Guiding methods and devices for femoral neck screw placement

Abstract

This invention provides a guiding method and device for femoral neck screw placement, relating to the field of surgical navigation technology. The method includes: establishing an XOZ coordinate system based on the origin in the coronal image of the patient, with the center of the femoral head as the origin, and establishing an XOY coordinate system based on the origin in the axial image of the patient; determining a first plane in the XOZ coordinate system where the optimal screw placement position of the femoral neck is located; determining a second plane in the XOY coordinate system where the optimal screw placement position of the femoral neck is located; and determining the intersection line of the first and second planes as the optimal screw placement position. This invention, through the use of a specific mathematical model, enables precise numerical calculation and analysis based on the patient's individualized skeletal structure data. It can accurately plan the optimal screw placement position based on the three-dimensional bone model of the femoral neck, avoiding the errors caused by traditional methods that rely solely on experience or approximate measurements.

Description

Technical Field

[0001] This invention relates to the field of surgical navigation technology, and in particular to a guiding method and device for femoral neck screw placement. Background Technology

[0002] Proximal femoral replacement (PFR) is a surgical procedure primarily used to treat patients with severe injuries or diseases of the proximal femur (near the hip), particularly hip fractures, avascular necrosis of the femoral head, or advanced arthritis. This surgery restores hip function by replacing the femoral head and / or femoral neck, thereby reducing pain, improving mobility, and enhancing quality of life.

[0003] Clinical data studies indicate that during proximal femoral prosthesis replacement, the screws inserted into the femoral neck should be positioned in the lower third of the femoral neck for the safest and most reasonable approach. However, when designing the prosthesis, accurately locating this screw placement position is currently often determined by visual inspection or experience. This approach has low accuracy and is prone to problems with inaccurate screw placement. Summary of the Invention

[0004] To address the low accuracy of existing methods for determining femoral nail placement, this invention provides a guiding method and apparatus for femoral neck nail placement. The technical solution is as follows:

[0005] On the one hand, a guiding method for femoral neck screw placement is provided, comprising:

[0006] Obtain a three-dimensional bone model of the patient's femoral neck;

[0007] Based on the three-dimensional bone model of the femoral neck, with the center of the femoral head as the origin, an XOZ coordinate system is established in the coronal images of the patient based on the origin, and an XOY coordinate system is established in the axial images of the patient based on the origin.

[0008] In the XOZ coordinate system, the first plane is used to determine the optimal placement position of the femoral neck screw;

[0009] In the XOY coordinate system, determine the second plane containing the optimal femoral neck screw placement position;

[0010] The intersection line of the first plane and the second plane is determined as the optimal pin placement position.

[0011] Optionally, determining the first plane containing the optimal femoral neck screw placement position in the XOZ coordinate system includes:

[0012] In the XOZ coordinate system, the approximate straight line equations of the first upper surface profile and the first lower surface profile of the femoral neck are determined;

[0013] In the XOZ coordinate system, the trisection line of the acute angle formed by the first upper surface contour approximate line and the first lower surface contour approximate line is determined. The acute angle formed by the trisection line and the first lower surface contour approximate line is smaller than the acute angle formed by the trisection line and the first upper surface contour approximate line.

[0014] Determine the first plane formed by the trisection line and the Y-axis in the XOY coordinate system.

[0015] Optionally, determining the second plane containing the optimal femoral neck screw placement position in the XOY coordinate system includes:

[0016] In the XOY coordinate system, determine the approximate straight line equations of the second upper surface profile and the second lower surface profile of the femoral neck;

[0017] In the XOY coordinate system, determine the angle bisector of the acute angle formed by the approximate straight line of the second upper surface profile and the approximate straight line of the second lower surface profile;

[0018] Determine the second plane formed by the angle bisector and the Z-axis in the XOZ coordinate system.

[0019] Optionally, determining the trisection line of the acute angle formed by the approximate straight line of the first upper surface profile and the approximate straight line of the first lower surface profile in the XOZ coordinate system includes:

[0020] The first equation of the trisection line that determines the acute angle formed by the approximate straight lines of the first upper surface profile and the first lower surface profile;

[0021] The coordinates of any two points of the trisection line are generated according to the first equation, and the trisection line is determined in the XOZ coordinate system by connecting the coordinates of any two points of the trisection line.

