Display method and device of cup position in total hip arthroplasty and computer equipment

Abstract

The application relates to a cup position display method and device in total hip arthroplasty, computer equipment, a storage medium and a computer program product, and relates to the technical field of medical equipment, and can improve the efficiency of an operator in determining the implantation state of a cup. The method comprises the following steps: constructing a virtual acetabulum image according to user image data, determining a concave point mark point of an acetabular cavity in the virtual acetabulum image, and the concave point mark point is used for identifying the concave point feature of the acetabular cavity; receiving real-time pose data of cup implantation in the acetabular cavity, determining a convex point mark point of the cup according to the real-time pose data, and the convex point mark point is used for identifying the convex point feature of the cup; calculating the distance between the concave point mark point and the convex point mark point in real time, and visually displaying the cup pose in the virtual acetabulum image according to the distance.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method, device, computer equipment, storage medium, and computer program product for displaying the position of the acetabular cup during total hip arthroplasty. Background Technology

[0002] Total hip arthroplasty is one of the important surgical procedures for treating hip joint diseases. Total hip arthroplasty includes artificial femoral neck replacement and artificial acetabular cup replacement. The success of the surgery depends on the placement of the prosthesis femoral neck. Good prosthesis placement can improve the patient's joint range of motion and reduce the incidence of complications such as prosthesis impingement or dislocation.

[0003] Current conventional total hip replacement surgery has the following shortcomings: First, clinical focus is on whether the angle of the acetabular cup (abduction angle, anteversion angle) is within the safe zone. However, traditional freehand surgery can only determine the acetabular cup angle visually, with reference points often being the operating table or the ground. This fails to consider the patient's posture and individual characteristics, resulting in significant discrepancies between the planned and actual cup placement. Second, current research demonstrates a correlation between the position of the artificial femoral prosthesis and the artificial acetabular cup; that is, the final position of the femoral prosthesis affects the safe zone of the acetabular cup angle. However, the importance of the femoral prosthesis position is currently overlooked clinically because its position is poorly controllable, depending on the patient's medullary cavity anatomy and bone quality. Therefore, during hip replacement surgery, relevant parameters for acetabular cup placement are provided to the surgeon in real time to prevent acetabular defects caused by abnormal cup placement. However, the current demonstration method only allows operators to roughly perceive the difference between the acetabular cup implantation method during the operation and the preoperative planned acetabular cup implantation method. It cannot promptly understand the current implantation status of the acetabular cup on the target object, and thus doctors cannot accurately determine whether the acetabular cup has been implanted in the correct position. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for displaying the position of the acetabular cup during total hip arthroplasty, which can improve the efficiency of operators in determining the acetabular cup implantation status.

[0005] In a first aspect, this application provides a method for displaying the position of the acetabular cup during total hip arthroplasty, including:

[0006] A virtual image of the acetabulum is constructed based on user image data, and concave point markers of the acetabular fossa in the virtual image of the acetabulum are determined. The concave point markers are used to identify the concave features of the acetabular fossa.

[0007] Receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point marker of the acetabular cup based on the real-time pose data. The convex point marker is used to identify the convex features of the acetabular cup.

[0008] The distance between the concave marker point and the convex marker point is calculated in real time, and the acetabular cup pose in the virtual image of the acetabulum is visualized based on the distance.

[0009] In one embodiment, the step of calculating the distance between the concave marker point and the convex marker point in real time, and visualizing the acetabular cup pose in the virtual image of the acetabulum based on the distance, includes:

[0010] The concave mark is used to mark the concave point on the concave surface of the acetabulum, and the convex mark is used to mark the convex point on the convex surface of the acetabular cup. The distance between the concave point and the convex point is measured to determine the first distance between the acetabular cup and the acetabulum.

[0011] The acetabular cup pose in the virtual image of the acetabulum is visualized based on the first distance.

[0012] In one embodiment, the virtual acetabular image includes a three-dimensional virtual acetabular image;

[0013] The step of visualizing the acetabular cup pose in the virtual image of the acetabulum based on the first distance includes:

[0014] The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance;

[0015] Based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum is adjusted so that the color changes accordingly with the change of the contact depth level, thus obtaining the contact area after color adjustment;

[0016] The contact area after color adjustment is displayed from the implantation direction view, which is determined based on the axial direction of the acetabular cup.

[0017] In one embodiment, the virtual acetabular image includes a three-dimensional virtual acetabular image;

[0018] The step of visualizing the acetabular cup pose in the virtual image of the acetabulum based on the first distance includes:

[0019] The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance;

[0020] Based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum is adjusted so that the color changes accordingly with the change of the contact depth level, thus obtaining the contact area after color adjustment;

[0021] In the axial direction of the acetabular cup, the color-adjusted contact area in the three-dimensional virtual image of the acetabulum is projected to obtain a contact area projection characterizing the contact between the acetabular cup and the acetabular fossa;

[0022] Visualization is performed based on the projection of the contact area.

[0023] In one embodiment, the visualization display based on the projection of the contact area includes:

[0024] Display the projection of the contact area; and / or,

[0025] Obtain the area corresponding to the color region on the projection of the contact area, and determine and display the coverage information of the mortis cup based on the ratio of the area to the projected area of ​​the contact area projection.

