Pelvic parameter measurement method, device and system, storage medium and program product

Abstract

The embodiment of the invention provides a pelvis parameter measurement method, device and system, a storage medium and a program product, and relates to the technical field of medical image processing. The method comprises the steps of segmenting three-dimensional image data of a pelvis, extracting sacrum information and femoral head information, determining a hip axis midpoint based on the femoral head information, constructing a pelvis coordinate system based on the sacrum information, the femoral head information and the hip axis midpoint, and calculating posture parameters of the pelvis in the pelvis coordinate system based on the sacrum information and the femoral head information. According to the embodiment of the invention, by segmenting the three-dimensional image data, the anatomical structure information such as sacrum and femoral head information is accurately extracted, and then the pelvic parameters are calculated on the pelvic coordinate system constructed based on the anatomical structure information, so that the obtained pelvic attitude parameters can more accurately reflect the real attitude of the pelvic, and the accuracy of the pelvic attitude is improved. And the accuracy and reliability of pelvis attitude parameter analysis are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical image processing, in particular, the present application relates to a pelvis parameter measurement method, device, system, computer readable storage medium and computer program product. BACKGROUND

[0002] With the continuous development of three-dimensional medical image technology, more and more three-dimensional image technology is applied to the recognition and measurement of various parts of the skeleton, especially the measurement of pelvis posture parameters. These parameters provide a key basis for pelvis-related medical treatment and diagnosis, such as judging whether the pelvis has an abnormal posture such as forward inclination, backward inclination, or left-right inclination, and assisting doctors in accurately identifying diseases such as scoliosis and dysplasia of the pelvis.

[0003] The current pelvis parameter measurement method identifies and clusters two-dimensional image data, constructs a model to calculate the pelvis posture parameters, and the two-dimensional image cannot completely retain the spatial information, resulting in a large deviation between the calculated posture parameters and the actual values, which reduces the measurement accuracy and accuracy of the posture parameters. SUMMARY

[0004] The embodiments of the present application provide a pelvis parameter measurement method, device, electronic equipment, computer readable storage medium and computer program product, aiming at solving the technical problem that the existing method of calculating pelvis posture parameters using two-dimensional image data has a large error, resulting in low parameter accuracy.

[0005] In a first aspect, a pelvis parameter measurement method is provided, the method comprising: segmenting three-dimensional image data of a pelvis to extract sacrum information and femoral head information; determining a hip axis midpoint based on the femoral head information; constructing a pelvis coordinate system based on the sacrum information, the femoral head information and the hip axis midpoint; calculating a posture parameter of the pelvis in the pelvis coordinate system based on the sacrum information and the femoral head information.

[0006] Optionally, constructing the pelvis coordinate system based on the sacrum information, the femoral head information and the hip axis midpoint comprises: determining a superior endplate plane of a first sacral vertebra based on the sacrum information; determining a horizontal axis, a sagittal axis and a vertical axis of the pelvis coordinate system based on the femoral head information and the superior endplate plane, with the hip axis midpoint as the origin.

[0007] Optionally, the posture parameter comprises a pelvis inclination angle. calculating the posture parameter of the pelvis in the pelvis coordinate system based on the sacrum information and the femoral head information comprises: determining a target center point of the superior endplate plane based on the sacrum information; based on the origin and the target center point, obtain a pelvic tilt angle.

[0008] Optionally, the posture parameter comprises a sacral tilt angle. based on the sacral information and the femoral head information, calculate a posture parameter of the pelvis in a pelvic coordinate system, comprising: based on the normal vector of the superior endplate plane and the vertical axis, obtain the sacral tilt angle.

[0009] Optionally, the posture parameter comprises a pelvic incidence angle. based on the sacral information and the femoral head information, calculate a posture parameter of the pelvis in a pelvic coordinate system, comprising: based on the target center point of the superior endplate plane, obtain the pelvic tilt angle. based on the normal vector of the superior endplate plane and the vertical axis, obtain the sacral tilt angle. based on the pelvic tilt angle and the sacral tilt angle, obtain the pelvic incidence angle.

[0010] Optionally, the posture parameter comprises a pelvic lateral tilt angle, and the femoral head information comprises a left femoral head center and a right femoral head center. based on the sacral information and the femoral head information, calculate a posture parameter of the pelvis in a pelvic coordinate system, comprising: determine a difference between the left femoral head center and the right femoral head center in the direction of the vertical axis; determine a distance between the left femoral head center and the right femoral head center in a plane perpendicular to the vertical axis; based on the difference and the distance, obtain the pelvic lateral tilt angle.

[0011] Optionally, the posture parameter comprises an axial pelvic rotation angle. based on the sacral information and the femoral head information, calculate a posture parameter of the pelvis in a pelvic coordinate system, comprising: determine a global coordinate system of the pelvis corresponding to a human body; based on the horizontal axis and a transverse axis of the global coordinate system, obtain a first included angle; determine a second included angle between a first sagittal plane and a second sagittal plane; the first sagittal plane corresponds to the pelvic coordinate system, and the second sagittal plane corresponds to the global coordinate system; compare the first included angle with the second included angle to determine the axial pelvic rotation angle.

[0012] Optionally, the femoral head information comprises a left femoral head center and a right femoral head center. with the midpoint of the hip axis as the origin, based on the femoral head information and the superior endplate plane, determine a horizontal axis, a sagittal axis and a vertical axis of the pelvic coordinate system, comprising: based on a connecting line of the left femoral head center and the right femoral head center, determine the horizontal axis; determine a normal vector of the superior endplate plane, and determine a sagittal axis based on the normal vector and the horizontal axis; determine a vertical axis based on the horizontal axis and the sagittal axis.

[0013] Optionally, the method further comprises: generate a pelvic measurement report based on the posture parameters; generate a three-dimensional model of the pelvis based on the three-dimensional image data of the pelvis; display the three-dimensional model and the pelvic measurement report in a preset display manner on a visualization interface.

[0014] Optionally, the femoral head information includes a left femoral head center and a right femoral head center. determine a hip axis midpoint based on the femoral head information, including: determine the hip axis midpoint by connecting the left femoral head center and the right femoral head center.

[0015] Optionally, the three-dimensional image data of the pelvis is segmented to extract the sacrum information and the femoral head information, including: input the three-dimensional image data into a preset first segmentation model to obtain bone data corresponding to the pelvis; input the bone data into a preset second segmentation model to obtain the sacrum information and the femoral head information.

[0016] In a second aspect, a pelvic parameter measurement device is provided, which includes: a segmentation module configured to segment the three-dimensional image data of the pelvis to extract the sacrum information and the femoral head information; a midpoint determination module configured to determine a hip axis midpoint based on the femoral head information; a coordinate system construction module configured to construct a pelvis coordinate system based on the sacrum information, the femoral head information, and the hip axis midpoint; a parameter calculation module configured to calculate posture parameters of the pelvis in the pelvis coordinate system based on the sacrum information and the femoral head information.

[0017] In a third aspect, a pelvic parameter measurement system is provided, which includes: a memory, a processor, and a computer program stored on the memory, the processor executing the computer program to implement the steps of any of the methods of the first aspect.

[0018] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, the computer program being executed by a processor to implement the pelvic parameter measurement method shown in any of the first aspects.

[0019] In a fifth aspect, a computer program product is provided, which includes a computer program, the computer program being executed by a processor to implement the steps of any of the methods of the first aspect.

