Mortar cup angle measurement and auxiliary display method and system for total hip arthroplasty

Abstract

The invention provides an acetabular cup angle measurement and auxiliary display method and system for total hip replacement arthroplasty, and the method comprises the steps: obtaining and converting acetabular cup posture detection data of a first object, and obtaining an acetabular cup angle of the first object in a local coordinate system of the total hip replacement arthroplasty; according to the dynamic sight line data of the second object, a view field space coordinate system of the second object is constructed, according to the transformation relation between the view field space coordinate system and a local coordinate system, the acetabular cup angle is mapped to the view field space coordinate system, and matching adjustment of the acetabular cup angle in the view field space of the second object is achieved; according to the acetabular cup real image of the first object, an acetabular cup appearance virtual image is generated, the display state of the virtual image is adjusted in combination with the mapping result of the acetabular cup angle in the view field space coordinates, it is ensured that a second object obtains visual and accurate acetabular cup angle guidance in the operation, and the operation efficiency is improved. And the accuracy of the artificial joint implantation position and the operation implementation efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of total hip arthroplasty technology, and more particularly to a method and system for measuring and assisting in the display of the acetabular cup angle in total hip arthroplasty. Background Technology

[0002] Total hip replacement surgery is a procedure that replaces the entire damaged hip joint with an artificial joint. The success of the surgery depends on the accuracy of the artificial joint's placement on the acetabular cup. If the angle of the artificial joint's placement deviates from the normal angle, it will not only prevent the patient from walking normally after surgery but also cause severe wear and tear between the artificial joint and the acetabular cup, leading to serious sequelae and impacting the patient's health. Currently, total hip replacement surgery mainly relies on the surgeon's visual observation of the patient's body tissues. However, considering the interference of external factors such as ambient light during surgery, the surgeon cannot accurately determine the angle of the acetabular cup, thus failing to align the artificial joint properly. This results in spatial deviations between the artificial joint and the acetabular cup, reducing the precision of the artificial joint implantation and the efficiency and reliability of the surgery. Therefore, providing the surgeon with visual and accurate guidance on the acetabular cup angle during total hip replacement surgery is of paramount importance for improving the accuracy and effectiveness of the procedure. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for measuring and assisting in the display of the acetabular cup angle in total hip arthroplasty. The method involves acquiring and transforming the acetabular cup posture detection data of a first object to obtain the acetabular cup angle of the first object in the local coordinate system of the total hip arthroplasty. Based on the dynamic line-of-sight data of a second object, a field-of-view coordinate system for the second object is constructed. According to the transformation relationship between the field-of-sight coordinate system and the local coordinate system, the acetabular cup angle is mapped to the field-of-sight coordinate system, achieving matching adjustment of the acetabular cup angle in the field-of-sight space of the second object. Based on the real image of the acetabular cup of the first object, a virtual image of the acetabular cup shape is generated. Combined with the mapping result of the acetabular cup angle in the field-of-sight coordinate system, the display state of the virtual image is adjusted to ensure that the second object obtains visual and accurate acetabular cup angle guidance during surgery, thereby improving the accuracy of artificial joint implantation and surgical efficiency.

[0004] This invention is achieved through the following technical solution:

[0005] Methods for measuring and assisting in the visualization of the acetabular cup angle in total hip arthroplasty include:

[0006] A local coordinate system for total hip arthroplasty is constructed, and the acetabular cup posture detection data of the first object is obtained. The acetabular cup posture detection data is transformed to obtain the acetabular cup angle of the first object in the local coordinate system.

[0007] Acquire dynamic line-of-sight data of the second object; construct a field-of-view spatial coordinate system for the second object based on the dynamic line-of-sight data; map the mortar angle to the field-of-sight spatial coordinate system according to the transformation relationship between the field-of-sight spatial coordinate system and the local coordinate system.

[0008] Based on the real image of the mortar and cup of the first object, a virtual image of the shape of the mortar and cup is generated; based on the mapping result of the angle of the mortar and cup in the field of view coordinate system, the display state of the virtual image of the shape of the mortar and cup is adjusted.

[0009] Optionally, a local coordinate system for total hip arthroplasty is constructed, acetabular cup posture detection data of the first object is obtained, and the acetabular cup posture detection data is transformed to obtain the acetabular cup angle of the first object in the local coordinate system, including:

[0010] Detect the pelvic IMU quaternion of the first object and the location IMU quaternion of each of the three body parts on the first object;

[0011] Determine the rotational IMU quaternion between the IMU quaternion of each body part and the IMU quaternion of the pelvis; based on all the rotational IMU quaternions and the detection calibration parameters of the three body parts, determine the three-axis direction vector of the local coordinate system of total hip arthroplasty, thereby constructing the local coordinate system of total hip arthroplasty;

[0012] The acetabular cup IMU quaternion of the first object is detected, and the relative IMU quaternion between the pelvic bone IMU quaternion and the acetabular cup IMU quaternion is obtained; based on the relative IMU quaternion, the acetabular cup anteversion angle and acetabular cup abduction angle of the first object in the local coordinate system are obtained.

[0013] Optionally, the acetabular cup posture detection data of the first object is acquired multiple times, and transformed to obtain multiple acetabular cup tilt angles and acetabular cup abduction angles of the first object in the local coordinate system. These multiple acetabular cup tilt angles and acetabular cup abduction angles are then processed to obtain the final acetabular cup tilt angle and acetabular cup abduction angle.