[0026] In one embodiment, the virtual acetabular image includes a three-dimensional virtual acetabular image;

[0027] The real-time calculation of the distance between the concave marker point and the convex marker point, and the visualization of the acetabular cup pose in the virtual image of the acetabulum based on the distance, includes:

[0028] If the concave mark includes the deepest point of the acetabulum and the convex mark includes the deepest point of the acetabular cup, then the second distance between the deepest point and the deepest point is calculated in real time.

[0029] The second distance is displayed from a side view of the three-dimensional virtual image of the acetabulum; the side view is determined based on a direction perpendicular to the axis of the acetabular fossa.

[0030] In one embodiment, determining the concave mark point of the acetabular fossa in the virtual image of the acetabulum includes:

[0031] If acetabular fossa repair information is obtained, the projection of the acetabular fossa repair tool on the preoperatively planned acetabular cup axis is obtained, and the deepest point of the acetabular fossa is determined based on the point on the projection that is farthest from the preoperatively planned acetabular cup center point, thus obtaining the deepest point marker of the acetabular fossa in the virtual image of the acetabulum.

[0032] If no information on acetabular fossa repair is obtained, the deepest point of the acetabular fossa is determined based on the preoperatively planned acetabular cup apex, and the deepest point marker of the acetabular fossa in the virtual image of the acetabulum is obtained.

[0033] Secondly, this application also provides a device for displaying the position of the acetabular cup during total hip arthroplasty, comprising:

[0034] The concave mark acquisition module is used to construct a virtual image of the acetabulum based on user image data, and determine the concave mark points of the acetabular fossa in the virtual image of the acetabulum. The concave mark points are used to identify the concave features of the acetabular fossa.

[0035] The convex point marker acquisition module is used to receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point marker of the acetabular cup based on the real-time pose data. The convex point marker is used to identify the convex features of the acetabular cup.

[0036] The distance display module is used to calculate the distance between the concave mark point and the convex mark point in real time, and to visualize the acetabular cup pose in the virtual image of the acetabulum based on the distance.

[0037] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0038] A virtual image of the acetabulum is constructed based on user image data, and concave point markers of the acetabular fossa in the virtual image of the acetabulum are determined. The concave point markers are used to identify the concave features of the acetabular fossa.

[0039] Receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point marker of the acetabular cup based on the real-time pose data. The convex point marker is used to identify the convex features of the acetabular cup.

[0040] The distance between the concave marker point and the convex marker point is calculated in real time, and the acetabular cup pose in the virtual image of the acetabulum is visualized based on the distance.

[0041] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0042] A virtual image of the acetabulum is constructed based on user image data, and concave point markers of the acetabular fossa in the virtual image of the acetabulum are determined. The concave point markers are used to identify the concave features of the acetabular fossa.

[0043] Receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point marker of the acetabular cup based on the real-time pose data. The convex point marker is used to identify the convex features of the acetabular cup.

[0044] The distance between the concave marker point and the convex marker point is calculated in real time, and the acetabular cup pose in the virtual image of the acetabulum is visualized based on the distance.

[0045] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0046] A virtual image of the acetabulum is constructed based on user image data, and concave point markers of the acetabular fossa in the virtual image of the acetabulum are determined. The concave point markers are used to identify the concave features of the acetabular fossa.

[0047] Receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point marker of the acetabular cup based on the real-time pose data. The convex point marker is used to identify the convex features of the acetabular cup.

[0048] The distance between the concave marker point and the convex marker point is calculated in real time, and the acetabular cup pose in the virtual image of the acetabulum is visualized based on the distance.

[0049] The aforementioned method, device, computer equipment, storage medium, and computer program product for displaying the position of the acetabular cup during total hip arthroplasty, on the one hand, constructs a virtual image of the acetabulum based on user image data and determines concave marker points of the acetabular fossa in the virtual image. These concave marker points are used to identify the concave features of the acetabular fossa. On the other hand, it receives real-time pose data of the acetabular cup implanted in the acetabular fossa, determines convex marker points of the acetabular cup based on the real-time pose data, and these convex marker points are used to identify the convex features of the acetabular cup. Furthermore, it calculates the distance between the concave and convex marker points in real time and visualizes the acetabular cup pose in the virtual image of the acetabulum based on this distance. In this embodiment, by determining the concave marker points of the acetabular fossa and the convex marker points of the acetabular cup, and calculating and visualizing the distance between them in real time, the positional changes of the implanted acetabular cup relative to the acetabular fossa can be intuitively and accurately reflected during the acetabular cup implantation process. This helps the operator intuitively understand the implantation status of the acetabular cup on the target object and improves the operator's efficiency in judging the acetabular cup implantation status. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a flowchart illustrating a method for displaying the position of the acetabular cup during total hip arthroplasty in one embodiment;

[0052] Figure 2 This is a schematic diagram of a process for visualizing a display using a first distance, as described in one embodiment.

[0053] Figure 3 This is a schematic diagram of the implantation perspective of a three-dimensional virtual image of the acetabulum in one embodiment;

[0054] Figure 4 This is an architecture diagram illustrating the visualization of a acetabular cup implantation status in one embodiment;

[0055] Figure 5 This is a schematic diagram of a contact area projection in one embodiment;

[0056] Figure 6 This is a schematic diagram illustrating the implantation state of the acetabular cup in a related art within one embodiment;

[0057] Figure 7 This is a schematic diagram of the implantation depth of the acetabular cup in the acetabular fossa under a two-dimensional image in one embodiment;

[0058] Figure 8 This is a flowchart of a acetabular cup implantation step in one embodiment;

[0059] Figure 9 This is a structural block diagram of a device for displaying the position of the acetabular cup during total hip arthroplasty in one embodiment;

[0060] Figure 10 This is an internal structural diagram of a computer device in one embodiment;

[0061] Figure 11 This is an internal structural diagram of another computer device in one embodiment. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0063] In one embodiment, such as Figure 1 As shown, a method for displaying the position of the acetabular cup during total hip arthroplasty is provided. This embodiment illustrates the application of this method to a terminal (such as a medical device that displays operation information and / or operation status during surgery). It is understood that this method can also be applied to a server, and can also be applied to a system including a terminal and a server, and can be implemented through the interaction between the terminal and the server. The server can be a standalone server or a server cluster composed of multiple servers.