[0020] The beneficial effects of the technical solutions provided in this application are: The pelvic parameter measurement method provided in this application accurately extracts actual anatomical structures such as sacral and femoral head information by segmenting three-dimensional image data, and calculates pelvic posture parameters. Since the sacrum is the connecting hub between the spine and pelvis, and the femoral head is the core of the hip joint, obtaining accurate sacral and femoral head information can capture the true posture characteristics of the pelvis and obtain more precise posture parameters. Calculating multiple pelvic posture parameters using sacral and femoral head information in a three-dimensional pelvic coordinate system not only closely reflects the actual situation but also effectively improves calculation efficiency, thereby enhancing the reliability and accuracy of pelvic posture parameter calculation. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0022] Figure 1 This is a schematic diagram illustrating an application scenario of a pelvic parameter measurement method provided in an embodiment of this application. Figure 2 A flowchart illustrating a method for measuring pelvic parameters provided in this application embodiment; Figure 3 This is a schematic diagram of the pelvic structure in a pelvic parameter measurement method provided in an embodiment of this application; Figure 4 This is a schematic diagram of the upper endplate plane and the hip axis focus in a pelvic parameter measurement method provided in an embodiment of this application; Figure 5 A flowchart illustrating an example of a pelvic parameter measurement method provided in this application embodiment; Figure 6 This is a schematic diagram of the structure of a pelvic parameter measuring device provided in an embodiment of this application; Figure 7 This is a schematic diagram of an electronic device applicable to a pelvic parameter measurement method provided in an embodiment of this application. Detailed Implementation

[0023] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0024] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in the embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The terms “or,” “and / or,” “including at least one of the following,” etc., as used in this application, can be interpreted as inclusive, or mean any one or any combination thereof. For example, "including at least one of the following: A, B, C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C", and "A, B or C" or "A, B and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C".

[0025] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0026] In the specific embodiments of this application, any data related to the object, such as data involved in the use of the application, is required. When the embodiments of this application are applied to specific products or technologies, permission or consent from the object is required, and the collection, use, and processing of the relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. In other words, if any of the aforementioned object-related data is involved in the embodiments of this application, this data must be obtained with the object's authorization and consent, and in accordance with the relevant laws, regulations, and standards of the country and region.

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0028] In existing technologies, pelvic parameters can be obtained manually through two-dimensional lateral X-ray images. Doctors need to mark feature points such as the center of the bilateral acetabulum and the center of the superior endplate of the sacrum on the lateral X-ray and draw angles accordingly. However, measurements based on two-dimensional projection have many limitations: on the one hand, manual operation is time-consuming and laborious, and the measurement results depend on the operator's experience, resulting in poor repeatability; on the other hand, two-dimensional X-rays can only provide information about the pelvis in the sagittal plane and cannot reflect the posture of the pelvis in the transverse and coronal planes. For example, it is difficult to accurately assess whether the pelvis is tilted (left or right) or rotated axially in traditional X-ray measurements. With the development of three-dimensional imaging technology, some multimodal three-dimensional images have been used for pelvic posture measurement, but existing methods still require interactive positioning or manual verification. When calculating, clustering and other methods are used to form a three-dimensional model, but the model obtained by the clustering method may differ greatly from the actual skeletal structure features, and the pelvic parameters calculated in this way are prone to errors, resulting in inaccurate calculation results.

[0029] The pelvic parameter measurement method, apparatus, electronic device, computer-readable storage medium, and computer program product provided in this application are intended to solve at least one of the above-mentioned technical problems of the prior art.

[0030] In response to at least one of the aforementioned technical problems or areas requiring improvement in related technologies, this application proposes a method, apparatus, electronic device, computer-readable storage medium, and computer program product for measuring pelvic parameters. The pelvic parameter measurement method provided by this solution accurately extracts actual anatomical structures such as sacral and femoral head information by segmenting three-dimensional image data, and calculates pelvic posture parameters. Since the sacrum is the connecting hub between the spine and pelvis, and the femoral head is the core of the hip joint, obtaining accurate sacral and femoral head information can capture the true posture characteristics of the pelvis, resulting in more precise posture parameters. Calculating multiple pelvic posture parameters using sacral and femoral head information in a three-dimensional pelvic coordinate system not only closely reflects the actual situation but also effectively improves computational efficiency, thereby enhancing the reliability and accuracy of pelvic posture parameter calculation.

[0031] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0032] Figure 1 This is a schematic diagram of an application scenario for the pelvic parameter measurement method provided in this application embodiment. The application environment may include a server 100, on which a pelvic parameter measurement system is installed.

[0033] Specifically, server 100 can be connected to scanning imaging equipment to receive 3D image data acquired by the scanning imaging equipment.

[0034] Specifically, server 100 acquires three-dimensional image data of the pelvis, segments the three-dimensional image data of the pelvis, extracts sacral and femoral head information, determines the midpoint of the hip axis based on the femoral head information, constructs a pelvic coordinate system based on the sacral, femoral head, and hip axis midpoint information, and calculates the pelvic posture parameters in the pelvic coordinate system based on the sacral and femoral head information. The posture parameters include pelvic tilt angle, sacral tilt angle, pelvic incident angle, pelvic lateral tilt angle, and axial pelvic rotation angle.

[0035] In specific implementations, the application scenarios of the above-mentioned pelvic parameter measurement method can include: Sagittal plane balance assessment of the spine: assessing the overall balance of the spine and pelvis in a standing position, quickly obtaining pelvic posture parameters, and combining them with the patient's lumbar lordosis angle, thoracic kyphosis angle, etc., to jointly determine the degree of sagittal plane imbalance. For example, an excessively large pelvic tilt angle suggests that the patient is compensating for insufficient lordosis by tilting the pelvis backward; Preoperative planning and postoperative evaluation: Before lumbar fusion surgery or adult spinal deformity correction surgery, accurately understanding the patient's pelvic parameters helps to formulate surgical goals. For example, the pelvic incident angle value often determines the ideal lumbar lordosis angle (a high pelvic incident angle value requires a larger lordosis). The pelvic incident angle can directly guide the degree of correction during surgery. After surgery, using this method again to assess the pelvic tilt angle, sacral tilt angle, etc., can verify whether the surgery has restored the patient to a reasonable pelvic posture, thereby indirectly evaluating the surgical effect; Hip replacement and rehabilitation: In total hip replacement surgery... Pelvic posture affects the placement angle of the acetabular prosthesis. Excessive posterior pelvic tilt may increase the risk of hip impingement or dislocation. The methods mentioned above can be used to measure the patient's pelvic tilt angle preoperatively to assist in selecting a reasonable prosthesis angle. During postoperative rehabilitation, tracking changes in the pelvic tilt angle can also assess the recovery of the patient's pelvic muscle groups. If significant changes in pelvic tilt are found during rehabilitation, it may indicate changes in the patient's posture or muscle strength, allowing for targeted training. Growth and development monitoring: For adolescent scoliosis patients, in addition to the spinal deformity itself, compensatory pelvic tilt and rotation are also worth noting. Regularly measuring the pelvic tilt angle and axial pelvic rotation angle using the methods mentioned above can quantify changes in the pelvis accompanying the development of spinal deformity. For example, if the pelvic tilt angle gradually increases as scoliosis worsens, it indicates that the pelvis has developed more compensatory tilt. Changes in the axial pelvic rotation angle reflect the relative forward twisting of the pelvis when the patient is standing. This information helps to comprehensively assess the impact of the deformity on the overall body. Big Data and Artificial Intelligence Applications: Integrating the above methods into hospital medical image archiving and transmission systems (PACS) or cloud platforms can process patients' pelvic CT data in batches, forming large-scale datasets. Based on this, machine learning can be used to analyze statistical differences in pelvic parameters between different disease groups, or to train models to predict the impact of a certain parameter on specific clinical outcomes (such as the occurrence of low back pain, surgical failure, etc.). In addition, the parameters output by the above methods can be used as input to AI diagnostic systems to improve the model's ability to identify and classify spinal-pelvic problems. For example, intelligent reporting systems can be developed to automatically provide prompts or suggestions for balance disorders based on parameter values. The above methods can also be extended to assess the sitting balance of paraplegic patients (changes in pelvic tilt angle and axial pelvic rotation angle while sitting), changes in pelvic posture in pregnant women (to guide research on childbirth biomechanics), and the design of prosthetic orthotics (which needs to consider pelvic tilt and rotation). Through accurate quantification of pelvic posture, professionals in different industries can obtain objective data to support their decision-making.In summary, the automatic calculation method for pelvic posture parameters proposed in this application has significant application value in clinical diagnosis and treatment, rehabilitation assessment, and scientific research. It provides medical staff with an intelligent and efficient tool to understand the posture of the pelvis in three-dimensional space, and provides a solid data foundation for individualized treatment and comprehensive assessment.