[0014] Step S1: Using the formula (1) below, based on multiple acetabular cup tilt angles and acetabular cup abduction angles, obtain the deviation factors corresponding to each of the acetabular cup tilt angle and acetabular cup abduction angle.

[0015]

[0016] In the above formula (1), ΔQ represents the deviation factor corresponding to the anteversion angle of the acetabular cup; ΔW represents the deviation factor corresponding to the abduction angle of the acetabular cup; Q(a) represents the anteversion angle of the acetabular cup obtained by the a-th transformation process; W(a) represents the abduction angle of the acetabular cup obtained by the a-th transformation process; n represents the total number of transformation processes; This represents the process of a taking values ​​from 1 to n. If the number of occurrences greater than or equal to 0 exceeds a preset threshold, then... The result is 1, otherwise The result is -1; This represents the process of a taking values ​​from 1 to n. If the number of occurrences greater than or equal to 0 exceeds a preset threshold, then... The result is 1, otherwise The result is -1;

[0017] Step S2: Using the formula (2) below, based on the deviation factors corresponding to the acetabular cup protraction angle and the acetabular cup abduction angle, obtain the comprehensive relevant deviation factor.

[0018]

[0019] In the above formula (2), ΔZ represents the comprehensive correlation deviation factor; || represents taking the absolute value;

[0020] Step S3: Using the following formula (3), based on the comprehensive relevant deviation factors, obtain the final acetabular cup tilt angle and acetabular cup abduction angle.

[0021]

[0022] In the above formula (3), Q represents the final anteversion angle of the acetabulum; W represents the final abduction angle of the acetabulum.

[0023] Optionally, dynamic line-of-sight data of the second object is acquired, and a field-of-view spatial coordinate system of the second object is constructed based on the dynamic line-of-sight data; the acetabulum angle is mapped to the field-of-sight spatial coordinate system according to the transformation relationship between the field-of-sight spatial coordinate system and the local coordinate system, including:

[0024] Acquire dynamic change data of the gaze direction of the second object, and construct the field of view spatial coordinate system of the second object based on the dynamic change data of the gaze direction and the binocular visual center of the second object;

[0025] Obtain the spatial coordinate transformation matrix between the field of view spatial coordinate system and the local coordinate system. Based on the spatial coordinate transformation matrix, map and transform the acetabular cup angle, including the acetabular cup forward tilt angle and the acetabular cup outward tilt angle, to the field of view spatial coordinate system.

[0026] Optionally, a virtual image of the shape of the mortar is generated based on the real image of the mortar of the first object; the display state of the virtual image of the shape of the mortar is adjusted according to the mapping result of the mortar angle in the field of view coordinate system, including:

[0027] Acquire and identify a real image of the mortis of the first object to obtain the outline features of the mortis of the first object; generate a virtual image of the mortis that matches the virtual visual scene currently viewed by the second object based on the outline features of the mortis;

[0028] Based on the mapping transformation result of the mortis angle, which includes the mortis angle, the forward tilt angle and the outward tilt angle of the mortis in the field of view coordinate system, the display posture orientation of the virtual image of the mortis shape in the virtual visual scene is adjusted; wherein, the display posture orientation refers to the forward tilt angle and the outward tilt angle of the virtual image of the mortis shape.

[0029] A system for measuring and assisting in the display of acetabular cup angles in total hip arthroplasty includes:

[0030] The first coordinate system construction module is used to construct the local coordinate system for total hip arthroplasty;

[0031] The mortis angle determination module is used to acquire the mortis posture detection data of the first object, and to transform the mortis posture detection data to obtain the mortis angle of the first object in the local coordinate system.

[0032] The second coordinate system construction module is used to acquire the dynamic line-of-sight data of the second object and construct the field-of-view space coordinate system of the second object based on the dynamic line-of-sight data.

[0033] The mortis angle mapping module is used to map the mortis angle to the field of view space coordinate system according to the transformation relationship between the field of view space coordinate system and the local coordinate system;

[0034] The virtual image generation module is used to generate a virtual image of the shape of the mortis cup based on the real image of the mortis cup of the first object;

[0035] The virtual image display adjustment module is used to adjust the display state of the virtual image of the shape of the mortar cup according to the mapping result of the angle of the mortar cup in the field of view space coordinate system.

[0036] Optionally, the first coordinate system construction module is used to construct a local coordinate system for total hip arthroplasty, including:

[0037] Detect the pelvic IMU quaternion of the first object and the location IMU quaternion of each of the three body parts on the first object;

[0038] Determine the rotational IMU quaternion between the IMU quaternion of each body part and the IMU quaternion of the pelvis; based on all the rotational IMU quaternions and the detection calibration parameters of the three body parts, determine the three-axis direction vector of the local coordinate system of total hip arthroplasty, thereby constructing the local coordinate system of total hip arthroplasty;

[0039] The acetabular cup angle determination module is used to acquire the acetabular cup posture detection data of the first object, and to transform the acetabular cup posture detection data to obtain the acetabular cup angle of the first object in the local coordinate system, including:

[0040] The acetabular cup IMU quaternion of the first object is detected, and the relative IMU quaternion between the pelvic bone IMU quaternion and the acetabular cup IMU quaternion is obtained; based on the relative IMU quaternion, the acetabular cup anteversion angle and acetabular cup abduction angle of the first object in the local coordinate system are obtained.