[0064] This embodiment includes the following steps S101 to S103.

[0065] S101, Construct a virtual image of the acetabulum based on user image data, and determine the concave point markers of the acetabular fossa in the virtual image of the acetabulum. The concave point markers are used to identify the concave features of the acetabular fossa.

[0066] In practical applications, the target object can be scanned and photographed using medical imaging equipment during the operation to obtain user image data. In one embodiment, the lower limbs of the target object can be scanned using CT (Computed Tomography) imaging equipment to obtain CT images of the relevant tissues of the lower limbs. These CT images can then be used as user image data to construct a virtual image of the acetabulum.

[0067] In some embodiments, during the process of constructing a virtual image of the acetabulum based on user image data, after obtaining the user image data (such as CT image data of the lower limb), the user image data can be processed by relevant segmentation algorithms, such as bone tissue segmentation models, to extract the bone tissue of the hip joint from the user image data. Then, the three-dimensional structure of the acetabulum can be fitted using CT images through image processing software.

[0068] After obtaining the three-dimensional structure of the acetabulum, its coordinate information can be acquired and transformed into a preset coordinate system. Specifically, for example, a transformation matrix from the CT coordinate system to the array coordinate system can be obtained. Then, the fitted three-dimensional structure of the acetabulum is transformed according to this transformation matrix, resulting in a virtual image of the acetabulum. This ensures that subsequent operations on the acetabular fossa are displayed on the terminal screen in a way that is consistent and corresponds to the operations in the real environment. For instance, interactive registration or X-ray registration can be used to obtain the transformation matrix between different coordinate systems during surgery. The acquired three-dimensional structure of the acetabulum is then transformed according to this matrix to obtain the three-dimensional structure of the acetabulum in a preset coordinate system (also known as a unified coordinate system), thus ensuring that the position of the acetabular wear on the augmented reality system's display screen is consistent with that in the real environment.

[0069] After obtaining the virtual image of the acetabulum, the concave point markers of the acetabular fossa in the virtual image can be determined. These concave point markers characterize the concave features corresponding to the concave points on the concave surface of the acetabular fossa. The virtual image of the acetabulum can be a three-dimensional image, which can represent the acetabular structure in a three-dimensional manner. For ease of distinction, points on the concave surface of the acetabular fossa are referred to as concave points in this application. In some examples, the concave point markers may include multiple concave points on the concave surface of the acetabular fossa, such as the individual concave points constituting the concave surface of the acetabular fossa or multiple concave points obtained after preprocessing such as denoising or filtering. In other examples, the concave point markers may also be feature points among multiple concave points that can reflect the condition of the concave surface of the acetabular fossa, such as the most concave point of the acetabular fossa.

[0070] S102, receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point markers of the acetabular cup based on the real-time pose data. The convex point markers are used to identify the convex features of the acetabular cup.

[0071] In this step, real-time pose data during the implantation of the acetabular cup into the acetabular fossa can be received. For example, when using a surgical robot for implantation, the real-time pose data during the implantation can be calculated based on the real-time pose data of the robotic arm on the surgical robot and the conversion relationship between the robotic arm pose and the acetabular cup pose. After obtaining the real-time pose data during the acetabular cup implantation process, the real-time pose data can be converted to obtain the real-time pose data of the acetabular cup in a preset coordinate system, and the convex point markers of the acetabular cup can be determined based on the converted real-time pose data.

[0072] The convex point marker can characterize the convex features corresponding to the points on the surface of the mortise. For ease of distinction, the points on the convex surface of the mortise are referred to as convex points in this application. In some examples, the convex point marker can include multiple convex points on the convex surface of the mortise. For example, it can be each convex point constituting the convex surface of the mortise, or it can be multiple convex points obtained after preprocessing such as denoising or filtering. In other examples, the convex point marker can also be a feature point among multiple convex points that can reflect the convex surface of the mortise, such as the most convex point of the convex points.

[0073] S103 calculates the distance between the concave and convex markers in real time and visualizes the acetabular cup pose in the virtual image of the acetabulum based on the distance.

[0074] After obtaining the concave and convex markers, the distance between them can be calculated in real time based on their respective position information. Then, the position of the acetabular cup in the virtual image of the acetabulum can be visualized based on the calculated distance, thus intuitively showing the implantation status of the acetabular cup in the acetabular fossa.

[0075] In some optional embodiments, the calculated distance can be directly displayed in the virtual image of the acetabulum, and the position of the acetabular cup in the virtual image of the acetabulum can be adjusted according to the distance; or, the visual elements in the virtual image of the acetabulum can be adjusted according to the calculated distance, so that the visual elements change accordingly with the change of the distance between the concave mark point and the convex mark point. For example, the color, style, or one or more visual elements in the corresponding display area or position in the virtual image of the acetabulum can be adjusted according to the distance calculated in real time.