[0022] Optionally, determining the angle bisector of the acute angle formed by the approximate straight lines of the second upper surface profile and the second lower surface profile in the XOY coordinate system includes:

[0023] The second equation is used to determine the angle bisector of the acute angle formed by the approximate straight lines of the second upper surface profile and the second approximate straight lines of the second lower surface profile.

[0024] The coordinates of any two points of the angle bisector are generated according to the second equation, and the angle bisector is determined in the XOY coordinate system by connecting the coordinates of any two points of the angle bisector.

[0025] Optionally, determining the approximate straight line equations of the first upper surface profile and the first lower surface profile of the femoral neck in the XOZ coordinate system includes:

[0026] In the XOZ coordinate system, the coordinates of any two points on the approximate straight line of the first upper surface profile of the femoral neck are determined, and the equation of the approximate straight line of the first upper surface profile is determined based on the coordinates of any two points on the approximate straight line of the first upper surface profile.

[0027] In the XOZ coordinate system, the coordinates of any two points on the approximate straight line of the first lower surface profile of the femoral neck are determined, and the equation of the approximate straight line of the first lower surface profile is determined based on the coordinates of any two points on the approximate straight line of the first lower surface profile.

[0028] Optionally, determining the approximate straight line equations of the second upper surface profile and the second lower surface profile of the femoral neck in the XOY coordinate system includes:

[0029] In the XOY coordinate system, determine the coordinates of any two points on the approximate straight line of the first upper surface contour of the femoral neck, and determine the equation of the approximate straight line of the first upper surface contour based on the coordinates of any two points on the approximate straight line of the first upper surface contour.

[0030] In the XOY coordinate system, the coordinates of any two points on the approximate straight line of the first lower surface profile of the femoral neck are determined, and the equation of the approximate straight line of the first lower surface profile is determined based on the coordinates of any two points on the approximate straight line of the first lower surface profile.

[0031] On the other hand, a guiding device for femoral neck screw placement is provided, the guiding device for femoral neck screw placement being used to implement the guiding method for femoral neck screw placement provided in the embodiments of the present invention, the device comprising:

[0032] The acquisition module acquires a three-dimensional bone model of the patient's femoral neck;

[0033] The coordinate system establishment module is used to establish an XOZ coordinate system based on the origin in the coronal images of the patient, with the center of the femoral head as the origin, and an XOY coordinate system based on the origin in the axial images of the patient, based on the three-dimensional bone model of the femoral neck.

[0034] The first plane determination module is used to determine the first plane in the XOZ coordinate system where the optimal nail placement position of the femoral neck is located;

[0035] The second plane determination module is used to determine the second plane in the XOY coordinate system where the optimal nail placement position of the femoral neck is located;

[0036] The pin placement position determination module is used to determine the intersection line between the first plane and the second plane as the optimal pin placement position.

[0037] On the other hand, a guide device for femoral neck screw placement is provided, the guide device for femoral neck screw placement comprising:

[0038] processor;

[0039] A memory storing computer-readable instructions, which, when executed by the processor, implement the method provided in the embodiments of the present invention.

[0040] On the other hand, a computer-readable storage medium is provided, wherein program code is stored in the computer-readable storage medium, and the program code can be invoked by a processor to execute the method provided in the embodiments of the present invention.

[0041] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0042] This invention, through the use of a specific mathematical model, enables precise numerical calculations and analyses based on individualized patient bone structure data and three-dimensional image information obtained from CT scans. It can accurately plan the optimal screw placement location according to the three-dimensional bone model of the femoral neck, avoiding errors caused by traditional methods that rely solely on experience or approximate measurements. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart of a guiding method for femoral neck screw placement provided by an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of a coronal image provided in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of an axial image provided in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of an optimal pin placement position provided by an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of intraoperative screw placement provided by an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of a first plane for determining the optimal femoral neck screw placement position according to an embodiment of the present invention;

[0050] Figure 7 This is a schematic diagram of a second plane for determining the optimal femoral neck screw placement position according to an embodiment of the present invention;

[0051] Figure 8 This is a flowchart of a method for determining the trisection line of the acute angle formed by the approximate straight line of the first upper surface contour and the approximate straight line of the first lower surface contour, according to an embodiment of the present invention.