[0041] Optionally, the second coordinate system construction module is used to acquire dynamic line-of-sight data of the second object, and construct a field-of-view spatial coordinate system of the second object based on the dynamic line-of-sight data, including:

[0042] Acquire dynamic change data of the gaze direction of the second object, and construct the field of view spatial coordinate system of the second object based on the dynamic change data of the gaze direction and the binocular visual center of the second object;

[0043] The acetabulum angle mapping module is used to map the acetabulum angle to the field of view space coordinate system according to the transformation relationship between the field of view space coordinate system and the local coordinate system, including:

[0044] Obtain the spatial coordinate transformation matrix between the field of view spatial coordinate system and the local coordinate system. Based on the spatial coordinate transformation matrix, map and transform the acetabular cup angle, including the acetabular cup forward tilt angle and the acetabular cup outward tilt angle, to the field of view spatial coordinate system.

[0045] Optionally, the virtual image generation module is used to generate a virtual image of the shape of the acetabulum based on the real image of the acetabulum of the first object, including:

[0046] Acquire and identify a real image of the mortis of the first object to obtain the outline features of the mortis of the first object; generate a virtual image of the mortis that matches the virtual visual scene currently viewed by the second object based on the outline features of the mortis;

[0047] The virtual image display adjustment module is used to adjust the display state of the virtual image of the mortis cup's shape according to the mapping result of the mortis cup angle in the field of view coordinate system, including:

[0048] Based on the mapping transformation result of the mortis angle, which includes the mortis angle, the forward tilt angle and the outward tilt angle of the mortis in the field of view coordinate system, the display posture orientation of the virtual image of the mortis shape in the virtual visual scene is adjusted; wherein, the display posture orientation refers to the forward tilt angle and the outward tilt angle of the virtual image of the mortis shape.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] The method and system for measuring and assisting in the display of the acetabular cup angle in total hip arthroplasty provided in this application acquire and transform the acetabular cup posture detection data of the first object to obtain the acetabular cup angle of the first object in the local coordinate system of total hip arthroplasty; based on the dynamic line-of-sight data of the second object, a field-of-view coordinate system of the second object is constructed, and the acetabular cup angle is mapped to the field-of-sight coordinate system according to the transformation relationship between the field-of-sight coordinate system and the local coordinate system, so as to achieve the matching adjustment of the acetabular cup angle in the field-of-sight space of the second object; based on the real image of the acetabular cup of the first object, a virtual image of the acetabular cup shape is generated, and combined with the mapping result of the acetabular cup angle in the field-of-sight coordinate system, the display state of the virtual image is adjusted to ensure that the second object obtains visual and accurate acetabular cup angle guidance during the operation, thereby improving the accuracy of artificial joint implantation position and the efficiency of surgical implementation. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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. Wherein:

[0052] Figure 1 This is a flowchart illustrating the method for measuring and assisting in displaying the acetabular cup angle in total hip arthroplasty provided by the present invention.

[0053] Figure 2 This is a schematic diagram of the acetabular cup angle measurement and auxiliary display system for total hip arthroplasty provided by the present invention. Detailed Implementation

[0054] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0055] The terms “comprising” and “having”, and any variations thereof, used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0056] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] Please see Figure 1 As shown in this application, an embodiment of the method for measuring and assisting in the display of the acetabular cup angle in total hip arthroplasty provides a method for this purpose. This method for measuring and assisting in the display of the acetabular cup angle in total hip arthroplasty includes:

[0058] A local coordinate system for total hip arthroplasty is constructed, the acetabular cup posture detection data of the first object is obtained, and the acetabular cup posture detection data is transformed to obtain the acetabular cup angle of the first object in the local coordinate system.

[0059] Acquire the dynamic line-of-sight data of the second object, and construct the field-of-view coordinate system of the second object based on the dynamic line-of-sight data; map the mortar angle to the field-of-sight coordinate system according to the transformation relationship between the field-of-sight coordinate system and the local coordinate system.

[0060] Based on the real image of the mortar and cup of the first object, a virtual image of the shape of the mortar and cup is generated; based on the mapping result of the angle of the mortar and cup in the field of view coordinate system, the display state of the virtual image of the shape of the mortar and cup is adjusted.

[0061] The beneficial effects of the above embodiments are as follows: the method for measuring and assisting in the display of the acetabular cup angle in total hip arthroplasty acquires and transforms the acetabular cup posture detection data of the first object to obtain the acetabular cup angle of the first object in the local coordinate system of total hip arthroplasty; based on the dynamic line-of-sight data of the second object, a field-of-view coordinate system of the second object is constructed; according to the transformation relationship between the field-of-sight coordinate system and the local coordinate system, the acetabular cup angle is mapped to the field-of-sight coordinate system to achieve matching adjustment of the acetabular cup angle in the field-of-sight space of the second object; based on the real image of the acetabular cup of the first object, a virtual image of the acetabular cup shape is generated, and combined with the mapping result of the acetabular cup angle in the field-of-sight coordinate system, the display state of the virtual image is adjusted to ensure that the second object obtains visual and accurate acetabular cup angle guidance during surgery, thereby improving the accuracy of artificial joint implantation position and the efficiency of surgical implementation.

