteversion recording tool 240 with the osteotomy site is adjusted from the end of the sheet-shaped femoral anteversion recording tool 240 coinciding with the major axis of the elliptical plane to the end of the sheet-shaped femoral anteversion recording tool 240 having a certain angle with the major axis. Then, the pose sequences of the two trackers are collected again by using the optical navigation device 220.

[0062] Specifically, after the position where the femoral anteversion angle recording tool 240 contacts the elliptical plane changes, the computer device 210 can receive the third pose sequence of the first tracker 231 and the fourth pose sequence of the second tracker 241 identified by the optical navigation device 220, and recalculate the angle of the femoral anteversion angle of the patient based on the third pose sequence and the fourth pose sequence, and display the angle of the femoral anteversion angle of the patient recalculated 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 and the elliptical plane, so as to guide the placement of the prosthesis in the corresponding position of the osteotomy based on the appropriate position corresponding to the appropriate femoral anteversion angle.

[0063] In a possible implementation manner of the embodiment of the present application, the target angle range of the femoral anteversion angle of the patient can be determined in the preoperative planning stage, and the process of the surgery is to place the corresponding prosthesis so that the femoral anteversion angle of the patient is in the above target angle range.

[0064] For example, in the actual surgery process, the angle range of the combined anteversion angle needs to be considered, that is, for the femoral anteversion angle, the hip joint anteversion angle also needs to be considered. Generally, the combined anteversion angle needs to be ensured to be not greater than a certain angle value, so according to the value of the hip joint anteversion angle and the like, the femoral anteversion angle can be set in a certain angle range in the preoperative stage. For example, the target angle range of the femoral anteversion angle is between 20-25 degrees.

[0065] In this way, after the femoral anteversion angle of the patient is measured by using the measurement system 200 provided by the embodiment of the present application, the computer device 210 can display the angle in the display unit to prompt the doctor. If the currently measured anteversion angle is not in the preset target angle range, the doctor can hold the femoral anteversion angle recording tool 240 and adjust the contact position of the tool with the osteotomy. During the adjustment process, the optical navigation device 220 will continuously acquire the pose sequences of the two trackers and send them to the computer device 210, and the computer device 210 will also calculate the anteversion angle corresponding to the different contact positions of the femoral anteversion angle recording tool 240 in real time according to the pose sequences sent by the optical navigation device 220 and display them in the display unit.

[0066] When the angle of the femoral anteversion of the patient obtained by re-measuring is within the target angle range, the computer device 210 can display prompt information through the display unit, which can be used to prompt marking at the osteotomy site by using one end of the femoral anteversion recording tool 240, and the marking information obtained by marking can be used to guide the placement of the femoral stem prosthesis. That is, when the corresponding measured femoral anteversion meets the surgical requirements by adjusting the contact position, the doctor can hold the femoral anteversion recording tool 240 and mark at the current contact position by using the blade-shaped end thereof, leaving a trace as marking information. In this way, the doctor can place the femoral stem prosthesis at the marked position based on the marked position. When the femoral stem prosthesis is placed at the position, the actual femoral anteversion of the patient is also the value of the same angle obtained by using the femoral anteversion recording tool 240 at the position.

[0067] In the embodiment of the present application, the pose sequence of the plurality of markers collected by the optical navigation device can be combined to calculate a target plane capable of representing the femoral coronal plane and a target vector capable of representing the femoral anteversion axis, respectively. The computer device can quickly calculate the angle value of the femoral anteversion of the patient by calculating the included angle between the target plane and the target vector. By applying the femoral anteversion measurement system provided by the present application, the femoral anteversion of the patient can be measured without the need for positioning and registration of the femur, thereby reducing the operation complexity of the measurement process. Moreover, the measurement system provided by the present application can also be applied to the intraoperative scene to measure the femoral anteversion in real time during the surgical process, thereby providing a reference for the surgical operation and helping to improve the surgical efficiency and success rate.

[0068] For ease of understanding, the process of measuring the femoral anteversion by applying the femoral anteversion measurement system provided by the present application will be introduced below in combination with a specific example.