[0076] In the aforementioned method for displaying the position of the acetabular cup during total hip arthroplasty, on the one hand, a virtual image of the acetabulum is constructed based on user image data, and concave markers of the acetabular fossa are determined in the virtual image. These concave markers are used to identify the concave features of the acetabular fossa. On the other hand, real-time pose data of the acetabular cup implanted in the acetabular fossa is received, and convex markers of the acetabular cup are determined based on the real-time pose data. These convex markers are used to identify the convex features of the acetabular cup. Furthermore, the distance between the concave and convex markers is calculated in real time, and the pose of the acetabular cup in the virtual image is visualized based on the distance. In this embodiment, by determining the concave markers of the acetabular fossa and the convex markers of the acetabular cup, and by calculating and visualizing the distance between them in real time, the pose change of the implanted acetabular cup relative to the acetabular fossa can be reflected intuitively and accurately during the acetabular cup implantation process. This helps the operator to intuitively understand the implantation status of the acetabular cup on the target object and improves the operator's efficiency in judging the implantation status of the acetabular cup.

[0077] In one embodiment, such as Figure 2 As shown, in step S103, the distance between the concave marker point and the convex marker point is calculated in real time, and the position of the acetabular cup in the virtual image of the acetabulum is visualized based on the distance. This may include the following steps:

[0078] S201, the concave mark is used to mark the concave point on the concave surface of the acetabulum, and the convex mark is used to mark the convex point on the convex surface of the acetabulum. The distance between the concave point and the convex point is measured to determine the first distance between the acetabulum and the acetabulum.

[0079] In practical applications, concave markers can be used to mark points on the concave surface of the acetabulum, i.e., to mark the concave points on the acetabular fossa. Convex markers can mark points on the convex surface of the acetabular cup, i.e., to mark the convex points on the acetabular cup. The concave points and convex points can reflect the structure of the concave surface of the acetabulum, and the convex points can reflect the structure of the convex surface of the acetabular cup. By measuring the distance between the concave and convex points, a distance reflecting the contact condition (such as contact thickness) between the acetabular cup and the acetabular fossa can be calculated. For ease of distinction, this distance between the acetabular cup and the acetabular fossa is also called the first distance.

[0080] Specifically, when collecting the concave marking points of the acetabular fossa and the convex marking points of the acetabular cup, multiple points can be collected from the acetabular fossa and the acetabular cup to obtain multiple concave points on the concave surface of the acetabular fossa and multiple convex points on the convex surface of the acetabular cup. Then, the thickness of the contact between the acetabular cup and the acetabular fossa can be determined based on the multiple concave points and multiple convex points.

[0081] In some embodiments, the contact thickness between the acetabular cup and the acetabular fossa can be characterized by the thickness of the contact between the acetabular cup and the acetabular fossa in various directions, which can be approximately equivalent to the distance from each protrusion on the acetabular cup to the surface of the acetabular fossa in the corresponding direction. Based on this, in this step, a first distance between the surface of the acetabular cup and the acetabular fossa in various directions can be determined according to the multiple concave points and multiple protrusions.

[0082] In an optional embodiment, when determining the first distance between the acetabulum and the acetabular fossa in each direction based on multiple concave points and multiple convex points for multiple points in three-dimensional space, the first distance of the acetabulum in each direction can be determined by fitting a Signed Distance Function (SDF). The SDF function can be used to determine the distance between a point and the surface of an object, where the distance from a point outside the object to the surface of the object is a positive number, and the distance from a point inside the object to the surface of the object is a negative number.

[0083] S202, Visualize the acetabular cup pose in the virtual image of the acetabulum based on the first distance.

[0084] After obtaining the first distance between the acetabular cup and the acetabular fossa, the pose of the acetabular cup can be visualized on the virtual image of the acetabulum based on the first distance. For example, the pose of the acetabular cup in the virtual image of the acetabulum can be adjusted accordingly based on the first distance between the convex surface of the acetabular cup and the acetabular fossa in each direction calculated, so as to show the contact between the acetabular cup and the acetabular fossa in each direction.

[0085] In this embodiment, the first distance between the acetabular cup and the acetabular fossa is determined by measuring the distance between the protrusion and the concave point. Based on the first distance, the position of the acetabular cup in the virtual image of the acetabulum is visualized. This can intuitively reflect the contact between the acetabular cup and the acetabular fossa in all directions during the acetabular cup implantation process, allowing the operator to understand the actual contact between the acetabular cup and the acetabular fossa in a timely manner, facilitating timely adjustments and helping to improve the safety and accuracy of the surgical operation.

[0086] In one embodiment, the virtual acetabular image includes a three-dimensional virtual acetabular image; in step S202, visualizing the acetabular cup pose in the virtual acetabular image based on a first distance may include the following steps:

[0087] The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance. Based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum is adjusted so that the color changes accordingly with the contact depth level, resulting in a color-adjusted contact area. The color-adjusted contact area is displayed from the implantation direction view, which is determined based on the axial direction of the acetabular cup.

[0088] In practice, multiple contact depth levels can be pre-set, each corresponding to a different distance range and a different color. After obtaining each first distance, the contact depth level for each first distance can be determined based on the first distance and the distance range corresponding to each contact depth level. Then, on one hand, the acetabular cup pose in the virtual acetabular image can be adjusted based on the first distance, such as adjusting the position and orientation of the acetabular cup in the virtual acetabular image. On the other hand, for the contact depth level between the acetabular cup and the acetabular fossa in each direction, the color of the contact area between the acetabular fossa and the acetabular cup in the virtual acetabular image can be adjusted accordingly, so that the color of the contact area changes with the contact depth level, thus obtaining the color-adjusted contact area.