[0052] Figure 9 This is a flowchart of a method for determining the angle bisector of the acute angle formed by the approximate straight line of the second upper surface profile and the approximate straight line of the second lower surface profile, provided by an embodiment of the present invention.

[0053] Figure 10 This is a flowchart of a method for determining the approximate linear equations of the first upper surface contour and the first lower surface contour of the femoral neck, provided by an embodiment of the present invention.

[0054] Figure 11 This is a flowchart of a method for determining the approximate linear equation of the second upper surface profile and the approximate linear equation of the second lower surface profile of the femoral neck, provided by an embodiment of the present invention.

[0055] Figure 12 This is a schematic diagram of a guide device for femoral neck screw placement provided in an embodiment of the present invention;

[0056] Figure 13 This is a schematic diagram of a guiding device for femoral neck screw placement provided in an embodiment of the present invention. Detailed Implementation

[0057] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0058] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0059] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, their intended meanings are consistent. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, their intended meanings are consistent.

[0060] In this embodiment of the invention, sometimes a subscript such as W1 may be mistakenly written as a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0061] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0062] To address the low accuracy of existing methods for determining femoral nail placement, this invention provides a guiding method and apparatus for femoral neck nail placement. The technical solution is as follows:

[0063] Screws inserted into the femoral neck are relatively thick, typically 6.5mm or 7.3mm in diameter cannulated screws. Traditionally, a thinner guide wire (3.0mm) is inserted first, followed by intraoperative imaging to determine its position. If the position is unsuitable, it must be readjusted. Multiple drilling can create stress concentration points in the cortical bone, increasing the risk of subtrochanteric fractures. Furthermore, if the screw placement cannot be accurately predicted intraoperatively and appropriate auxiliary devices are not used, the guide wire's trajectory is unlikely to achieve the desired result on the first attempt, and reorientation is difficult.

[0064] To address the aforementioned problems, embodiments of the present invention provide a guiding method for femoral neck screw placement.

[0065] like Figure 1 As shown, the method includes:

[0066] S1. Obtain a three-dimensional bone model of the patient's femoral neck.

[0067] Among them, the three-dimensional bone model of the patient's femoral neck can be obtained through the patient's medical imaging data.

[0068] S2. Based on the three-dimensional bone model of the femoral neck, with the center of the femoral head as the origin, establish the XOZ coordinate system in the coronal image of the patient based on the origin, and establish the XOY coordinate system in the axial image of the patient based on the origin.

[0069] like Figure 2 As shown, the center of the femoral head is defined as the origin O(0, 0, 0). An XOZ coordinate system is established with the origin O in the coronal image of the patient, and an XOY coordinate system is established with the origin O in the axial image of the patient.

[0070] S3. In the XOZ coordinate system, determine the first plane where the optimal nail placement position of the femoral neck is located.

[0071] In the XOZ coordinate system, the upper and lower surface contours of the femoral neck can be approximated as two straight lines. The upper surface contour is defined as Lab, and the lower surface contour is defined as Lcd. Two points are randomly selected from each of these lines. The two points selected in Lab are A(x1, z1) and B(x2, z2), and the two points selected in Lcd are C(x3, z3) and D(x4, z4). The expression for Lab is: (z2-z1)x-(x2-x1)z+(x2z1-x1z2)=0, and the expression for Lcd is: (z4-z3)x-(x4-x3)z+(x4z3-x3z4)=0.

[0072] Based on the above, the equation of the line that bisects the acute angle between them, L1 (the bisector closer to Lcd), can be derived:

[0073] The general form of Lab is: A1x + B1z + C1 = 0, where A1 = z2 - z1, B1 = -(x2 - x1), and C1 = x2z1 - x1z2.