[0062] In another embodiment, a local coordinate system for total hip arthroplasty is constructed, acetabular cup posture detection data of the first object is obtained, and the acetabular cup posture detection data is transformed to obtain the acetabular cup angle of the first object in the local coordinate system, including:

[0063] Detect the pelvic IMU quaternion of the first object and the location IMU quaternion of each of the three body parts on the first object;

[0064] Determine the rotational IMU quaternion between the IMU quaternion of each body part and the pelvic IMU quaternion; based on all rotational IMU quaternions and the detection calibration parameters for the three body parts, determine the three-axis direction vector of the local coordinate system for total hip arthroplasty, thereby constructing the local coordinate system for total hip arthroplasty.

[0065] The acetabular cup IMU quaternion of the first object is detected, and the relative IMU quaternion between the pelvic IMU quaternion and the acetabular cup IMU quaternion is obtained; based on the relative IMU quaternion, the acetabular cup anteversion angle and acetabular cup abduction angle of the first object in the local coordinate system are obtained.

[0066] The first patient is a patient requiring a replacement artificial joint. When undergoing total hip arthroplasty, the artificial joint needs to be implanted into the acetabular cup area while the patient is lying supine on the operating table. The acetabular cup is the human tissue portion used to house the artificial joint, and the precise implantation of the artificial joint into the acetabular cup area directly affects the surgical outcome. Considering that the patient's pelvis is stationary during the surgery, a spatial coordinate system is constructed based on the aforementioned pelvic region to provide an accurate coordinate reference for subsequently calibrating the acetabular cup angle of the first patient. Specifically, an IMU sensor installed in the pelvic region of the first patient is used to detect the pelvic IMU quaternions. Simultaneously, a movable IMU sensor is used to detect the location IMU quaternions of three body parts: the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic tubercle. Considering the different posture angles of the pelvic region and the three body parts mentioned above for the first subject, the corresponding pelvic IMU quaternions and body part IMU quaternions are also different. Therefore, a rotational IMU quaternion is determined between each body part IMU quaternion and the pelvic IMU quaternion (i.e., the relative rotational IMU quaternion between the body part IMU quaternion and the pelvic IMU quaternion is calculated through quaternion multiplication). This results in three rotational IMU quaternions corresponding one-to-one with the three body part IMU quaternions. The aforementioned movable IMU sensor is mounted on a probe. When the probe touches the corresponding body part, the movable IMU sensor moves synchronously with the probe, thereby generating the corresponding body part IMU quaternion. Simultaneously, when the probe touches each body part, it generates a corresponding vector (i.e., the vector in the world coordinate system corresponding to each body part). Then, based on each rotation IMU quaternion and its corresponding vector at the corresponding body part (i.e., quaternion multiplication of each rotation IMU quaternion and its inverse with the vector corresponding to the body part), the calibration vector for each body part is obtained. Finally, based on the three calibration vectors corresponding to the three body parts, the three-axis direction vectors of the local coordinate system are generated, thus constructing the local coordinate system.

[0067] Furthermore, another movable IMU sensor is used to detect the acetabular cup IMU quaternion of the first object, determining the relative IMU quaternion between the acetabular cup IMU quaternion and the pelvic bone IMU quaternion. Based on the aforementioned relative IMU quaternion and the probe vector corresponding to the other movable IMU sensor, the spatial vector of the probe relative to the acetabular cup is determined. Then, the spatial vector of the acetabular cup is mapped to the local coordinate system to obtain the acetabular cup anteversion angle and acetabular cup abduction angle of the first object in the local coordinate system. Using the above method, by performing IMU quaternion detection and processing on the pelvis, acetabular cup, left anterior superior iliac spine, right anterior superior iliac spine, and pubic tubercle of the first object, the two key posture angles of the first object, namely the acetabular cup anteversion angle and the acetabular cup abduction angle, can be quickly determined. Thus, the posture angle of the first object's acetabular cup can be characterized in the local coordinate system. Among them, the acetabular cup anteversion angle is the angle formed by the opening surface of the acetabulum (i.e., the "socket" of the hip joint) and the sagittal plane of the human body; the acetabular cup abduction angle is the tilt angle of the acetabulum (i.e., the "socket" of the hip joint) in the coronal plane, which is used to describe the orientation of the acetabular opening.

[0068] In another embodiment, dynamic line-of-sight data of the second object is acquired; a field-of-view spatial coordinate system of the second object is constructed based on the dynamic line-of-sight data; and the acetabulum angle is mapped to the field-of-sight spatial coordinate system according to the transformation relationship between the field-of-sight spatial coordinate system and the local coordinate system, including:

[0069] Acquire dynamic change data of the gaze direction of the second object, and construct the field of view spatial coordinate system of the second object based on the dynamic change data of the gaze direction and the binocular visual center of the second object;

[0070] Obtain the spatial coordinate transformation matrix between the field of view spatial coordinate system and the local coordinate system. Based on the spatial coordinate transformation matrix, map and transform the acetabular cup angle, including the acetabular cup forward tilt angle and the acetabular cup outward tilt angle, to the field of view spatial coordinate system.