[0069] As shown in Figures 6 to 9 , it is a schematic diagram of a femoral anteversion measurement process provided by an embodiment of the present application. Figures 6 to 9 The measurement process shown in Figures 6 to 9 is not the real femur (thigh) and tibia (shin) of the patient.

[0070] Referring to Figure 6 , it is a schematic diagram of a femur and tibia provided by an embodiment of the present application. Figure 6 The femur and tibia shown in Figure 6 are simulated by using a simple model. Figure 6The model shown in part (b) of FIG. 6 is used to represent the tibia 602, Figure 6 The model shown in part (c) of FIG. 6 is used to represent the femur 601 after osteotomy. Compared with the example of the femur 601 before osteotomy shown in part (a) of FIG. 6, Figure 6 The example of the femur 601 before osteotomy shown in part (a) of FIG. 6, Figure 6 In part (c) of FIG. 6, part of the bone is removed at the location of the osteotomy site 603. The osteotomy site 603 appears as an elliptical plane.

[0071] The measurement system required for the measurement process can refer to Figure 2 The femoral coronal plane locator and the femoral anteversion recording tool required can refer to Figure 3 and Figure 4 as shown.

[0072] As shown in Figure 7 , the osteotomy site is osteotomied according to the surgical plan. The process can refer to Figure 7 , i.e., in part (a) and part (b) of FIG. 7, part of the bone is removed at the location of the osteotomy site 603 of the femur 601, so that the osteotomy site 603 appears as an elliptical plane. Then, as shown in part (c) of FIG. 7, Figure 7 , the femoral coronal plane locator 230 shown in Figure 2 can be fixed on the patient's lower leg.

[0073] Then, as shown in Figure 8 , the doctor can hold the femoral anteversion recording tool 240 shown in Figure 3 with the sheet-shaped end of the tool in contact with the major axis of the elliptical plane of the osteotomy site 603. At this time, the patient's thigh and lower leg are kept perpendicular, the optical navigation device 220 can collect the pose sequence of the trackers on the femoral coronal plane locator 230 and the femoral anteversion recording tool 240, and send it to the computer device 210, and the computer device 210 processes the received pose sequence.

[0074] As shown in Figure 9 , after the computer device processes the received pose sequence, the target plane 901 representing the femoral coronal plane and the target vector 902 representing the femoral anteversion axis can be calculated. By calculating the angle between the above-mentioned target plane 901 and target vector 902, the femoral anteversion angle of the patient can be calculated.

[0075] In combination with the foregoing embodiments, the present application also provides a femoral anteversion angle measurement method. Referring to Figure 10 , is a schematic diagram of a femoral anteversion angle measurement method provided by an embodiment of the present application. The method can specifically include the following steps:

[0076] S1001, receive a first pose sequence of the first tracker and a second pose sequence of the second tracker identified by the optical navigation device in the case that the thigh and the lower leg of the patient are perpendicular.

[0077] S1002, calculate a target plane for representing a femoral coronal plane based on the first pose sequence.

[0078] S1003, calculate a target vector for representing a femoral anteversion axis based on the second pose sequence.

[0079] S1004, determine an included angle between the target vector and the target plane, and an angle of the included angle is used to represent an angle of a measured femoral anteversion angle of the patient.

[0080] Figure 10 The measurement method shown can be implemented by using the femoral anteversion measurement system introduced in the foregoing embodiments. For the required measurement system and the required related tools, such as the femoral coronal plane locator, the femoral anteversion recording tool, and how to use these measurement systems and tools to obtain the pose sequences of the plurality of trackers and calculate the femoral anteversion angle of the patient, refer to the introduction of the foregoing embodiments, which will not be described here.

[0081] By applying the femoral anteversion measurement method provided in the embodiments of the present application, the femoral anteversion angle of the patient can be quickly measured in combination with the optical navigation device, the femoral coronal plane locator with the tracker, and the femoral anteversion recording tool with the tracker. The entire measurement process does not require positioning of the femur and does not require registration. The femoral coronal plane and the femoral anteversion axis can be used to accurately calculate the femoral anteversion angle, helping the clinician to detect the required original femoral anteversion angle and the predicted femoral anteversion angle of the implanted prosthesis in real time. Compared with the measurement method in the prior art, the present method has high accuracy and realizes accurate measurement of the femoral anteversion angle, which can provide reliable data support for the surgery. The measurement can be performed at any time during the surgery, helping the surgeon to timely adjust the surgical plan, improving the safety and effectiveness of the surgery, and having strong real-time performance. In addition, by applying the present method, the operation is convenient, the operation difficulty is greatly reduced compared with the prior art, and the postoperative review by using X-ray films or CT scans multiple times can be avoided, reducing the radiation exposure of the patient and being beneficial to protecting the health of the patient.