[0074] The general form of Lcd is: A2x + B2z + C2 = 0, where A2 = z4 - z3, B2 = -(x4 - x3), and C2 = x4z3 - x3z4.

[0075] The intersection of lines Lab and Lcd is P(x0, z0). The distance from any point on the trisection closest to Lcd to any point on the trisection of Lcd to Lcd is half the distance from Lab. Inside the acute angle, the signs are consistent (taking positive values), simplifying to equation one:

[0076]

[0077] in,

[0078]

[0079] Substituting into equation one, we get equation two:

[0080] (2A2d AB -A1d CD )x+(2B2d AB -B1d CD )z+(2C2d AB -C1d CD ) = 0.

[0081] Substituting A1, A2, B1, B2, C1, and C2 into Equation 2, we obtain the equation of the trisection L1 of the acute angle closest to Lcd: [2(z4-z3)d AB -(z2-z1)dCD ]x+[-2(x⁴-x³)d AB +(x2-x1)d CD ]z+[2(x4z3-x3z4)d AB -(x2z1-x1z2)d CD ] = 0.

[0082] The above derivation process yields the equation of line L1. By inputting any two x values ​​and substituting them into the equation of line L1, the coordinates of any two points P1 and P2 on L1 can be obtained. Based on the coordinates of points P1 and P2, line L1 can be determined on the coronal position view.

[0083] Define the plane formed by the line L1 and the Y-axis as S1. S1 is the optimal pin placement position in the coronal view.

[0084] S4. In the XOY coordinate system, determine the second plane where the optimal nail placement position of the femoral neck is located.

[0085] In practical applications, such as Figure 3 As shown, in the XOY coordinate system, the upper and lower surface contours of the femoral neck can be approximated as two straight lines. The upper surface contour line of the femoral neck is defined as Lef, and the lower surface contour line is defined as Lgh. Two points are randomly selected on Lef: E(x5, y5) and F(x6, y6). Two points are randomly selected on Lgh: G(x7, y7) and H(x8, y8). The expressions for Lef and Lgh can then be derived as: (y6-y5)x - (x6-x5)y + (x6y5 - x5y6) = 0, and the expression for Lcd is: (y8-y7)x - (x8-x7)y + (x8y7 - x7y8) = 0.

[0086] Based on the expressions for Lef and Lgh, the equation of the angle bisector L2 of the acute angle between Lef and Lgh can be derived.

[0087] The general form of Lef is: A3x + B3y + C3 = 0, where A3 = y6 - y5, B3 = -(x6 - x5), and C3 = x6y5 - x5y6.

[0088] The general form of Lgh is: A4x+B4y+C4=0, where A4=y8-y7, B4=-(x8-x7), and C4=x8y7-x7y8.

[0089] Let (x, y) be any point on the angle bisector. Then the distance from this point to the two lines is equal, i.e. Within the acute angle region, the equations of the two lines have the same sign (both positive or both negative), which simplifies to equation three (i.e., the equation of L2):

[0090]

[0091] The equation of line L2 is derived through the above derivation process. Similarly, by inputting any two x values ​​and substituting them into the equation of line L2, the coordinates of any two points P3 and P4 on L2 can be obtained. With the coordinates of P3 and P4, line L2 can be determined on the axial view (XOY coordinate system).

[0092] The plane formed by the line L2 and the Z-axis is S2, thus obtaining the optimal pin placement position in the axial view.

[0093] S5. Determine the intersection line of the first plane and the second plane as the optimal pin placement position.

[0094] like Figure 4 As shown, the intersection line L3 of planes S1 and S2 is the optimal pin placement position in three-dimensional space.

[0095] like Figure 5 As shown, based on the obtained intersection line L3, the subsequent screw placement guide can be designed to achieve precise screw placement during the operation.

[0096] Optionally, such as Figure 6 As shown, determining the first plane containing the optimal femoral neck screw placement position in the XOZ coordinate system includes:

[0097] S601. In the XOZ coordinate system, determine the approximate straight line equations of the first upper surface profile and the first lower surface profile of the femoral neck.