[0071] The second subject is the surgeon performing the total hip arthroplasty. During the procedure, the surgeon needs to observe the acetabular cup angles (anteversion and abduction angles) of the first patient to ensure precise alignment and implantation of the artificial joint. Considering external factors such as lighting during surgery, the second subject cannot accurately determine the acetabular cup angle by directly observing the first patient's acetabular cup. To improve the accuracy of the second subject's observation of the acetabular cup during surgery, the second subject can wear an AR display device. This device provides a virtual image of the acetabular cup and visually identifies the angle parameters. However, since the second subject's field-of-view coordinate system differs from the local coordinate system, if the AR device directly displays the virtual image based on the angle obtained in the local coordinate system, the virtual image seen by the second subject will not accurately reflect the actual acetabular cup angle. To ensure the second subject sees a virtual image of the acetabular cup in the AR device that matches the actual angle, a transformation of the acetabular cup angle from the local coordinate system to the second subject's field-of-view coordinate system is required. Specifically, the dynamic tracking camera built into the AR display device is first used to acquire dynamic change data of the gaze direction of the second object in the virtual display space provided by the AR display device (i.e., the range of gaze movement angles). Then, based on the above dynamic change data of the gaze direction and the binocular visual center of the second object (i.e., the midpoint of the line connecting the left and right pupils of the second object), a field-of-view coordinate system for the second object is constructed. For example, the midpoint of the line connecting the left and right pupils of the second object is taken as the origin, the direction of the line connecting the left and right pupils of the second object is taken as the X-axis, and the central gaze direction of the range of gaze movement angles of the second object is taken as the Z-axis. The Y-axis is determined based on the above X-axis and Z-axis, thus constructing the above-mentioned field-of-view coordinate system. Then, spatial coordinate transformation calculations are performed on the above-mentioned field-of-view coordinate system and the above-mentioned local coordinate system to obtain the spatial coordinate transformation matrix between the two coordinate systems. Then, using the above-mentioned spatial coordinate transformation matrix, the acetabular cup forward tilt angle and acetabular cup outward tilt angle in the local coordinate system are mapped and transformed to the field-of-view coordinate system, thereby determining the attitude angle of the acetabular cup of the first object in the field-of-view coordinate system, providing a spatial orientation basis for subsequent adjustment of the virtual image display of the acetabular cup by the AR display device.

[0072] In another embodiment, the acetabular cup posture detection data of the first object is acquired multiple times, and transformed to obtain multiple acetabular cup tilt angles and acetabular cup abduction angles of the first object in the local coordinate system. The multiple acetabular cup tilt angles and acetabular cup abduction angles are then processed to obtain the final acetabular cup tilt angles and acetabular cup abduction angles.

[0073] Step S1: Using the formula (1) below, based on multiple acetabular cup tilt angles and acetabular cup abduction angles, obtain the deviation factors corresponding to each of the acetabular cup tilt angle and acetabular cup abduction angle.

[0074]

[0075] In the above formula (1), ΔQ represents the deviation factor corresponding to the anteversion angle of the acetabular cup; ΔW represents the deviation factor corresponding to the abduction angle of the acetabular cup; Q(a) represents the anteversion angle of the acetabular cup obtained by the a-th transformation process; W(a) represents the abduction angle of the acetabular cup obtained by the a-th transformation process; n represents the total number of transformation processes; This represents the process of a taking values ​​from 1 to n. If the number of occurrences greater than or equal to 0 exceeds a preset threshold, then... The result is 1, otherwise The result is -1; This represents the process of a taking values ​​from 1 to n. If the number of occurrences greater than or equal to 0 exceeds a preset threshold, then... The result is 1, otherwise The result is -1;

[0076] Step S2: Using the formula (2) below, based on the deviation factors corresponding to the acetabular cup protraction angle and the acetabular cup abduction angle, obtain the comprehensive relevant deviation factor.

[0077]

[0078] In the above formula (2), ΔZ represents the comprehensive correlation deviation factor; || represents taking the absolute value;

[0079] Step S3: Using the following formula (3), based on the comprehensive relevant deviation factors, obtain the final acetabular cup tilt angle and acetabular cup abduction angle.

[0080]

[0081] In the above formula (3), Q represents the final anteversion angle of the acetabulum; W represents the final abduction angle of the acetabulum.

[0082] Using the above formula (1), based on multiple cup tilt angles and cup abduction angles, the deviation factors corresponding to the cup tilt angle and cup abduction angle are obtained respectively, so as to know the deviation caused by the measurement and facilitate subsequent correction; then using the above formula (2), based on the deviation factors corresponding to the cup tilt angle and cup abduction angle respectively, the comprehensive relevant deviation factor is obtained, and the comprehensive relationship between the deviations of the two angles is considered to further ensure the accuracy of subsequent correction; then using the above formula (3) based on the comprehensive relevant deviation factor, the final cup tilt angle and cup abduction angle are obtained, and a more accurate angle is finally obtained through the overall correction angle.

[0083] In another embodiment, a virtual image of the shape of the mortis cup is generated based on the real image of the mortis cup of the first object; the display state of the virtual image of the shape of the mortis cup is adjusted according to the mapping result of the mortis cup angle in the field of view coordinate system, including:

[0084] Acquire and identify a real image of the mortar and cup of the first object to obtain the outline features of the mortar and cup of the first object; based on the outline features of the mortar and cup, generate a virtual image of the mortar and cup that matches the virtual visual scene currently viewed by the second object;

[0085] Based on the mapping transformation results of the mortar angle, which includes the mortar angle's forward tilt angle and outward tilt angle, in the field of view coordinate system, the display posture orientation of the virtual image of the mortar shape in the virtual visual scene is adjusted; where the display posture orientation refers to the forward tilt angle and outward tilt angle of the virtual image of the mortar shape.