[0082] The size of the serial number of each step in the foregoing embodiments does not mean the execution sequence, and the execution sequence of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0083] Reference Figure 11Fig. 1 shows a schematic diagram of a femoral anteversion measurement device according to an embodiment of the present application, which can specifically include a pose sequence receiving module 1101, a target plane calculating module 1102, a target vector calculating module 1103, and a femoral anteversion measurement module 1104, wherein:

[0084] The pose sequence receiving module 1101 is configured to receive a first pose sequence of a first tracker and a second pose sequence of a second tracker identified by an optical navigation device under the condition that a thigh and a lower leg of a patient are perpendicular, the optical navigation device is configured to navigate by identifying the first tracker and the second tracker, the first tracker and the second tracker are respectively installed on a femoral coronal plane locator and a femoral anteversion recording tool, the femoral coronal plane locator is fixed to the lower leg of the patient, and one end of the femoral anteversion recording tool is in contact with a bone cutting site of the patient.

[0085] The target plane calculating module 1102 is configured to calculate a target plane for representing a femoral coronal plane based on the first pose sequence.

[0086] The target vector calculating module 1103 is configured to calculate a target vector for representing a femoral anteversion axis based on the second pose sequence.

[0087] The femoral anteversion measurement module 1104 is configured to determine an included angle between the target vector and the target plane, and an angle of the included angle is used to represent an angle of a measured femoral anteversion of the patient.

[0088] In the embodiment of the present application, the femoral anteversion recording tool is held by a doctor and the first end thereof is in contact with the bone cutting site of the patient, and the second tracker is installed on the second end of the femoral anteversion recording tool opposite to the first end. Exemplarily, the first end of the femoral anteversion recording tool is in a sheet shape.

[0089] In the embodiment of the present application, the femoral coronal plane locator is a long-axis holder, and the femoral coronal plane locator is fixed to the lower leg of the patient by clamping the lower leg of the patient.

[0090] In the embodiment of the present application, when the patient is prone, the lower leg of the patient is lifted upward with the knee as a fulcrum, so that the thigh and the lower leg of the patient are perpendicular; or,

[0091] When the patient is lying on one side, the lower leg of the patient is moved backward with the knee as a fulcrum, so that the thigh and the lower leg of the patient are perpendicular.

[0092] In the embodiment of the present application, the first pose sequence and the second pose sequence are pose sequences of the first tracer and the second tracer collected after the osteotomy of the patient, and the osteotomy is an elliptical plane after the osteotomy of the patient. The second pose sequence is obtained after one end of the femoral anteversion recording tool is in contact with the long axis of the elliptical plane. The measured angle of the femoral anteversion of the patient is displayed in real time through the display unit of the computer device.

[0093] In a possible implementation manner of the embodiment of the present application, the pose sequence receiving module 1101 can also be used to receive a third pose sequence of the first tracer and a fourth pose sequence of the second tracer identified by the optical navigation device after the position of one end of the femoral anteversion recording tool in contact with the elliptical plane changes.

[0094] Correspondingly, the femoral anteversion measurement module 1104 can also be used to recalculate the angle of the femoral anteversion of the patient based on the third pose sequence and the fourth pose sequence, and display the recalculated angle of the femoral anteversion of the patient through the display unit.

[0095] In another possible implementation manner of the embodiment of the present application, the femoral anteversion measurement module 1104 can also be used to determine a target angle range of the femoral anteversion of the patient. When the measured or recalculated angle of the femoral anteversion of the patient is within the target angle range, prompt information is displayed through the display unit, and the prompt information is used to prompt that one end of the femoral anteversion recording tool is used to mark at the osteotomy site, and the marking information obtained by marking is used to guide the placement of the femoral stem prosthesis.