[0098] S602. In the XOZ coordinate system, determine the trisection line of the acute angle formed by the first upper surface contour approximation line and the first lower surface contour approximation line, wherein the acute angle formed by the trisection line and the first lower surface contour approximation line is smaller than the acute angle formed by the trisection line and the first upper surface contour approximation line.

[0099] S603. Determine the first plane formed by the trisection line and the Y-axis in the XOY coordinate system.

[0100] Optionally, such as Figure 7 As shown, determining the second plane containing the optimal femoral neck screw placement position in the XOY coordinate system includes:

[0101] S701. In the XOY coordinate system, determine the approximate straight line equations of the second upper surface profile and the second lower surface profile of the femoral neck.

[0102] S702. Determine the angle bisector of the acute angle formed by the approximate straight line of the second upper surface profile and the approximate straight line of the second lower surface profile in the XOY coordinate system.

[0103] S703. Determine the second plane formed by the angle bisector and the Z-axis in the XOZ coordinate system.

[0104] Optionally, such as Figure 8 As shown, determining the trisection line of the acute angle formed by the approximate straight line of the first upper surface profile and the approximate straight line of the first lower surface profile in the XOZ coordinate system includes:

[0105] S801. Determine the first equation of the trisection line of the acute angle formed by the approximate straight line of the first upper surface profile and the approximate straight line of the first lower surface profile.

[0106] S802. Generate the coordinates of any two points of the trisection line according to the first equation, and determine the trisection line in the XOZ coordinate system by connecting the coordinates of any two points of the trisection line.

[0107] Optionally, such as Figure 9 As shown, determining the angle bisector of the acute angle formed by the approximate straight lines of the second upper surface profile and the second lower surface profile in the XOY coordinate system includes:

[0108] S901. Determine the second equation of the angle bisector of the acute angle formed by the approximate straight line of the second upper surface profile and the approximate straight line of the second lower surface profile.

[0109] S902. Generate the coordinates of any two points of the angle bisector according to the second equation, and determine the angle bisector in the XOY coordinate system by connecting the coordinates of any two points of the angle bisector.

[0110] Optionally, such as Figure 10 As shown, determining the approximate straight line equations of the first upper surface profile and the first lower surface profile of the femoral neck in the XOZ coordinate system includes:

[0111] S1001. In the XOZ coordinate system, determine the coordinates of any two points of the approximate straight line of the first upper surface contour of the femoral neck, and determine the equation of the approximate straight line of the first upper surface contour based on the coordinates of any two points of the approximate straight line of the first upper surface contour.

[0112] S1002. In the XOZ coordinate system, determine the coordinates of any two points on the approximate straight line of the first lower surface contour of the femoral neck, and determine the equation of the approximate straight line of the first lower surface contour based on the coordinates of any two points on the approximate straight line of the first lower surface contour.

[0113] Optionally, such as Figure 11 As shown, determining the approximate straight line equations of the second upper surface profile and the second lower surface profile of the femoral neck in the XOY coordinate system includes:

[0114] S1101. In the XOY coordinate system, determine the coordinates of any two points of the approximate straight line of the first upper surface contour of the femoral neck, and determine the equation of the approximate straight line of the first upper surface contour based on the coordinates of any two points of the approximate straight line of the first upper surface contour.

[0115] S1102. In the XOY coordinate system, determine the coordinates of any two points on the approximate straight line of the first lower surface contour of the femoral neck, and determine the equation of the approximate straight line of the first lower surface contour based on the coordinates of any two points on the approximate straight line of the first lower surface contour.

[0116] On the other hand, such as Figure 12 As shown, a guide device for femoral neck screw placement is provided. The guide device is used to implement the guide method for femoral neck screw placement provided in the embodiments of the present invention. The device includes:

[0117] Module 1201 is used to acquire a three-dimensional bone model of the patient's femoral neck.

[0118] The coordinate system establishment module 1202 is used to establish an XOZ coordinate system based on the origin in the coronal image of the patient, with the center of the femoral head as the origin, and an XOY coordinate system based on the origin in the axial image of the patient, according to the three-dimensional bone model of the femoral neck.

[0119] The first plane determination module 1203 is used to determine the first plane in the XOZ coordinate system where the optimal nail placement position of the femoral neck is located.