[0086] In practice, an external camera on an AR display device captures a real image of the acetabulum of the first object. Pixel contour recognition is performed on this real image to obtain the acetabulum's outline features. This generates a virtual image of the acetabulum's shape that matches the virtual visual scene currently viewed by the second object. It is understood that this virtual image of the acetabulum's shape has the same shape, structure, and size as the real acetabulum of the first object. Furthermore, based on the mapping transformation of the acetabulum's forward tilt angle and abduction angle in the field of view coordinate system, the forward tilt angle and abduction angle of the virtual image of the acetabulum's shape in the virtual visual scene are adjusted. This ensures that the virtual image of the acetabulum's shape seen by the second object from the AR display device has the same posture angle as the real acetabulum, providing the second object with visual and accurate acetabulum angle guidance during surgery, improving the accuracy of artificial joint implantation and surgical efficiency.

[0087] Please see Figure 2 As shown in this application, an embodiment of the acetabular cup angle measurement and auxiliary display system for total hip arthroplasty is provided. This system includes:

[0088] The first coordinate system construction module is used to construct the local coordinate system for total hip arthroplasty;

[0089] The mortis angle determination module is used to acquire the mortis posture detection data of the first object, transform the mortis posture detection data, and obtain the mortis angle of the first object in the local coordinate system.

[0090] The second coordinate system construction module is used to acquire the dynamic line-of-sight data of the second object and construct the field-of-view space coordinate system of the second object based on the dynamic line-of-sight data.

[0091] The mortar angle mapping module is used to map the mortar angle to the field of view coordinate system according to the transformation relationship between the field of view coordinate system and the local coordinate system.

[0092] The virtual image generation module is used to generate a virtual image of the shape of the mortis cup based on the real image of the mortis cup of the first object;

[0093] The virtual image display adjustment module is used to adjust the display state of the virtual image of the mortar and cup shape based on the mapping result of the mortar and cup angle in the field of view coordinate system.

[0094] In another embodiment, the first coordinate system construction module is used to construct a local coordinate system for total hip arthroplasty, including:

[0095] Detect the pelvic IMU quaternion of the first object and the location IMU quaternion of each of the three body parts on the first object;

[0096] Determine the rotational IMU quaternion between the IMU quaternion of each body part and the pelvic IMU quaternion; based on all rotational IMU quaternions and the detection calibration parameters for the three body parts, determine the three-axis direction vector of the local coordinate system for total hip arthroplasty, thereby constructing the local coordinate system for total hip arthroplasty.

[0097] The acetabular cup angle determination module is used to acquire the acetabular cup attitude detection data of the first object, transform the acetabular cup attitude detection data, and obtain the acetabular cup angle of the first object in the local coordinate system, including:

[0098] The acetabular cup IMU quaternion of the first object is detected, and the relative IMU quaternion between the pelvic IMU quaternion and the acetabular cup IMU quaternion is obtained; based on the relative IMU quaternion, the acetabular cup anteversion angle and acetabular cup abduction angle of the first object in the local coordinate system are obtained.

[0099] In another embodiment, the second coordinate system construction module is used to acquire dynamic line-of-sight data of the second object, and construct a field-of-view spatial coordinate system of the second object based on the dynamic line-of-sight data, including:

[0100] Acquire dynamic change data of the gaze direction of the second object, and construct the field of view spatial coordinate system of the second object based on the dynamic change data of the gaze direction and the binocular visual center of the second object;

[0101] The acetabulum angle mapping module is used to map the acetabulum angle to the field of view coordinate system based on the transformation relationship between the field of view coordinate system and the local coordinate system. This includes:

[0102] Obtain the spatial coordinate transformation matrix between the field of view spatial coordinate system and the local coordinate system. Based on the spatial coordinate transformation matrix, map and transform the acetabular cup angle, including the acetabular cup forward tilt angle and the acetabular cup outward tilt angle, to the field of view spatial coordinate system.

[0103] In another embodiment, the virtual image generation module is used to generate a virtual image of the shape of the acetabulum based on the real image of the acetabulum of the first object, including:

[0104] Acquire and identify a real image of the mortar and cup of the first object to obtain the outline features of the mortar and cup of the first object; based on the outline features of the mortar and cup, generate a virtual image of the mortar and cup that matches the virtual visual scene currently viewed by the second object;

[0105] The virtual image display adjustment module is used to adjust the display state of the virtual image of the mortar's shape based on the mapping result of the mortar's angle in the field of view coordinate system, including:

[0106] Based on the mapping transformation results of the mortar angle, which includes the mortar angle's forward tilt angle and outward tilt angle, in the field of view coordinate system, the display posture orientation of the virtual image of the mortar shape in the virtual visual scene is adjusted; where the display posture orientation refers to the forward tilt angle and outward tilt angle of the virtual image of the mortar shape.

[0107] The operation and effect of the acetabular cup angle measurement and auxiliary display system for total hip arthroplasty of the present invention are consistent with the above-described method for measuring and auxiliary displaying the acetabular cup angle for total hip arthroplasty. Therefore, the description of the acetabular cup angle measurement and auxiliary display system for total hip arthroplasty will not be repeated here.