[0089] For a three-dimensional virtual image of the acetabulum, the contact between the acetabular fossa and the acetabular cup can be observed from multiple different perspectives. In this embodiment, after obtaining the base area with color adjustment, the color-adjusted contact area can be displayed from the implantation direction perspective, which can also be called the acetabular cup axis perspective, determined based on the axial direction of the acetabular cup. Figure 3 As shown, the basic region in a three-dimensional virtual image of the acetabulum from the perspective of the implantation direction is illustrated.

[0090] In this embodiment, on the one hand, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum can be adjusted according to the contact depth level, so that the operator can see the thickness of the contact between the acetabular cup and the acetabular fossa in each direction in real time. Based on the color of the contact area, the operator can quickly and intuitively understand the degree of contact between the acetabular cup and the acetabular fossa in different directions around the acetabular cup. On the other hand, by displaying the contact area after color adjustment from the perspective of the implantation direction, the operator can intuitively perceive from a visual angle that conforms to the actual implantation operation, thereby improving the efficiency of information perception.

[0091] Of course, in other embodiments, after obtaining the color-adjusted contact area, the operator can also observe the contact area from other perspectives as needed, for example, such as... Figure 4As shown, in addition to viewing from the implantation direction, it can also be viewed from the side. During the implantation of the acetabular cup, the user can switch the view by sending a view switching command or performing a specified action (such as switching the view by touching a button or using a foot pedal).

[0092] In one embodiment, step S202, visualizing the acetabular cup pose in the virtual acetabular image based on the first distance, may include the following steps:

[0093] The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance. Based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum is adjusted so that the color changes accordingly with the contact depth level, resulting in a color-adjusted contact area. The color-adjusted contact area in the three-dimensional virtual image of the acetabular cup is projected along the axial direction of the acetabular cup to obtain a contact area projection characterizing the contact between the acetabular cup and the acetabular fossa. The contact area projection is then visualized.

[0094] In practice, on the one hand, the pose of the acetabular cup in the virtual acetabular image can be adjusted according to the first distance. On the other hand, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual acetabular image can be adjusted according to each first distance. The specific color adjustment method can be found in the previous text and will not be repeated here. After obtaining the color-adjusted contact area, the three-dimensional contact area in space can be projected along the axial direction of the acetabular cup to obtain a two-dimensional contact area projection that characterizes the contact between the acetabular cup and the acetabular fossa.

[0095] Then, the projection of the contact area can be visualized. For example, the projection of the contact area can be displayed directly on the display page, or the image of the contact area projection can be analyzed and the analysis results displayed on the display page.

[0096] In this embodiment, by projecting the color-adjusted contact area in the three-dimensional virtual image of the acetabulum along the axial direction of the acetabular cup, the contact area projection is obtained and visualized. This allows for further filtering of the three-dimensional spatial information of the contact area in the image, enabling users to intuitively understand the contact status of the acetabular cup at different positions last week. This provides more auxiliary information during the surgical procedure to determine the current degree of acetabular cup implantation.

[0097] In one embodiment, visualization based on contact area projection may include the following steps:

[0098] Display the projection of the contact area; and / or, obtain the area area corresponding to the color area on the projection of the contact area, determine the coverage information of the mortis cup based on the ratio of the area area to the projected area of ​​the contact area projection, and display it.

[0099] In practical applications, after obtaining the projection of the contact area, the projection can be directly displayed on the display page, such as... Figure 5 As shown, Figure 5 An example of a contact area projection on a display page is shown. By displaying the contact area projection, the operator can intuitively and comprehensively perceive the degree of contact between the entire surface of the acetabulum and the acetabular fossa in different areas without adjusting the viewing angle.

[0100] Of course, after obtaining the projection of the contact area, for one or more color regions of different colors on the projection, in order to Figure 5 For example, this includes five different color regions. The area of ​​one or more color regions can be determined, and then the ratio between the area of ​​one region and the total projected area of ​​the contact area can be obtained. Based on this ratio, the coverage information of the mortise and tenon cup surface can be obtained. For example, it is possible to determine... Figure 5 The area of ​​each colored region that contacts the acetabulum is determined by the ratio of this area to the projected area, which is then displayed as the coverage rate of the acetabulum on the acetabular cup. Alternatively, those skilled in the art can calculate the ratio of one or more colored regions to the projected area to obtain coverage information for different contact thicknesses. Therefore, by obtaining and displaying coverage information based on the projection of the contact area, the coverage can be characterized using specific text or data, improving the precision of information representing the implantation status of the acetabular cup in the acetabular fossa.

[0101] In one embodiment, the virtual acetabular image includes a three-dimensional virtual acetabular image; in step S103, the distance between the concave marker point and the convex marker point is calculated in real time and visualized in the virtual acetabular image according to the distance, including:

[0102] If the concave point marker includes the deepest point of the acetabulum and the convex point marker includes the deepest point of the acetabular cup, then the second distance between the deepest and deepest points is calculated in real time; the second distance is displayed in a side view of the three-dimensional virtual image of the acetabulum; the side view is determined based on a direction perpendicular to the axis of the acetabulum.