[0036] The above application scenario is just an example and does not limit the application scenarios of the pelvic parameter measurement method of this application.

[0037] Those skilled in the art will understand that a server may include a server installed with the capability to process medical image analysis and pelvic parameter calculations. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server or server cluster providing basic cloud computing services such as cloud storage, cloud computing, cloud databases, medical image processing services, 3D reconstruction services, parameter measurement algorithms, AI-assisted diagnosis, medical data management services, security and compliance services, CDN (Content Delivery Network), and medical big data and medical AI platforms. The embodiments of this application can be applied to various scenarios, including but not limited to orthopedic diagnosis, surgical planning, rehabilitation assessment, deformity correction, clinical research, and medical teaching. Specific applications can be determined based on actual application needs and are not limited here.

[0038] In some possible implementations, taking a pelvic parameter measurement system as an example, this application provides a method for measuring pelvic parameters, such as... Figure 2 As shown, it may include the following steps: S210 segments the three-dimensional image data of the pelvis and extracts information about the sacrum and femoral head.

[0039] The three-dimensional image data can include computed tomography (CT), magnetic resonance imaging (MRI), cone-beam computed tomography (CBCT), and digital radiography-cone-beam computed tomography (DR-CBCT), etc.

[0040] Specifically, this method acquires three-dimensional image data of the pelvis, segments the 3D image data to identify the pelvic region, and further segments the pelvic region to determine the corresponding anatomical structures such as the sacrum, hip bone, and femoral head. Based on the sacrum and femoral head information, the posture parameters of the pelvis are calculated, fully considering the true anatomical structure of the pelvis. This method has significant advantages over traditional two-dimensional measurement. By locating key anatomical landmarks in three-dimensional space, the posture parameters of the pelvis can be accurately calculated. The parameters are calculated directly using three-dimensional data, avoiding the information loss caused by simplifying the three-dimensional posture to a two-dimensional image measurement. For example, the pelvic incident angle PI is affected by the shooting position in X-ray measurement, while the above method can accurately obtain the accurate pelvic incident angle based on three-dimensional data. Parameters such as the pelvic tilt angle PO and axial pelvic rotation angle APT are almost impossible to reliably measure in traditional X-rays, but the above method can accurately obtain them using the pelvis's own coordinate system, effectively improving the accuracy of pelvic calculation.

[0041] In the specific implementation process, such as Figure 3 As shown, the pelvic structure is within the 3D frame. By segmenting the 3D image data, the various anatomical structures of the pelvis are obtained, and the femoral heads 300 on the left and right sides and the first sacral vertebra 310 of the sacrum are identified. In the figure, R represents the right side of the pelvis, P represents the posterior direction of the body, I represents the anterior direction of the body, and L represents the left side of the body.

[0042] S220, based on femoral head information, determines the midpoint of the hip axis.

[0043] The hip axis usually refers to the straight line connecting the centers of the two femoral heads. The femoral head is a component of the hip joint, and the accurate location of its center point is crucial for determining the hip axis. In a normal anatomical structure, the centers of the two femoral heads should be roughly on the same horizontal plane, forming a relatively horizontal hip axis.

[0044] Specifically, there are two femoral heads, left and right. Based on the femoral head information segmented from 3D image data, the midpoints of the left and right femoral heads are determined. The midpoints of the left and right femoral heads are connected to determine the hip axis. The midpoint position, i.e., the midpoint of the hip axis, is determined based on the distance between the left and right femoral heads.

[0045] In practice, due to individual differences, the left and right structures of the pelvis are not necessarily symmetrical, and their corresponding rotation midpoints are also different. Therefore, when determining the midpoint of the hip axis, after connecting the midpoints of the left and right femoral heads, the specific steps for determining the midpoint of the hip axis may include: analyzing the plane formed by the anterior superior iliac spine and the posterior superior iliac spine through three-dimensional image data, and calculating the midpoint of the hip axis by combining the geometric relationships of the corresponding parts; analyzing three-dimensional image data and locating the midpoint of the hip axis by utilizing the anatomical relationship between the pubic symphysis and the sacral promontory; determining the midpoint of the hip axis by determining the midpoint of the line connecting the apexes of the two acetabulums or the teardrop line in the three-dimensional image data; and establishing a predictive model of the hip axis position based on the overall morphological characteristics of the pelvis using a large amount of sample data. The predictive model identifies the midpoint of the hip axis from the image data. Even when the left and right structures of the pelvis are asymmetrical, the midpoint of the hip axis can be accurately determined, thereby calculating more accurate pelvic parameters.

[0046] S230, based on sacral information, femoral head information and midpoint of hip axis, constructs pelvic coordinate system.

[0047] Specifically, the sacral information, femoral head information, and midpoint of the hip axis corresponding to the pelvis are determined. Based on the sacral information, the first sacral vertebra is determined, and the superior endplate plane of the first sacral vertebra is determined. Based on the femoral head information, the corresponding femoral head center is determined, and hip axis related information is obtained. Based on the superior endplate plane, hip axis related information, and midpoint of the hip axis, a pelvic coordinate system is constructed. Then, based on the overall pelvic structure corresponding to the pelvic coordinate system, parameters are calculated, making the calculated parameters more accurate.

[0048] In the specific implementation process, such as Figure 4 As shown in the figure, R represents the right side of the pelvis, P represents the posterior direction, I represents the anterior direction, and L represents the left side. The center point of the femoral head can be obtained through various methods, including: recording the spatial position in real time using optical positioning technology and calculating the position of the femoral head center point based on the collected spatial position data; locating the femoral head center point using surface landmarks; fitting a sphere onto the segmented femoral head voxels, and using a least-squares sphere fitting algorithm to fit the center coordinates and radius of the sphere to the point cloud of each femoral head, with the center of the fitted sphere being the center point of the femoral head. Specifically, the center point of the femoral head includes the left femoral head center located on the left side of the body. and the center of the right femoral head located on the right side of the human body The solution with high fitting accuracy and a reasonable sphere radius (approximately 25-30 mm) is selected as the femoral head center. If the error is large, the centroid can be used as an approximation. and Then, determine the midpoint O of the hip axis.