[0120] The second plane determination module 1204 is used to determine the second plane in the XOY coordinate system where the optimal nail placement position of the femoral neck is located.

[0121] The pin placement position determination module 1205 is used to determine the intersection line of the first plane and the second plane as the optimal pin placement position.

[0122] On the other hand, a guide device for femoral neck screw placement is provided, the guide device for femoral neck screw placement comprising:

[0123] processor;

[0124] A memory storing computer-readable instructions, which, when executed by the processor, implement the method provided in the embodiments of the present invention.

[0125] On the other hand, a computer-readable storage medium is provided, wherein program code is stored in the computer-readable storage medium, and the program code can be invoked by a processor to execute the method provided in the embodiments of the present invention.

[0126] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0127] This invention, through the use of a specific mathematical model, enables precise numerical calculations and analyses based on individualized patient bone structure data and three-dimensional image information obtained from CT scans. It can accurately plan the optimal screw placement location according to the three-dimensional bone model of the femoral neck, avoiding errors caused by traditional methods that rely solely on experience or approximate measurements.

[0128] The embodiments of the present invention also have the following beneficial effects:

[0129] Improving the accuracy of surgical planning: Mathematical models can perform precise numerical calculations and analyses based on individualized skeletal structure data of patients and three-dimensional image information obtained through CT scans. This allows for accurate determination of anatomical parameters of the bones, such as length, width, angle, and internal structural characteristics, thereby precisely planning the optimal screw placement location and avoiding errors caused by traditional methods that rely solely on experience or approximate measurements.

[0130] Enhancing surgical predictability: Mathematical models can be used to simulate the effects of different screw placement positions and angles on bone stability and biomechanical distribution before surgery. Surgeons can predict surgical outcomes in advance, assess the risks of different approaches, and, for example, calculate stress distribution to determine which screw placement method best meets the postoperative biomechanical needs of the bone, reducing the risk of internal fixation failure and allowing for the development of the optimal surgical plan for the patient.

[0131] Reduced intraoperative adjustments and complications: Because the screw placement is precisely determined preoperatively using mathematical models, surgeons can operate more directly and accurately during the procedure, reducing repeated attempts and adjustments to find suitable placement points. This not only shortens the operation time but also reduces the probability of complications such as infection caused by prolonged operation time, while also minimizing unnecessary damage to surrounding tissues. (If the drilling direction and angle are inaccurate, the screw can easily penetrate the cortex, damaging blood vessels and nerves).

[0132] Improving screw placement accuracy: Precision screw placement guides are precisely designed and manufactured based on the individualized skeletal anatomy of each patient. They provide precise guidance for screw insertion, enabling surgeons to place screws more accurately in their intended positions, significantly improving placement accuracy and success rates, and reducing complications such as nerve and vascular injury caused by improper screw placement. Using a screw placement guide to determine the screw entry point and direction greatly increases the success rate of first-time screw placement and minimizes damage to overlying soft tissues.

[0133] Reducing surgical risks: In traditional screw placement surgery, surgeons rely mainly on experience and intraoperative imaging to determine screw placement, which carries a certain degree of error and risk. Using a precision-guided screw placement technique effectively reduces the subjectivity and uncertainty of the surgical procedure, decreases surgical time and intraoperative bleeding, and lowers surgical risks.

[0134] Reduced radiation exposure: In traditional screw placement surgery, multiple intraoperative fluoroscopy or X-rays are often required to ensure accurate screw placement, exposing both patients and surgeons to significant radiation. The use of precision-guided screw placement can reduce reliance on intraoperative imaging examinations such as fluoroscopy, thereby reducing radiation exposure for both patients and surgeons.

[0135] Improving surgical efficiency: Precision-guided screw placement plates can be designed and fabricated before surgery based on the patient's imaging data, and used directly during surgery, eliminating the need for extensive intraoperative positioning and measurement. This helps shorten surgical time, improve surgical efficiency, reduce the time the patient spends under anesthesia, and promotes postoperative recovery.