[0103] During acetabular cup implantation, existing technologies will use methods such as Figure 6 The method shown displays the position of the acetabular cup, that is, the distance between the calculated center of the acetabular cup and the pre-planned center of the acetabular cup. However, this method only allows the operator to understand the difference between the current acetabular cup implantation method and the pre-planned implantation method, but it cannot perceive the current implantation status of the acetabular cup in the target patient's acetabulum in a timely manner, and it is difficult to know the depth of implantation of the acetabular cup in the acetabulum.

[0104] In this embodiment, when the concave point marker includes the lowest point of the acetabular fossa and the convex point marker includes the highest point of the acetabular cup, the implantation depth of the acetabular cup in the acetabular fossa can be determined based on the lowest and highest points, and the implantation depth of the acetabular cup in the acetabular fossa can be visualized from a lateral view. The lowest point can be the lowest point of the concave surface of the acetabular fossa or a point adjacent to the lowest point, and the highest point can be the highest point of the convex surface of the acetabular cup or a point adjacent to the highest point.

[0105] Specifically, the distance between the most concave point and the most convex point can be calculated in real time. For example, the difference between the distances between the most concave point and the most convex point can be calculated. For ease of distinction, this distance is also called the second distance, which reflects the implantation depth of the acetabular cup in the acetabular fossa. Furthermore, the second distance can be displayed from a lateral view of a three-dimensional virtual image of the acetabulum. This lateral view can also be called the acetabular lateral view, and it can be a direction perpendicular to the axis of the acetabular fossa. By calculating the second distance between the most concave point and the most convex point in real time and displaying it from a lateral view of a three-dimensional virtual image of the acetabulum, users can efficiently and clearly perceive the implantation depth of the acetabular cup in the acetabular fossa from a lateral perspective, based on the distance between the acetabular fossa and the acetabular cup, thus improving the operator's efficiency in understanding the acetabular cup implantation status.

[0106] Of course, in other embodiments, a side view of the three-dimensional virtual image of the acetabulum can be projected to show the implantation depth of the acetabular cup in the acetabular fossa through a two-dimensional image. Figure 7 A schematic diagram of the implantation depth of the acetabular cup in the acetabular fossa is shown in a two-dimensional image.

[0107] It is understood that the different display methods of the acetabular cup implantation status mentioned in the foregoing embodiments can be selected for display according to the actual situation, or multiple display methods can be arbitrarily combined. For example, the relevant information mentioned in the foregoing embodiments can be displayed from the implantation direction view or the side view, while the contact area projection information (such as the contact area projection itself or other information obtained based on the contact area projection analysis) can be displayed on the display page. This allows the operator to perceive the acetabular cup implantation status as a whole in three-dimensional space, and to obtain a condensed and abstracted analysis result based on the contact area projection information. Alternatively, a three-dimensional virtual image of the acetabulum can be displayed on the display page from both the implantation direction view and the side view.

[0108] In one embodiment, determining the concave mark point of the acetabular fossa in the virtual image of the acetabulum may include the following steps:

[0109] If acetabular fossa trimming information is obtained, the projection of the acetabular fossa trimming tool onto the pre-planned acetabular cup axis is obtained, and the deepest point of the acetabular fossa is determined based on the point on the projection that is farthest from the pre-planned center point of the acetabular cup, thus obtaining the deepest point marker of the acetabular fossa in the virtual image of the acetabulum; if acetabular fossa trimming information is not obtained, the deepest point of the acetabular fossa is determined based on the pre-planned acetabular cup apex, thus obtaining the deepest point marker of the acetabular fossa in the virtual image of the acetabulum.

[0110] In some embodiments, such as Figure 8 As shown, after a CT scan of the lower limb, segmentation and display of hip joint tissues, and image registration, the doctor will use a acetabular fossa trimming tool, such as an acetabular reamer, to grind and shape the acetabular fossa to ensure its shape and depth are suitable for acetabular cup implantation. In this case, the use of the acetabular fossa trimming tool can help determine the concave marking points of the acetabular fossa.

[0111] Specifically, when using an acetabular fossa trimming tool, acetabular fossa trimming information can be input into the terminal, instructing that the structure of the acetabular fossa be trimmed using the tool before acetabular cup implantation. In response to receiving the acetabular fossa trimming information, the position and orientation of the acetabular fossa trimming tool in a preset coordinate system, as well as the projection of the tool onto the pre-planned acetabular cup axis, can be obtained in real time. The pre-planned acetabular cup axis can be determined based on the pre-planned acetabular cup placement position, while the actual acetabular cup axis can be determined based on the real-time position of the acetabular cup during the actual implantation process.

[0112] In one embodiment, all relevant location data, such as the coordinate data of the acetabular fossa trimming tool, can be converted into coordinate data in a preset coordinate system for calculation. Specifically, on the one hand, a transformation matrix between the CT coordinate system and the array coordinate system can be obtained through a preceding robot registration step; on the other hand, a transformation matrix between the CT coordinate system and the world coordinate system can be obtained through a CT image sequence. The real-time acquired location data of the acetabular fossa trimming tool is location data in the array coordinate system. By combining the aforementioned transformation matrix, the location data of the acetabular fossa trimming tool can be converted to the world coordinate system, determining the projection of the acetabular fossa trimming tool onto the acetabular cup axis.