[0049] In a specific implementation, a pelvic coordinate system is established with the midpoint O of the hip axis as the origin. The specific method for determining the axial direction is as follows: A vector is obtained based on the femoral head information. The direction unit vector is used as the horizontal axis of the pelvic coordinate system. That is, the horizontal axis of the human body pointing from right to left; based on the sacrum information, determine the normal vector of the sacrum corresponding to the upper endplate plane. , construct containing and The plane that determines the sagittal axis. , The projection on the horizontal plane should point forward of the body; the vertical axis of the pelvis You can choose a straight line that is perpendicular to the horizontal plane in the global coordinate system corresponding to the human body. It can point perpendicularly towards the head or the feet.

[0050] In the specific implementation process, such as Figure 4 As shown, the upper end plate plane , and The line segment between the two points is the femoral head line, with the midpoint of the hip axis at point O. The vertical line segment passing through point O is the line connecting the midpoint of the femoral head line and the midpoint of the superior endplate of the sacrum. The straight line connecting these feature points is used to calculate pelvic posture parameters. For example, the pelvic tilt angle PO is obtained from the angle between the line connecting the centers of the left and right femoral heads and the horizontal plane, the sacral tilt angle SS is obtained from the angle between the plane of the superior endplate of the sacrum and the horizontal plane, and the pelvic tilt angle PT is obtained from the angle between the line connecting the target center point of the superior endplate plane and the midpoint of the hip axis and the vertical line. All of the above parameters are measured and obtained in the pelvic coordinate system, which can accurately characterize the spatial posture of the pelvis.

[0051] S240 calculates the pelvic posture parameters in the pelvic coordinate system based on sacral and femoral head information.

[0052] The pelvic posture parameters may include pelvic tilt angle PT, sacral tilt angle SS, pelvic incident angle PI, pelvic lateral tilt angle PO, and axial pelvic rotation angle APT, and the parameters satisfy the anatomical identity relationship PI=PT+SS.

[0053] Specifically, after constructing the pelvic coordinate system, the corresponding pelvic posture parameters are calculated based on the pelvic structural relationships reflected by the pelvic coordinate system, namely, the sacral information and femoral head information and other structural feature information. The method of this application fully integrates the position and relationship of key pelvic anatomical landmarks such as the femoral head center and the sacral endplate, accurately captures features to establish a coordinate system and calculates the angles of various pelvic parameters, which is more in line with the actual pelvic situation and makes the results more accurate and reliable. For example, the femoral head center is more robust when using spherical fitting than single-point positioning, and the sacral endplate surface fitting makes the SS calculation more noise resistant. The pelvic parameter calculation method of this application can greatly improve work efficiency and measurement accuracy, and promote pelvic posture assessment into a new stage of intelligence and three-dimensionality.

[0054] For example, using the horizontal axis pointing from the center of the right femoral head to the center of the left femoral head, the sagittal axis pointing towards the front of the pelvis (the front of the body) and perpendicular to the horizontal axis, and the vertical axis pointing upwards, the pelvic coordinate system is determined. After calculation, the following results are obtained: PT=15°, SS=40°, PI=55°, PO≈2° (left higher than right), APT≈+3° (pelvis slightly rotated to the right). These results are all within a reasonable physiological range, indicating that the pelvis is normal and without problems.

[0055] In some possible implementations, the above steps involve constructing a pelvic coordinate system based on sacral information, femoral head information, and the midpoint of the hip axis, including: Based on sacral information, the plane of the superior endplate of the first sacral vertebra is determined; Using the midpoint of the hip axis as the origin, and based on the femoral head information and the superior endplate plane, the horizontal axis, sagittal axis, and vertical axis of the pelvic coordinate system are determined.

[0056] The horizontal axis is the axis running left and right of the human body and parallel to the horizontal plane. Anatomically, it can also be called the coronal axis. The vertical axis is the axis running up and down and is parallel to the long axis of the body. The sagittal axis is the axis running from the front of the body to the back, perpendicular to the vertical axis and the coronal plane. The coronal plane is a vertical plane that extends along the left and right directions of the body and the vertical axis, dividing the human body into front and back parts.

[0057] Specifically, sacral information can include data corresponding to the segmented sacral region, data of the superior endplate region of the first sacral vertebra in the sacral region, and fitting of the superior endplate region data to obtain the superior endplate plane. Taking the midpoint of the hip axis as the origin, based on pelvic structural information such as femoral head information and superior endplate plane information, as well as the relationships between various structures, the horizontal axis, sagittal axis, and vertical axis of the pelvic coordinate system are determined. By identifying the superior endplate region of the first sacral vertebra and fitting it as a plane, the anatomical structure of the pelvis can be reflected more accurately. Combining femoral head information, superior endplate plane information, and the spatial relationships between them, the spatial posture of the pelvis can be described more comprehensively, reducing the errors that may be caused by the positioning of a single structure and significantly improving the accuracy and reliability of pelvic posture parameters calculation.

[0058] In the specific implementation process, the steps for calculating the center points of the left and right femoral heads include: based on the three-dimensional image data corresponding to the left and right femoral head regions, a least-squares sphere fitting algorithm is used for fitting. After fitting, the coordinates and radii of the sphere center corresponding to the left and right femoral heads are obtained respectively. The sphere center of the fitting result is the center point of the left femoral head. and the center point of the right femoral head The solution with high fitting accuracy and the sphere radius is selected as the center. If the error is large, the centroid can be used as an approximation to determine the coordinates of the center points of the left and right femoral heads. and The formula for calculating the midpoint of the hip axis is as follows:

[0059] In the specific implementation process, the upper end plate plane and the end plate surface are determined based on three-dimensional image data. and its normal vector Based on the centroids corresponding to the data of the superior endplate plane and the sacral region, the target center point of the superior endplate plane is determined. With point O as the origin, the horizontal axis is determined based on the center points of the left and right femoral heads. The approximate sagittal plane of the pelvis is determined based on the normal vector of the superior endplate plane and the horizontal axis, and a sagittal axis orthogonal to the horizontal axis is determined on the sagittal plane. Based on the determined horizontal axis and sagittal axis, the vertical axis in the vertical direction is determined. After determining the three axes in space, the pelvic coordinate system is generated.

[0060] In some possible implementations, the above steps involve calculating the pelvic posture parameters in the pelvic coordinate system based on sacral and femoral head information, including: Based on sacral information, determine the target center point of the superior endplate plane; The pelvic tilt angle is obtained based on the origin and the target center point.

[0061] Among them, the posture parameters include the pelvic tilt angle, which is used to assess the degree of tilt of the pelvis relative to the sagittal plane of the human body (the plane that divides the body into two symmetrical parts in the front-back direction).

[0062] Specifically, based on sacral information, the target center point of the superior endplate plane corresponding to the first sacral vertebra is determined. Based on the hip axis center and the target center point, a first vector is determined. The angle between the first vector and the vertical axis is calculated to obtain the pelvic tilt angle.

[0063] In the specific implementation process, the steps to determine the target center point of the superior endplate plane of the sacrum may include: based on the segmented three-dimensional image data, determining the data of the superior endplate region of the first sacral vertebra in the sacrum; performing RANSAC fitting on the data of this region to obtain the superior endplate plane and its normal vector; calculating the centroid of the sacral region based on the sacral information obtained after three-dimensional data segmentation; and orthographically projecting the centroid onto the superior endplate plane obtained by fitting, with the projection point being the target center point.