[0096] The femoral anteversion measurement device provided in the embodiment of the present application can be the femoral anteversion measurement system or the related unit in the measurement system introduced in the foregoing embodiments. The device can realize the related functions of the measurement system in the foregoing embodiments.

[0097] For the device embodiment, it is basically similar to the method embodiment, so it is described more simply, and the related parts refer to the description in the system embodiment and the method embodiment.

[0098] Reference is made to Figure 12 , which shows a schematic diagram of a computer device provided in the embodiment of the present application. Figure 12 The computer device 210 in the embodiment of the present application can be the same device as the computer device 210 in the embodiment of the present application. Figure 2 The computer device 210 in the embodiment of the present application can be the same device as the computer device 210 in the embodiment of the present application. Figure 12As shown, the computer device 210 in the embodiments 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. The processor 1210 implements the steps in each of the femoral anteversion angle measurement method embodiments described above when executing the computer program 1221, for example Figure 10 The steps S1001 to S1004 shown. Alternatively, the processor 1210 implements the functions of each module / unit in each of the device embodiments described above when executing the computer program 1221, for example Figure 11 The functions of the modules 1101 to 1104 shown.

[0099] Illustratively, the computer program 1221 can be segmented into one or more modules / units 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 capable of completing a specific function, which 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 segmented into a pose sequence receiving module, a target plane calculating module, a target vector calculating module, and a femoral anteversion angle measuring module, and the specific functions of each module are as follows:

[0100] The pose sequence receiving module is configured to receive a first pose sequence of a first tracker and a second pose sequence of a second tracker identified by an optical navigation device in a case where a patient's thigh and calf are perpendicular, the optical navigation device being configured to navigate by identifying the first tracker and the second tracker, the first tracker and the second tracker 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 the patient's osteotomy site.

[0101] The target plane calculating module is configured to calculate a target plane for representing a femoral coronal plane based on the first pose sequence.

[0102] The target vector calculating module is configured to calculate a target vector for representing a femoral anteversion axis based on the second pose sequence.

[0103] The femoral anteversion angle measuring module is configured to determine an included angle between the target vector and the target plane, the angle of the included angle being used to represent the angle of the measured femoral anteversion angle of the patient.

[0104] The computer device 210 can be the computer device described in the foregoing various system embodiments, and can be a desktop computer, a cloud server, or the like. The computer device 210 can include, but is not limited to, a processor 1210, a memory 1220. Those skilled in the art can understand that Figure 12 The computer device 210 is only an example and does not constitute a limitation on the computer device 210, and can include more or fewer components than shown, or combine certain components, or include different components, for example, the computer device 210 can also include an input / output device, a network access device, a bus, and the like.

[0105] The processor 1210 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0106] The memory 1220 can be an internal storage unit of the computer device 210, such as a hard disk or a 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 disk, a smart media card (SMC), a secure digital (SD) card, a flash card, or the like. Further, the memory 1220 can include both the internal storage unit and the external storage device of the computer device 210. 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 will be output.

[0107] The embodiments of the present application also disclose a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method described in the foregoing various embodiments is implemented.

[0108] The embodiment of the present application further discloses a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program is executed by a computer to realize the method in the foregoing various embodiments.

[0109] The embodiment of the present application further discloses a computer program product, comprising a computer program, which, when running on a computer, causes the computer to execute the method in the foregoing various embodiments.

[0110] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent ones, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope 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 the femoral anteversion angle recording tool is designed to have a sheet-like first end in contact with the patient's osteotomy site, and wherein 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 measuring system according to claim 1 or 2, 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.

4. The measurement system according to claim 3, 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.

5. The measuring system according to any one of claims 1, 2 or 4, 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.

6. The measurement system according to claim 5, 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.

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: 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.

8. A method for measuring femoral anteversion, characterized in that: The invention is applied to a computer device, wherein the computer device is connected to an optical navigation device, wherein the optical navigation device is used for 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 the femoral anteversion angle recording tool is designed to have a sheet-like first end in contact with the patient's osteotomy site. The femoral anteversion angle measurement method comprises: 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.

9. 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 8.

Images