[0113] Then, the point furthest from the pre-planned center point of the acetabular cup on the projection can be determined, obtaining the deepest point of the acetabular fossa. This deepest point is then used as the deepest point marker of the acetabular fossa in the virtual image of the acetabulum. By determining the deepest point marker based on the furthest point projected by the acetabular trimming tool onto the pre-planned acetabular cup axis, we can obtain a deepest point marker that matches the actual trimming of the acetabular fossa. Furthermore, this ensures that the identified deepest point is on the planned acetabular cup axis. Based on the pre-planned information, we can determine the distance between subsequent deepest and convex point markers, improving the accuracy of subsequent surgical procedures and reducing the risk of deviation from the pre-planned scheme.

[0114] In some other embodiments, acetabular cup implantation can begin directly during the procedure, meaning there is no need to trim the acetabular fossa using acetabular fossa trimming tools. In this case, if acetabular fossa trimming information is not available, the pre-planned apex of the acetabular cup can be determined and used as the deepest point of the acetabular fossa. The distance between the acetabular fossa and the acetabular cup can be calculated based on the pre-planned information, improving the accuracy of the surgical procedure in accordance with the pre-planned plan.

[0115] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0116] Based on the same inventive concept, this application also provides an acetabular cup position display device for implementing the above-described method for displaying the position of the acetabular cup during total hip arthroplasty. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the acetabular cup position display device for total hip arthroplasty provided below can be found in the limitations of the method for displaying the position of the acetabular cup during total hip arthroplasty described above, and will not be repeated here.

[0117] In one exemplary embodiment, such as Figure 9 As shown, a device for displaying the position of the acetabular cup during total hip arthroplasty is provided, comprising:

[0118] The concave mark acquisition module 901 is used to construct a virtual image of the acetabulum based on user image data, and determine the concave mark points of the acetabular fossa in the virtual image of the acetabulum. The concave mark points are used to identify the concave features of the acetabular fossa.

[0119] The convex point marker acquisition module 902 is used to receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point marker of the acetabular cup according to the real-time pose data. The convex point marker is used to identify the convex features of the acetabular cup.

[0120] The distance display module 903 is used to calculate the distance between the concave mark point and the convex mark point in real time, and to visualize the acetabular cup pose in the virtual image of the acetabulum based on the distance.

[0121] In one embodiment, the distance display module 903 is used for:

[0122] The concave mark is used to mark the concave point on the concave surface of the acetabulum, and the convex mark is used to mark the convex point on the convex surface of the acetabular cup. The distance between the concave point and the convex point is measured to determine the first distance between the acetabular cup and the acetabulum.

[0123] The acetabular cup pose in the virtual image of the acetabulum is visualized based on the first distance.

[0124] In one embodiment, the virtual acetabular image includes a three-dimensional virtual acetabular image;

[0125] The distance display module 903 is used for:

[0126] The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance;

[0127] Based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum is adjusted so that the color changes accordingly with the change of the contact depth level, thus obtaining the contact area after color adjustment;

[0128] The contact area after color adjustment is displayed from the implantation direction view, which is determined based on the axial direction of the acetabular cup.

[0129] In one embodiment, the virtual acetabular image includes a three-dimensional virtual acetabular image;

[0130] The distance display module 903 is used for:

[0131] The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance;

[0132] Based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum is adjusted so that the color changes accordingly with the change of the contact depth level, thus obtaining the contact area after color adjustment;

[0133] In the axial direction of the acetabular cup, the color-adjusted contact area in the three-dimensional virtual image of the acetabulum is projected to obtain a contact area projection characterizing the contact between the acetabular cup and the acetabular fossa;

[0134] Visualization is performed based on the projection of the contact area.

[0135] In one embodiment, the distance display module 903 is used for:

[0136] Display the projection of the contact area; and / or,

[0137] Obtain the area corresponding to the color region on the projection of the contact area, and determine and display the coverage information of the mortis cup based on the ratio of the area to the projected area of ​​the contact area projection.

[0138] In one embodiment, the virtual acetabular image includes a three-dimensional virtual acetabular image;

[0139] The distance display module 903 is used for:

[0140] If the concave mark includes the deepest point of the acetabulum and the convex mark includes the deepest point of the acetabular cup, then the second distance between the deepest point and the deepest point is calculated in real time.

[0141] The second distance is displayed from a side view of the three-dimensional virtual image of the acetabulum; the side view is determined based on a direction perpendicular to the axis of the acetabular fossa.

[0142] In one embodiment, the concave dot marker acquisition module 901 is used for:

[0143] If acetabular fossa repair information is obtained, the projection of the acetabular fossa repair tool on the preoperatively planned acetabular cup axis is obtained, and the deepest point of the acetabular fossa is determined based on the point on the projection that is farthest from the preoperatively planned acetabular cup center point, thus obtaining the deepest point marker of the acetabular fossa in the virtual image of the acetabulum.

[0144] If no information on acetabular fossa repair is obtained, the deepest point of the acetabular fossa is determined based on the preoperatively planned acetabular cup apex, and the deepest point marker of the acetabular fossa in the virtual image of the acetabulum is obtained.

[0145] The modules in the aforementioned total hip arthroplasty cup position display device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0146] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 10 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores acetabular cup data and acetabular fossa data. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a method for displaying the acetabular cup position during total hip arthroplasty.