[0064] In the specific implementation process, such as Figure 4 As shown, the steps for determining the target center point S may include: based on the segmented 3D image data, determining the data of the superior endplate region of the first sacral vertebra S1 in the sacrum, performing random sampling consensus fitting (RANSAC) on the data of this region, and obtaining the superior endplate plane. and the normal vector of the upper end plate plane Based on the sacral information obtained after three-dimensional data segmentation, the centroid C of the sacral region is calculated, and C is orthophotographed onto the upper endplate plane obtained by fitting. The projection point is the target center point S of the upper endplate.

[0065] In the specific implementation process, the S vector is based on the origin O and the target center of the upper end plate plane. ,calculate with vertical vector (Global gravitational direction, approximately the same as) The angle between two points (coincident) is called the PT angle. It can be calculated using the dot product formula, followed by taking the inverse cosine. The dot product formula is shown below:

[0066] If point S is directly above point O (pelvis upright without tilt), then PT is approximately equal to 0. If S moves backward and rises relative to O (pelvis tilted backward), and the vertical axis points upward, then PT is positive and increases.

[0067] In some possible implementations, the above steps involve calculating the pelvic posture parameters in the pelvic coordinate system based on sacral and femoral head information, including: The sacral tilt angle is obtained based on the normal vector and vertical axis of the upper endplate plane.

[0068] Among them, the posture parameters include the sacral tilt angle, which is used to assess the degree of tilt between the sacrum and the horizontal axis.

[0069] Specifically, the angle between the normal vector of the upper endplate plane and the vertical axis is determined to obtain the sacral tilt angle.

[0070] In the specific implementation process, based on the normal vector of the upper end plate plane Approximate to the direction of gravity, perpendicular to the vertical axis. The included angle determines the sacral tilt angle SS. The angle between the plane and the normal vector of the upper end plate is 90° minus SS. For simplicity, we can calculate it directly. To obtain the SS angle value, for a normal tilt angle, SS is generally in the range of 30° to 50°. The included angle can be calculated using the following formula:

[0071] In some possible implementations, the above steps involve calculating the pelvic posture parameters in the pelvic coordinate system based on sacral and femoral head information, including: The pelvic tilt angle is obtained based on the target center point of the upper endplate plane; Based on the normal vector and vertical axis of the upper endplate plane, the sacral tilt angle is obtained; The pelvic incident angle is obtained based on the pelvic tilt angle and the sacral tilt angle.

[0072] Among them, the posture parameters include the pelvic angle of incidence, which is used to assess the degree of pelvic tilt.

[0073] Specifically, based on the target center point of the upper endplate plane, the pelvic tilt angle is obtained, and based on the normal vector and vertical axis of the upper endplate plane, the sacral tilt angle is obtained. The pelvic tilt angle and the sacral tilt angle are added together to obtain the pelvic incidence angle. Alternatively, the angle between the first vector and the normal vector of the upper endplate can be directly calculated. The pelvic incidence angle obtained by adding the two vectors is compared with this angle to verify whether the results are consistent, so as to obtain an accurate pelvic incidence angle.

[0074] In the specific implementation process, PT and SS are calculated, and then added together: PI = PT + SS. This result can also be verified to be consistent with direct calculation. Consistent with this, since PI is a fixed anatomical parameter, it can be compared with normal values ​​in the literature to determine whether the patient's pelvic shape is abnormally large or small.

[0075] In some possible implementations, the above steps involve calculating the pelvic posture parameters in the pelvic coordinate system based on sacral and femoral head information, including: Determine the difference between the center of the left femoral head and the center of the right femoral head along the vertical axis; Determine the distance between the center of the left femoral head and the center of the right femoral head in a plane perpendicular to the vertical axis; The pelvic tilt angle is obtained based on the difference and distance.

[0076] Among them, the posture parameters include the pelvic tilt angle, which measures the degree of tilt of the pelvis in the left and right directions of the body, and the femoral head information includes the center of the left femoral head and the center of the right femoral head.

[0077] Specifically, the difference between the center of the left femoral head and the center of the right femoral head in the vertical axis direction is determined, and the distance between the center of the left femoral head and the center of the right femoral head in the plane perpendicular to the vertical axis is determined. Based on the difference in the vertical axis direction and the distance in the horizontal plane, the pelvic tilt angle is calculated.

[0078] In the specific implementation process, the center of the left femoral head is obtained. and the center of the right femoral head Coordinate difference in the vertical axis direction And the distance d between the two points on the horizontal plane, the formula for calculation is as follows:

[0079] This can be achieved by subtracting the vertical coordinate of the right femoral head center from the vertical coordinate of the left femoral head center. If the left hip point is higher than the right, then When PO is positive, it indicates that the pelvis is tilted to the left; conversely, when it is negative, it indicates a tilt to the right. For example... , ,but This indicates leftward tilt; normally, the PO value of a standing person should be close to 0. If the absolute value of PO exceeds 0, it suggests pelvic tilt.

[0080] In some possible implementations, the above steps involve calculating the pelvic posture parameters in the pelvic coordinate system based on sacral and femoral head information, including: Determine the global coordinate system of the pelvis corresponding to the human body; The first included angle is obtained based on the horizontal axis and the horizontal axis of the global coordinate system; Determine the second included angle between the first and second sagittal planes; compare the first included angle with the second included angle to determine the axial pelvic rotation angle.

[0081] Among them, the posture parameters include the axial pelvic rotation angle, which represents the angle of rotation of the pelvis around the vertical axis of the human body.

[0082] The horizontal axis of the global coordinate system can also be called the horizontal axis of the human body, corresponding to the left and right directions of the body. When the body is standing, the horizontal axis is parallel to the horizontal plane; when the body is lying down, the horizontal axis can be determined based on the left and right directions of the body in the lying position. The first sagittal plane corresponds to the pelvic coordinate system and is the plane containing the sagittal axis (the axis pointing in the anterior-posterior direction of the pelvis and parallel to the horizontal plane) and the vertical axis of the pelvic coordinate system. The second sagittal plane corresponds to the global coordinate system and is the plane containing the horizontal axis and the vertical axis (the axis pointing in the anterior-posterior direction of the body and parallel to the horizontal plane) of the global coordinate system.

[0083] Specifically, based on the pelvis, the orientation and posture of the corresponding human body are determined, a global coordinate system is established, and the global coordinate system is used as a reference. The horizontal axis is compared with the horizontal axis of the global coordinate system, and the sagittal plane of the global coordinate system is compared with the sagittal plane of the pelvic coordinate system. The included angle is calculated to determine the axial pelvic rotation angle (APT). APT can reflect whether there is a problem of horizontal rotation asymmetry of the pelvis when standing, which is of great significance in gait analysis and hip joint disease assessment.

[0084] In practice, measuring the rotation of the pelvis around the vertical axis of the body requires reference to the front direction of the body. The front-back direction of the global coordinate system is taken as the 0° reference for calculation. and The angle between the projection of the line connecting the x and y axes onto the horizontal plane and the global X-axis (horizontal axis). Calculate the sagittal plane of the pelvic coordinate system (i.e. The angle between the vertical plane containing the axis and the sagittal plane of the global coordinate system. These two should be approximately equal, so APT is defined as... The sign depends on which side the pelvis is tilted to. For example, if the X-axis of the pelvic coordinate system points to the left side of the body and the Y-axis (vertical axis or sagittal axis) points to the front of the body, and the Y-axis is rotated 5° clockwise relative to the global horizontal axis, then APT = +5°, and the pelvis is tilted to the right. Conversely, it is a negative angle, and the pelvis is tilted to the left.