[0136] Achieving personalized medicine: Each patient's bone structure and condition are different. Precision-assisted screw placement guides can be customized according to the patient's specific situation to meet the surgical needs of different patients and provide them with more precise and personalized medical services.

[0137] Figure 13 This is a schematic diagram of a guiding device for femoral neck screw placement provided in an embodiment of the present invention, as shown below. Figure 13 As shown, optionally, the guide device 1310 for femoral neck screw placement may include a first processor 2001.

[0138] Optionally, the guiding device 1310 for femoral neck screw placement may also include a memory 2002 and a transceiver 2003.

[0139] The first processor 2001, memory 2002, and transceiver 2003 can be connected via a communication bus.

[0140] The following is combined Figure 13 The various components of the guiding device 1310 for femoral neck screw placement are described in detail below:

[0141] The first processor 2001 is the control center of the guide device 1310 for femoral neck screw placement. It can be a single processor or a collective term for multiple processing elements. For example, the first processor 2001 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0142] Optionally, the first processor 2001 can perform various functions of the guide device 1310 for femoral neck screw placement by running or executing software programs stored in the memory 2002 and calling data stored in the memory 2002.

[0143] In a specific implementation, as one example, the first processor 2001 may include one or more CPUs, for example... Figure 13 CPU0 and CPU1 are shown in the diagram.

[0144] In a specific implementation, as one example, the guide device 1310 for femoral neck screw placement may also include multiple processors, such as... Figure 13 The first processor 2001 and the second processor 2004 are shown in the diagram. Each of these processors can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0145] The memory 2002 is used to store the software program that executes the present invention, and is controlled by the first processor 2001 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0146] Optionally, the memory 2002 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 2002 may be integrated with the first processor 2001 or may exist independently, and may be connected via the interface circuit of the guide device 1310 for femoral neck screw placement. Figure 13 (Not shown in the figure) is coupled to the first processor 2001, and the embodiments of the present invention do not specifically limit this.

[0147] The transceiver 2003 is used to communicate with network devices or with terminal devices.

[0148] Alternatively, transceiver 2003 may include a receiver and a transmitter. Figure 13 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0149] Optionally, the transceiver 2003 can be integrated with the first processor 2001 or exist independently, and can be connected via the interface circuit of the guide device 1310 for femoral neck screw placement. Figure 13 (Not shown in the figure) is coupled to the first processor 2001, and the embodiments of the present invention do not specifically limit this.

[0150] It should be noted that, Figure 13 The structure of the guide device 1310 for femoral neck screw placement shown in the figure does not constitute a limitation on the router. Actual knowledge structure identification devices may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0151] Furthermore, the technical effect of the guide device 1310 used for femoral neck screw placement can be referred to the technical effect of the multimodal emotion recognition method described in the above method embodiments, and will not be repeated here.

[0152] It should be understood that the first processor 2001 in this embodiment of the invention may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0153] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0154] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, motor drive, or data center to another website, computer, motor drive, or data center via infrared, microwave, or other means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a motor drive or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0155] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0156] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0157] It should be understood that, in various embodiments of the present invention, the sequence number of each process does not imply 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 invention.

[0158] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0159] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0160] In the embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0161] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0162] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0163] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a motor driver, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0164] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A guiding method for femoral neck screw placement, characterized in that, include: Obtain a three-dimensional bone model of the patient's femoral neck; Based on the three-dimensional bone model of the femoral neck, with the center of the femoral head as the origin, an XOZ coordinate system is established in the coronal images of the patient based on the origin, and an XOY coordinate system is established in the axial images of the patient based on the origin. In the XOZ coordinate system, the first plane is used to determine the optimal placement position of the femoral neck screw; In the XOY coordinate system, determine the second plane containing the optimal femoral neck screw placement position; The intersection line of the first plane and the second plane is determined as the optimal pin placement position; The first plane in the XOZ coordinate system used to determine the optimal nail placement position of the femoral neck includes: In the XOZ coordinate system, the approximate straight line equations of the first upper surface profile and the first lower surface profile of the femoral neck are determined; In the XOZ coordinate system, the trisection line of the acute angle formed by the first upper surface contour approximation line and the first lower surface contour approximation line is determined. The acute angle formed by the trisection line and the first lower surface contour approximation line is smaller than the acute angle formed by the trisection line and the first upper surface contour approximation line. Determine the first plane formed by the trisection line and the Y-axis in the XOY coordinate system; The determination of the second plane containing the optimal femoral neck screw placement position in the XOY coordinate system includes: In the XOY coordinate system, determine the approximate straight line equations of the second upper surface profile and the second lower surface profile of the femoral neck; In the XOY coordinate system, determine the angle bisector of the acute angle formed by the approximate straight line of the second upper surface profile and the approximate straight line of the second lower surface profile; Determine the second plane formed by the angle bisector and the Z-axis in the XOZ coordinate system.