[0147] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for displaying the position of the acetabular cup during total hip arthroplasty. The display unit of the computer device is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0148] Those skilled in the art will understand that Figure 10 and Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0149] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0150] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0151] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0152] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0153] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0154] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0155] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for displaying the position of the acetabular cup during total hip arthroplasty, characterized in that, The method includes: A virtual image of the acetabulum is constructed based on user image data. If acetabular fossa trimming information is obtained, the transformation result of the position data of the acetabular fossa trimming tool in the world coordinate system is determined based on the position data of the acetabular fossa trimming tool in the array coordinate system, the transformation relationship between the CT coordinate system and the array coordinate system, and the transformation relationship between the CT coordinate system and the world coordinate system. Based on the transformation result, the projection of the acetabular fossa trimming tool on the preoperatively planned acetabular cup axis is determined. Based on the point on the projection that is farthest from the preoperatively planned acetabular cup center point, the deepest point of the acetabular fossa is determined, and the deepest point of the acetabular fossa is obtained in the virtual image of the acetabulum. The deepest point of the acetabular fossa is used to identify the deepest point feature of the acetabular fossa. Receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point marker of the acetabular cup based on the real-time pose data. The convex point marker is used to identify the convex features of the acetabular cup. The distance between the concave marker point and the convex marker point is calculated in real time, and the acetabular cup pose in the virtual image of the acetabulum is visualized based on the distance.

2. The method according to claim 1, characterized in that, The real-time calculation of the distance between the concave marker point and the convex marker point, and the visualization of the acetabular cup pose in the virtual image of the acetabulum based on the distance, includes: The concave mark is used to mark the concave point on the concave surface of the acetabulum, and the convex mark is used to mark the convex point on the convex surface of the acetabulum. The distance between the concave point and the convex point is measured to determine the first distance between the acetabulum and the acetabulum. The acetabular cup pose in the virtual image of the acetabulum is visualized based on the first distance.

3. The method according to claim 2, characterized in that, The virtual image of the acetabulum includes a three-dimensional virtual image of the acetabulum; The step of visualizing the acetabular cup pose in the virtual image of the acetabulum based on the first distance includes: The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance; Based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum is adjusted so that the color changes accordingly with the change of the contact depth level, thus obtaining the contact area after color adjustment; The contact area after color adjustment is displayed from the implantation direction view, which is determined based on the axial direction of the acetabular cup.

4. The method according to claim 2, characterized in that, The virtual image of the acetabulum includes a three-dimensional virtual image of the acetabulum; The step of visualizing the acetabular cup pose in the virtual image of the acetabulum based on the first distance includes: The contact depth level between the acetabular cup and the acetabular fossa is determined based on the first distance; Based on the contact depth level, the color of the contact area between the acetabular fossa and the acetabular cup in the three-dimensional virtual image of the acetabulum is adjusted so that the color changes accordingly with the change of the contact depth level, thus obtaining the contact area after color adjustment; In the axial direction of the acetabular cup, the color-adjusted contact area in the three-dimensional virtual image of the acetabulum is projected to obtain a contact area projection characterizing the contact between the acetabular cup and the acetabular fossa; Visualization is performed based on the projection of the contact area.

5. The method according to claim 4, characterized in that, The visualization display based on the projection of the contact area includes: Display the projection of the contact area; and / or, Obtain the area corresponding to the color region on the projection of the contact area, and determine and display the coverage information of the mortis cup based on the ratio of the area to the projected area of ​​the contact area projection.

6. The method according to any one of claims 1 to 5, characterized in that, The virtual image of the acetabulum includes a three-dimensional virtual image of the acetabulum; The real-time calculation of the distance between the concave marker point and the convex marker point, and the visualization of the acetabular cup pose in the virtual image of the acetabulum based on the distance, includes: If the concave mark includes the deepest point of the acetabulum and the convex mark includes the deepest point of the acetabular cup, then the second distance between the deepest point and the deepest point is calculated in real time. The second distance is displayed from a side view of the three-dimensional virtual image of the acetabulum; the side view is determined based on a direction perpendicular to the axis of the acetabular fossa.

7. The method according to claim 6, characterized in that, The method further includes: If no information on acetabular fossa repair is obtained, the deepest point of the acetabular fossa is determined based on the preoperatively planned acetabular cup apex, and the deepest point marker of the acetabular fossa in the virtual image of the acetabulum is obtained.

8. A device for displaying the position of the acetabular cup during total hip arthroplasty, characterized in that, The device includes: The concave point marker acquisition module is used to construct a virtual image of the acetabulum based on user image data. If acetabular fossa trimming information is obtained, the module determines the transformation result of the position data of the acetabular fossa trimming tool in the world coordinate system based on the position data of the acetabular fossa trimming tool in the array coordinate system, the transformation relationship between the CT coordinate system and the array coordinate system, and the transformation relationship between the CT coordinate system and the world coordinate system. Based on the transformation result, the module determines the projection of the acetabular fossa trimming tool on the preoperatively planned acetabular cup axis, and determines the concave point of the acetabular fossa based on the point on the projection that is farthest from the preoperatively planned acetabular cup center point. The module obtains the concave point marker of the acetabular fossa in the virtual image of the acetabulum. The concave point marker is used to identify the concave features of the acetabular fossa. The convex point marker acquisition module is used to receive real-time pose data of the acetabular cup implanted in the acetabular fossa, and determine the convex point marker of the acetabular cup based on the real-time pose data. The convex point marker is used to identify the convex features of the acetabular cup. The distance display module is used to calculate the distance between the concave mark point and the convex mark point in real time, and to visualize the acetabular cup pose in the virtual image of the acetabulum based on the distance.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

Images