[0085] In some possible implementations, the steps described above, using the midpoint of the hip axis as the origin and based on femoral head information and the superior endplate plane, determine the horizontal, sagittal, and vertical axes of the pelvic coordinate system, including: The horizontal axis is determined by connecting the center of the left femoral head and the center of the right femoral head. Determine the normal vector of the upper endplate plane, and obtain the sagittal axis based on the normal vector and the horizontal axis; The vertical axis is determined based on the horizontal axis and the sagittal axis.

[0086] The femoral head information includes the center of the left femoral head and the center of the right femoral head.

[0087] Specifically, based on the line connecting the center of the left femoral head and the center of the right femoral head, the horizontal axis is determined, the normal vector of the superior endplate plane is determined, and a plane is determined based on the normal vector and the horizontal axis. The sagittal axis is determined based on this plane, and the vertical axis is determined based on the horizontal axis and the sagittal axis. After determining the horizontal axis, sagittal axis and vertical axis, the construction of the pelvic coordinate system is completed.

[0088] In the specific implementation process, a pelvic coordinate system is established with the midpoint O of the hip axis as the origin. The specific method for determining the axial direction is as follows: Take the vector The direction unit vector is used as the horizontal axis of the pelvic coordinate system. That is, the horizontal axis of the human body from right to left; constructing a system containing and The plane, which is the approximate sagittal plane of the pelvis, because Nearly vertical, but possibly slightly tilted forward. Perpendicular to Normalize in the plane as the sagittal axis The direction, so that it points in front of the human body (if) If it is posterior, then take its opposite direction (anterior); sagittal axis The projection on the horizontal plane should point in front of the body, ensuring this using the Gram-Schmidt orthogonalization method. orthogonal to And it is close to the plane normal; the vertical axis of the pelvis It can be obtained using either the right-hand rule or the left-hand rule: The direction perpendicular to the horizontal plane of the human body, pointing upwards (or downwards), is taken as positive. level, Approaching the front diagonally upwards, the cross product result With the coordinates pointing roughly vertically upwards (or downwards), the pelvic coordinate system visually reflects the position and orientation of the pelvis. The horizontal axis indicates the relative position of the left and right hip joints, the sagittal axis points to the front of the pelvis, and the vertical axis represents the upper (or lower) part of the pelvis.

[0089] In some possible implementations, the above method further includes: Generate a pelvic measurement report based on posture parameters; A 3D model of the pelvis is generated based on 3D image data of the pelvis. The 3D model and pelvic measurement report are displayed in a preset manner on the visualization interface.

[0090] The preset display method can include the marker position, marker style, and numerical unit corresponding to various parameters.

[0091] Specifically, the calculated pelvic posture parameters are compiled into a pelvic measurement report, which can include the definition of the parameters and a list of their corresponding values. After obtaining the pelvic measurement report, the parameter list or table can be displayed directly, or a three-dimensional model of the pelvis can be generated based on three-dimensional image data. In the three-dimensional visualization interface, different angles and the points and lines used to calculate the angles are marked in different styles. For example, different colored line segments or sectors can be used to represent the angles of each parameter. For example, a sector can be used to mark the angle SS between the sacral endplate plane and the horizontal line, and a connecting line and a vertical line can be used to mark the PT angle, etc., so that doctors can intuitively understand the meaning of the parameters.

[0092] In the specific implementation process, to verify the accuracy of the algorithm, we selected several patients who had both standing X-rays and pelvic CT scans, and compared the PT and SS values ​​measured by the algorithm in 3D with the results measured by traditional lateral X-ray films. The results showed that the error between the two was within 2°, and the PI obtained by the algorithm was in constant agreement with PT+SS, proving that the algorithm is reliable. In addition, the above method was repeatedly tested under different patients and different scanning conditions, and the results remained highly consistent, indicating that the pelvic parameter measurement method of this application has good robustness and repeatability.

[0093] In the specific implementation process, since the method of this application outputs quantitative parameters, the parameters can be integrated into the patient's electronic medical record database for long-term follow-up comparison. After the parameter data of a large number of cases are accumulated, it can also be used for clinical research to analyze the differences in the distribution of pelvic parameters in different disease populations, or to conduct correlation analysis with other indicators such as spinal curvature, providing a high-quality data foundation for future in-depth exploration of the interaction between the spine and pelvis.

[0094] In some possible implementations, determining the midpoint of the hip axis based on femoral head information in the above steps includes: Draw a line connecting the center of the left and right femoral heads to determine the midpoint of the hip axis.

[0095] The femoral head information includes the center of the left femoral head and the center of the right femoral head.

[0096] Specifically, based on the femoral head information, the center of the left and right femoral heads is determined. A line is drawn connecting the center of the left and right femoral heads, and the midpoint of the hip axis is selected on the line for subsequent parameter calculations.

[0097] In practice, the femoral head center can be obtained through various methods, including fitting a sphere onto the segmented femoral head voxels. For example, using a least-squares sphere fitting algorithm to fit the center coordinates and radius of the sphere to the point cloud of each femoral head, the center of the fitted sphere is the center point of the femoral head, including the center of the left femoral head. and the center of the right femoral head The solution with high fitting accuracy and a reasonable sphere radius (approximately 25-30 mm) is selected as the femoral head center. If the error is large, the centroid can be used as an approximation. and Then, the midpoint of the hip axis is represented by the following formula:

[0098] Among them, the center of the left femoral head and the center of the right femoral head The coordinates of the point are its coordinates in the global coordinate system of the human body corresponding to the pelvis, and the coordinates of the midpoint O of the hip axis are also coordinates in the global coordinate system.

[0099] In some possible implementations, the above steps involve segmenting the three-dimensional image data of the pelvis to extract sacral and femoral head information, including: Input the 3D image data into the preset first segmentation model to obtain the skeletal data corresponding to the pelvis; Input the skeletal data into the preset second segmentation model to obtain sacral and femoral head information.

[0100] Specifically, three-dimensional image data is acquired and standardized to remove noise. The three-dimensional image data is then input into a preset first segmentation model to obtain the skeletal data corresponding to the pelvis. The skeletal data is then input into a preset second segmentation model to obtain sacral and femoral head information.

[0101] In the specific implementation process, the training steps of the preset first segmentation model may include: acquiring three-dimensional image data samples, each of which is labeled with a corresponding segmentation label; inputting the three-dimensional image data samples one by one into the initial segmentation model to obtain segmentation results; updating the parameters of the initial segmentation model according to the output segmentation results and segmentation labels until a predetermined termination condition is reached, ending the training and obtaining the trained preset first segmentation model; the training steps of the preset second segmentation model may include: acquiring multiple segmented skeletal data samples, each of which is labeled with a corresponding skeletal information label; inputting the skeletal data samples one by one into the initial skeletal segmentation model to obtain skeletal segmentation results; updating the parameters of the initial skeletal segmentation model according to the output skeletal segmentation results and skeletal information labels until a predetermined termination condition is reached, ending the training and obtaining the trained preset second segmentation model.