[0108] In summary, this method and system for measuring and assisting in the display of the acetabular cup angle in total hip arthroplasty acquires and transforms the acetabular cup posture detection data of the first object to obtain the acetabular cup angle of the first object in the local coordinate system of total hip arthroplasty; based on the dynamic line-of-sight data of the second object, a field-of-view coordinate system of the second object is constructed; according to the transformation relationship between the field-of-sight coordinate system and the local coordinate system, the acetabular cup angle is mapped to the field-of-sight coordinate system, realizing the matching adjustment of the acetabular cup angle in the field-of-sight space of the second object; based on the real image of the acetabular cup of the first object, a virtual image of the acetabular cup shape is generated, and combined with the mapping result of the acetabular cup angle in the field-of-sight coordinate system, the display state of the virtual image is adjusted to ensure that the second object obtains visual and accurate acetabular cup angle guidance during surgery, thereby improving the accuracy of artificial joint implantation position and surgical efficiency.

[0109] The above is only one specific embodiment of the present invention, and any improvements made based on the concept of the present invention shall be considered within the scope of protection of the present invention.

Claims

1. A method for measuring and auxiliary displaying the acetabular cup angle in total hip arthroplasty, characterized in that, include: A local coordinate system for total hip arthroplasty is constructed, and the acetabular cup posture detection data of the first object is obtained. The acetabular cup posture detection data is transformed to obtain the acetabular cup angle of the first object in the local coordinate system. Acquire dynamic line-of-sight data of the second object; construct a field-of-view spatial coordinate system for the second object based on the dynamic line-of-sight data; map the mortar angle to the field-of-sight spatial coordinate system according to the transformation relationship between the field-of-sight spatial coordinate system and the local coordinate system. Based on the real image of the mortis cup of the first object, generate a virtual image of the mortis cup's shape; Based on the mapping result of the mortar angle in the field of view coordinate system, adjust the display state of the virtual image of the mortar shape.

2. The method for measuring and assisting in displaying the acetabular cup angle in total hip arthroplasty as described in claim 1, characterized in that: A local coordinate system for total hip arthroplasty is constructed, and acetabular cup posture detection data of the first patient is obtained. The acetabular cup posture detection data is then transformed to obtain the acetabular cup angle of the first patient in the local coordinate system, including: Detect the pelvic IMU quaternion of the first object and the location IMU quaternion of each of the three body parts on the first object; Determine the rotational IMU quaternion between the IMU quaternion of each body part and the IMU quaternion of the pelvis; based on all the rotational IMU quaternions and the detection calibration parameters of the three body parts, determine the three-axis direction vector of the local coordinate system of total hip arthroplasty, thereby constructing the local coordinate system of total hip arthroplasty; The acetabular cup IMU quaternion of the first object is detected, and the relative IMU quaternion between the pelvic bone IMU quaternion and the acetabular cup IMU quaternion is obtained; based on the relative IMU quaternion, the acetabular cup anteversion angle and acetabular cup abduction angle of the first object in the local coordinate system are obtained.

3. The method for measuring and assisting in displaying the acetabular cup angle in total hip arthroplasty as described in claim 2, characterized in that: Multiple acquisitions of the acetabular cup posture detection data of the first object are performed, and the data is transformed to obtain multiple acetabular cup tilt angles and acetabular cup abduction angles of the first object in the local coordinate system. These multiple acetabular cup tilt angles and acetabular cup abduction angles are then processed to obtain the final acetabular cup tilt angles and acetabular cup abduction angles, including: First, based on multiple acetabular cup tilt angles and acetabular cup abduction angles, the deviation factors corresponding to each of the acetabular cup tilt angle and acetabular cup abduction angle are obtained, and their calculation formulas are as follows: In the above formula (1), ΔQ represents the deviation factor corresponding to the anteversion angle of the acetabular cup; ΔW represents the deviation factor corresponding to the abduction angle of the acetabular cup; Q(a) represents the anteversion angle of the acetabular cup obtained by the a-th transformation process; W(a) represents the abduction angle of the acetabular cup obtained by the a-th transformation process; n represents the total number of transformation processes; This represents the process of a taking values ​​from 1 to n. If the number of occurrences greater than or equal to 0 exceeds a preset threshold, then... The result is 1, otherwise The result is -1; This represents the process of a taking values ​​from 1 to n. If the number of occurrences greater than or equal to 0 exceeds a preset threshold, then... The result is 1, otherwise The result is -1; Secondly, based on the deviation factors corresponding to the acetabular cup tilt angle and the acetabular cup abduction angle, the comprehensive relevant deviation factor is obtained, and its calculation formula is as follows: In the above formula (2), ΔZ represents the comprehensive correlation deviation factor; || represents taking the absolute value; finally, based on the comprehensive correlation deviation factor, the final acetabular cup anteversion angle and acetabular cup abduction angle are obtained, and their calculation formulas are as follows: In the above formula (3), Q represents the final anteversion angle of the acetabulum; W represents the final abduction angle of the acetabulum.