2. The method according to claim 1, characterized in that, The step of determining the trisection line of the acute angle formed by the approximate straight lines of the first upper surface profile and the first lower surface profile in the XOZ coordinate system includes: The first equation of the trisection line that determines the acute angle formed by the approximate straight lines of the first upper surface profile and the first lower surface profile; The coordinates of any two points of the trisection line are generated according to the first equation, and the trisection line is determined in the XOZ coordinate system by connecting the coordinates of any two points of the trisection line.

3. The method according to claim 2, characterized in that, The step of determining the angle bisector of the acute angle formed by the approximate straight lines of the second upper surface profile and the second lower surface profile in the XOY coordinate system includes: The second equation is used to determine the angle bisector of the acute angle formed by the approximate straight lines of the second upper surface profile and the second approximate straight lines of the second lower surface profile. The coordinates of any two points of the angle bisector are generated according to the second equation, and the angle bisector is determined in the XOY coordinate system by connecting the coordinates of any two points of the angle bisector.

4. The method according to claim 2, characterized in that, Determining the approximate straight line equations of the first upper surface profile and the first lower surface profile of the femoral neck in the XOZ coordinate system includes: In the XOZ coordinate system, the coordinates of any two points on the approximate straight line of the first upper surface profile of the femoral neck are determined, and the equation of the approximate straight line of the first upper surface profile is determined based on the coordinates of any two points on the approximate straight line of the first upper surface profile. In the XOZ coordinate system, the coordinates of any two points on the approximate straight line of the first lower surface profile of the femoral neck are determined, and the equation of the approximate straight line of the first lower surface profile is determined based on the coordinates of any two points on the approximate straight line of the first lower surface profile.

5. The method according to claim 3, characterized in that, Determining the approximate straight line equations of the second upper surface profile and the second lower surface profile of the femoral neck in the XOY coordinate system includes: In the XOY coordinate system, determine the coordinates of any two points on the approximate straight line of the first upper surface contour of the femoral neck, and determine the equation of the approximate straight line of the first upper surface contour based on the coordinates of any two points on the approximate straight line of the first upper surface contour. In the XOY coordinate system, the coordinates of any two points on the approximate straight line of the first lower surface profile of the femoral neck are determined, and the equation of the approximate straight line of the first lower surface profile is determined based on the coordinates of any two points on the approximate straight line of the first lower surface profile.

6. A guide device for femoral neck screw placement, said guide device for femoral neck screw placement is used to implement the guide method for femoral neck screw placement as described in any one of claims 1-5, characterized in that, The device includes: The acquisition module acquires a three-dimensional bone model of the patient's femoral neck; The coordinate system establishment module is used to establish an XOZ coordinate system based on the origin in the coronal images of the patient, with the center of the femoral head as the origin, and an XOY coordinate system based on the origin in the axial images of the patient, based on the three-dimensional bone model of the femoral neck. The first plane determination module is used to determine the first plane in the XOZ coordinate system where the optimal nail placement position of the femoral neck is located; The second plane determination module is used to determine the second plane in the XOY coordinate system where the optimal nail placement position of the femoral neck is located; The pin placement position determination module is used to determine the intersection line between the first plane and the second plane as the optimal pin placement position.

7. A guiding device for femoral neck screw placement, characterized in that, The guiding device for femoral neck screw placement includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code that can be invoked by a processor to execute the method as described in any one of claims 1 to 5.

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