[0102] In the specific implementation process, taking pelvic CT data as an example, spiral CT scan data of the patient's pelvic cavity is read to obtain three-dimensional images. The pelvic bones are then automatically segmented using a deep learning segmentation model. The first stage utilizes a three-dimensional convolutional neural network (3D). U-Net coarsely segments all skeletal regions, including the pelvis. In the second stage, the segmented pelvic region from the first stage is finely segmented using networks such as RefineNet to separate the main bony structures of the pelvis, including the hip bone, sacrum, and proximal femur. The final segmentation result is represented in voxel-labeled form, with each voxel assigned a label, such as 0=background, 1=sacrum, 2=left hip bone, 3=right hip bone, 4=left femoral head, 5=right femoral head, etc. After segmentation, combined with medical anatomy knowledge and labels, the complete left and right femoral head regions are selected. The largest connected regions labeled 4 and 5 can be used as the left and right femoral head regions. The connected region labeled 1 and located in the pelvis near the head is determined to obtain the first sacral vertebra (S1) region. To accurately determine the superior endplate plane of S1, plane fitting is further applied to the sacral point cloud to obtain the plane equation and center point S of the sacral endplate. Anatomical points such as the left and right anterior superior iliac spines and ischial tuberosities can also be extracted through image morphology for auxiliary verification.

[0103] In the above embodiments, by segmenting the three-dimensional image data, the actual anatomical structures such as sacral and femoral head information are accurately extracted, and pelvic posture parameters are calculated. Since the sacrum is the connecting hub between the spine and the pelvis, and the femoral head is the core of the hip joint, obtaining accurate sacral and femoral head information can capture the true posture characteristics of the pelvis and obtain more precise posture parameters. Using sacral and femoral head information to calculate multiple pelvic posture parameters in the three-dimensional pelvic coordinate system not only conforms to the actual situation but also effectively improves the calculation efficiency, thereby improving the reliability and accuracy of pelvic posture parameter calculation.

[0104] In one example, the pelvic parameter measurement method of this application is as follows: Figure 5 As shown, it may include: The three-dimensional image data of the pelvis is segmented to extract information about the sacrum and femoral head; Determine the midpoint of the hip axis based on femoral head information; Based on sacral information, the plane of the superior endplate of the first sacral vertebra is determined; Using the midpoint of the hip axis as the origin, and based on the femoral head information and the superior endplate plane, determine the horizontal axis, sagittal axis, and vertical axis of the pelvic coordinate system; Determine the target center point of the upper endplate plane, and obtain the pelvic tilt angle based on the target center point; Based on the normal vector and vertical axis of the upper endplate plane, the sacral tilt angle is obtained; The pelvic incident angle is obtained based on the pelvic tilt angle and the sacral tilt angle; The pelvic tilt angle is determined based on the difference between the centers of the left and right femoral heads in the vertical axis and their distance in the horizontal plane. The axial pelvic rotation angle is determined based on the angle between the horizontal axis and the transverse axis of the global coordinate system, as well as the angle between the first sagittal plane and the second sagittal plane. Generate a pelvic measurement report based on posture parameters; A 3D model of the pelvis is generated based on 3D image data of the pelvis. The 3D model and pelvic measurement report are displayed in a preset manner on the visualization interface.

[0105] The aforementioned method for measuring pelvic parameters accurately extracts actual anatomical structures such as sacrum and femoral head information by segmenting three-dimensional image data, and calculates pelvic posture parameters. Since the sacrum is the connecting hub between the spine and pelvis, and the femoral head is the core of the hip joint, obtaining accurate sacral and femoral head information can capture the true posture characteristics of the pelvis and obtain more precise posture parameters. Calculating multiple pelvic posture parameters using sacral and femoral head information in a three-dimensional pelvic coordinate system not only closely reflects the actual situation but also effectively improves computational efficiency, thereby enhancing the reliability and accuracy of pelvic posture parameter calculation.

[0106] This application provides a pelvic parameter measuring device, such as... Figure 6 As shown, the pelvic parameter measuring device 60 may include: a segmentation module 610, a midpoint determination module 620, a coordinate system construction module 630, and a parameter calculation module 640, wherein, The segmentation module 610 is used to segment the three-dimensional image data of the pelvis and extract sacral and femoral head information. The midpoint determination module 620 is used to determine the midpoint of the hip axis based on the femoral head information; The coordinate system construction module 630 is used to construct a pelvic coordinate system based on sacral information, femoral head information, and the midpoint of the hip axis; The parameter calculation module 640 is used to calculate the posture parameters of the pelvis in the pelvic coordinate system based on sacral and femoral head information.

[0107] As an optional embodiment, in this device, the coordinate system construction module 630 is specifically used for: Based on sacral information, the plane of the superior endplate of the first sacral vertebra is determined; Using the midpoint of the hip axis as the origin, and based on the femoral head information and the superior endplate plane, the horizontal axis, sagittal axis, and vertical axis of the pelvic coordinate system are determined.

[0108] As an optional embodiment, the parameter calculation module 640 in this device is specifically used for: Based on sacral information, determine the target center point of the superior endplate plane; The pelvic tilt angle is obtained based on the origin and the target center point.

[0109] As an optional embodiment, the parameter calculation module 640 in this device is specifically used for: The sacral tilt angle is obtained based on the normal vector and vertical axis of the upper endplate plane.

[0110] As an optional embodiment, the parameter calculation module 640 in this device is specifically used for: The pelvic tilt angle is obtained based on the target center point of the upper endplate plane; Based on the normal vector and vertical axis of the upper endplate plane, the sacral tilt angle is obtained; The pelvic incident angle is obtained based on the pelvic tilt angle and the sacral tilt angle.

[0111] As an optional embodiment, the parameter calculation module 640 in this device is specifically used for: Determine the difference between the center of the left femoral head and the center of the right femoral head along the vertical axis; Determine the distance between the center of the left femoral head and the center of the right femoral head in a plane perpendicular to the vertical axis; The pelvic tilt angle is obtained based on the difference and distance.

[0112] As an optional embodiment, the parameter calculation module 640 in this device is specifically used for: Determine the global coordinate system of the pelvis corresponding to the human body; The first included angle is obtained based on the horizontal axis and the horizontal axis of the global coordinate system; Determine the second included angle between the first sagittal plane and the second sagittal plane; the first sagittal plane corresponds to the pelvic coordinate system, and the second sagittal plane corresponds to the global coordinate system; The first included angle is compared with the second included angle to determine the axial pelvic rotation angle.

[0113] As an optional embodiment, in this device, the coordinate system construction module 630 is specifically used for: The horizontal axis is determined by connecting the center of the left femoral head and the center of the right femoral head. Determine the normal vector of the upper endplate plane, and obtain the sagittal axis based on the normal vector and the horizontal axis; The vertical axis is determined based on the horizontal axis and the sagittal axis.

[0114] As an optional embodiment, the device further includes a display module, specifically used for: Generate a pelvic measurement report based on posture parameters; A 3D model of the pelvis is generated based on 3D image data of the pelvis. The 3D model and pelvic measurement report are displayed in a preset manner on the visualization interface.

[0115] As an optional embodiment, in this device, the midpoint determination module 620 is specifically used for: Draw a line connecting the center of the left and right femoral heads to determine the midpoint of the hip axis.

[0116] As an optional embodiment, in this device, the segmentation module 610 is specifically used for: Input the 3D image data into the preset first segmentation model to obtain the skeletal data corresponding to the pelvis; Input the skeletal data into the preset second segmentation model to obtain sacral and femoral head information.

[0117] The pelvic parameter measurement device provided in this application accurately extracts actual anatomical structures such as sacral and femoral head information by segmenting three-dimensional image data, and calculates pelvic posture parameters. Since the sacrum is the connecting hub between the spine and pelvis, and the femoral head is the core of the hip joint, obtaining accurate sacral and femoral head information can capture the true posture characteristics of the pelvis and obtain more precise posture parameters. Calculating multiple pelvic posture parameters using sacral and femoral head information in a three-dimensional pelvic coordinate system not only closely matches the actual situation but also effectively improves calculation efficiency, thereby enhancing the reliability and accuracy of pelvic posture parameter calculation.