4. The method for measuring and assisting in displaying the acetabular cup angle in total hip arthroplasty as described in claim 1, characterized in that: Obtain dynamic line-of-sight data of the second object, and construct a field-of-view spatial coordinate system for the second object based on the dynamic line-of-sight data; Mapping the acetabulum angle to the field-of-view coordinate system based on the transformation relationship between the field-of-view coordinate system and the local coordinate system includes: Acquire dynamic change data of the gaze direction of the second object, and construct the field of view spatial coordinate system of the second object based on the dynamic change data of the gaze direction and the binocular visual center of the second object; Obtain the spatial coordinate transformation matrix between the field of view spatial coordinate system and the local coordinate system. Based on the spatial coordinate transformation matrix, map and transform the acetabular cup angle, including the acetabular cup forward tilt angle and the acetabular cup outward tilt angle, to the field of view spatial coordinate system.

5. The method for measuring and assisting in displaying the acetabular cup angle in total hip arthroplasty as described in claim 1, characterized in that: Based on the real image of the mortis cup of the first object, generate a virtual image of the mortis cup's shape; Based on the mapping result of the mortis angle in the field of view coordinate system, adjust the display state of the virtual image of the mortis shape, including: Acquire and identify a real image of the mortis of the first object to obtain the outline features of the mortis of the first object; generate a virtual image of the mortis that matches the virtual visual scene currently viewed by the second object based on the outline features of the mortis; Based on the mapping transformation result of the mortis angle, which includes the mortis angle, the forward tilt angle and the outward tilt angle of the mortis in the field of view coordinate system, the display posture orientation of the virtual image of the mortis shape in the virtual visual scene is adjusted; wherein, the display posture orientation refers to the forward tilt angle and the outward tilt angle of the virtual image of the mortis shape.

6. A system for measuring and assisting in the display of the acetabular cup angle in total hip arthroplasty, characterized in that, include: The first coordinate system construction module is used to construct the local coordinate system for total hip arthroplasty; The mortis angle determination module is used to acquire the mortis posture detection data of the first object, and to transform the mortis posture detection data to obtain the mortis angle of the first object in the local coordinate system. The second coordinate system construction module is used to acquire the dynamic line-of-sight data of the second object and construct the field-of-view space coordinate system of the second object based on the dynamic line-of-sight data. The mortis angle mapping module is used to map the mortis angle to the field of view space coordinate system according to the transformation relationship between the field of view space coordinate system and the local coordinate system; The virtual image generation module is used to generate a virtual image of the shape of the mortis cup based on the real image of the mortis cup of the first object; The virtual image display adjustment module is used to adjust the display state of the virtual image of the shape of the mortar and cup according to the mapping result of the angle of the mortar and cup in the field of view space coordinate system.

7. The acetabular cup angle measurement and auxiliary display system for total hip arthroplasty as described in claim 6, characterized in that: The first coordinate system construction module is used to construct the local coordinate system for total hip arthroplasty, including: Detect the pelvic IMU quaternion of the first object and the location IMU quaternion of each of the three body parts on the first object; Determine the rotational IMU quaternion between the IMU quaternion of each body part and the IMU quaternion of the pelvis; based on all the rotational IMU quaternions and the detection calibration parameters of the three body parts, determine the three-axis direction vector of the local coordinate system of total hip arthroplasty, thereby constructing the local coordinate system of total hip arthroplasty; The acetabular cup angle determination module is used to acquire the acetabular cup posture detection data of the first object, and to transform the acetabular cup posture detection data to obtain the acetabular cup angle of the first object in the local coordinate system, including: The acetabular cup IMU quaternion of the first object is detected, and the relative IMU quaternion between the pelvic bone IMU quaternion and the acetabular cup IMU quaternion is obtained; based on the relative IMU quaternion, the acetabular cup anteversion angle and acetabular cup abduction angle of the first object in the local coordinate system are obtained.

8. The acetabular cup angle measurement and auxiliary display system for total hip arthroplasty as described in claim 6, characterized in that: The second coordinate system construction module is used to acquire dynamic view data of the second object, and construct the field-of-view spatial coordinate system of the second object based on the dynamic view data, including: Acquire dynamic change data of the gaze direction of the second object, and construct the field of view spatial coordinate system of the second object based on the dynamic change data of the gaze direction and the binocular visual center of the second object; The acetabulum angle mapping module is used to map the acetabulum angle to the field of view space coordinate system according to the transformation relationship between the field of view space coordinate system and the local coordinate system, including: Obtain the spatial coordinate transformation matrix between the field of view spatial coordinate system and the local coordinate system. Based on the spatial coordinate transformation matrix, map and transform the acetabular cup angle, including the acetabular cup forward tilt angle and the acetabular cup outward tilt angle, to the field of view spatial coordinate system.

9. The acetabular cup angle measurement and auxiliary display system for total hip arthroplasty as described in claim 6, characterized in that: The virtual image generation module is used to generate a virtual image of the shape of the acetabulum based on the real image of the acetabulum of the first object, including: Acquire and identify a real image of the mortis of the first object to obtain the outline features of the mortis of the first object; generate a virtual image of the mortis that matches the virtual visual scene currently viewed by the second object based on the outline features of the mortis; The virtual image display adjustment module is used to adjust the display state of the virtual image of the mortis cup's shape according to the mapping result of the mortis cup angle in the field of view coordinate system, including: Based on the mapping transformation result of the mortis angle, which includes the mortis angle, the forward tilt angle and the outward tilt angle of the mortis in the field of view coordinate system, the display posture orientation of the virtual image of the mortis shape in the virtual visual scene is adjusted; wherein, the display posture orientation refers to the forward tilt angle and the outward tilt angle of the virtual image of the mortis shape.

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