[0118] The apparatus in this application embodiment can execute the method provided in this application embodiment, and its implementation principle is similar, and it has corresponding technical effects. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For a detailed functional description of each module of the apparatus, please refer to the description in the corresponding method shown above, which will not be repeated here.

[0119] This application provides a pelvic parameter measurement system, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the method provided in any optional embodiment of this application. Compared with the prior art, it can: accurately extract actual anatomical structures such as sacral and femoral head information by segmenting three-dimensional image data, and calculate pelvic posture parameters. Since the sacrum is the connecting hub between the spine and pelvis, and the femoral head is the core of the hip joint, obtaining accurate sacral and femoral head information can capture the true posture characteristics of the pelvis and obtain more accurate posture parameters. Calculating multiple pelvic posture parameters using sacral and femoral head information in a three-dimensional pelvic coordinate system not only closely reflects the actual situation but also effectively improves computational efficiency, thereby improving the reliability and accuracy of pelvic posture parameter calculation.

[0120] In one alternative embodiment, a pelvic parameter measurement system is provided, such as Figure 7 As shown, this system can be a system integrated into medical imaging equipment, or it can take various forms such as a standalone software platform, cloud computing service, surgical navigation system, or mobile application. Its internal structure diagram can be shown below. Figure 7 As shown, the system includes a processor, memory, input / output interfaces, a communication interface, a display unit, and input devices. The processor, memory, and input / output interfaces are connected via a system bus, while the communication interface, display unit, receiver frame, and input devices are also connected to the system bus via the input / output 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 and computer programs. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are 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. The display unit is used to create a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the system casing, or external keyboards, touchpads, mice, air mice, or remote controls.

[0121] Those skilled in the art will understand that Figure 7 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.

[0122] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps and corresponding content of the aforementioned method embodiments.

[0123] It should be noted that the computer-readable storage medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0124] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0125] The terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the illustrations or text descriptions.

[0126] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0127] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0128] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A method for measuring pelvic parameters, characterized in that, include: The three-dimensional image data of the pelvis is segmented to extract information about the sacrum and femoral head; Based on the femoral head information, the midpoint of the hip axis is determined; A pelvic coordinate system is constructed based on the sacral information, the femoral head information, and the midpoint of the hip axis. The posture parameters of the pelvis are calculated in the pelvic coordinate system based on the sacral information and the femoral head information.

2. The method for measuring pelvic parameters according to claim 1, characterized in that, The construction of a pelvic coordinate system based on the sacral information, the femoral head information, and the midpoint of the hip axis includes: Based on the sacral information, the plane of the superior endplate of the first sacral vertebra is determined; Using the midpoint of the hip axis as the origin, and based on the femoral head information and the superior endplate plane, the horizontal axis, sagittal axis, and vertical axis of the pelvic coordinate system are determined.

3. The method for measuring pelvic parameters according to claim 2, characterized in that, The posture parameters include the pelvic tilt angle; The calculation of the pelvic posture parameters in the pelvic coordinate system based on the sacral information and the femoral head information includes: Based on the sacral information, determine the target center point of the superior endplate plane; The pelvic tilt angle is obtained based on the origin and the target center point.

4. The method for measuring pelvic parameters according to claim 2, characterized in that, The posture parameters include the sacral tilt angle; The calculation of the pelvic posture parameters in the pelvic coordinate system based on the sacral information and the femoral head information includes: The sacral tilt angle is obtained based on the normal vector of the upper endplate plane and the vertical axis.

5. The method for measuring pelvic parameters according to claim 2, characterized in that, The attitude parameters include the pelvic angle of incidence; The calculation of the pelvic posture parameters in the pelvic coordinate system based on the sacral information and the femoral head information includes: Based on the target center point of the upper endplate plane, the pelvic tilt angle is obtained; Based on the normal vector of the upper endplate plane and the vertical axis, the sacral tilt angle is obtained; The pelvic incident angle is obtained based on the pelvic tilt angle and the sacral tilt angle.

6. The method for measuring pelvic parameters according to claim 2, characterized in that, The posture parameters include the pelvic tilt angle, and the femoral head information includes the center of the left femoral head and the center of the right femoral head. The calculation of the pelvic posture parameters in the pelvic coordinate system based on the sacral information and the femoral head information includes: Determine the difference between the center of the left femoral head and the center of the right femoral head in the vertical axis direction; Determine the distance between the center of the left femoral head and the center of the right femoral head in a plane perpendicular to the vertical axis; The pelvic tilt angle is obtained based on the difference and the distance.

7. The method for measuring pelvic parameters according to claim 2, characterized in that, The posture parameters include the axial pelvic rotation angle; The calculation of the pelvic posture parameters in the pelvic coordinate system based on the sacral information and the femoral head information includes: Determine the global coordinate system of the human body corresponding to the pelvis; The first included angle is obtained based on the horizontal axis and the horizontal axis of the global coordinate system; Determine the second included angle between the first sagittal plane and the second sagittal plane; the first sagittal plane corresponds to the pelvic coordinate system, and the second sagittal plane corresponds to the global coordinate system; The first included angle is compared with the second included angle to determine the axial pelvic rotation angle.

8. The method for measuring pelvic parameters according to claim 2, characterized in that, The femoral head information includes the center of the left femoral head and the center of the right femoral head; The step of determining the horizontal axis, sagittal axis, and vertical axis of the pelvic coordinate system, using the midpoint of the hip axis as the origin and based on the femoral head information and the superior endplate plane, includes: The horizontal axis is determined based on the line connecting the center of the left femoral head and the center of the right femoral head; Determine the normal vector of the upper endplate plane, and obtain the sagittal axis based on the normal vector and the horizontal axis; The vertical axis is determined based on the horizontal axis and the sagittal axis.

9. The method for measuring pelvic parameters according to claim 1, characterized in that, The method further includes: Based on the posture parameters, a pelvic measurement report is generated; A three-dimensional model of the pelvis is generated based on the three-dimensional image data of the pelvis. The 3D model and the pelvic measurement report are displayed on the visualization interface in a preset display mode.

10. The method for measuring pelvic parameters according to claim 1, characterized in that, The femoral head information includes the center of the left femoral head and the center of the right femoral head; Determining the midpoint of the hip axis based on the femoral head information includes: The midpoint of the hip axis is determined by connecting the center of the left femoral head and the center of the right femoral head.

11. The method for measuring pelvic parameters according to claim 1, characterized in that, The segmentation of the three-dimensional image data of the pelvis to extract sacral and femoral head information includes: The three-dimensional image data is input into a preset first segmentation model to obtain the skeletal data corresponding to the pelvis; The skeletal data is input into a preset second segmentation model to obtain the sacrum information and the femoral head information.

12. A device for measuring pelvic parameters, characterized in that, include: The segmentation module is used to segment the three-dimensional image data of the pelvis and extract information about the sacrum and femoral head. The midpoint determination module is used to determine the midpoint of the hip axis based on the femoral head information; A coordinate system construction module is used to construct a pelvic coordinate system based on the sacral information, the femoral head information, and the midpoint of the hip axis; The parameter calculation module is used to calculate the posture parameters of the pelvis in the pelvic coordinate system based on the sacral information and the femoral head information.

13. A pelvic parameter measurement system, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the pelvic parameter measurement method according to any one of claims 1-11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the pelvic parameter measurement method according to any one of claims 1-11.

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

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