Bone joint rotation center parameter acquisition method and device and computer equipment

Abstract

The invention relates to a bone joint rotation center parameter acquisition method and device and computer equipment. The estimation accuracy of bone rotation center parameters can be improved. The method comprises the following steps: determining a rotational motion projection plane of a bone joint before starting to rotate, and determining a guide rotation track in the rotational motion projection plane according to the position of a bone ball head in the bone joint in the rotational motion projection plane; an interactive interface is displayed, and the guide rotation track is displayed on the interactive interface so as to prompt to rotate the bone joint with the bone ball head as the center according to the guide rotation track; and under the condition that the actual rotation track of the bone joint is matched with the guide rotation track, determining a rotation center parameter of the bone ball head according to the actual rotation track.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a method, apparatus, computer device, storage medium, and computer program product for obtaining parameters of the rotation center of a bone joint. Background Technology

[0002] In the medical field, the rotation trajectory of a bone joint is often collected by rotating the joint. The rotation center of the joint is estimated based on the rotation trajectory. The success of the surgery can then be determined by comparing the estimated rotation center with the preoperative center of the bone head.

[0003] In related technologies, the main approach involves setting up positioning arrays on the joints, allowing doctors to rotate the corresponding limbs to cause the joints within them to rotate as well, and determining the rotation trajectory based on the position of the positioning arrays.

[0004] However, the rotation of a limb by a doctor is often not a regular circle, and the rotation trajectory has a large degree of randomness, which means that there will be some noisy data in the collected rotation trajectory, which has a significant negative impact on the accuracy of estimating the rotation center of the bone joint. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, computer device, computer-readable storage medium, and computer program product for obtaining bone joint rotation center parameters that can improve the accuracy of bone rotation parameters, in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a method for obtaining parameters of the rotation center of a bone joint, including:

[0007] Before starting the rotation, the rotational motion projection plane of the bone joint is determined, and the guiding rotation trajectory is determined within the rotational motion projection plane based on the position of the bone ball head in the bone joint in the rotational motion projection plane.

[0008] The interactive interface displays the guided rotation trajectory to prompt the user to rotate the joint around the bone ball head according to the guided rotation trajectory.

[0009] When the actual rotation trajectory of the bone joint matches the guided rotation trajectory, the rotation center parameters of the bone ball head are determined based on the actual rotation trajectory.

[0010] In one embodiment, after the step of displaying the interactive interface, the method further includes:

[0011] Obtain the actual rotation trajectory of the joint and determine the mapping position on the guided rotation trajectory corresponding to the actual rotation trajectory;

[0012] In the interactive interface, the mapped position of the guided rotation trajectory is filled with a trajectory matching identifier.

[0013] In one embodiment, the guided rotation trajectory includes a circular guided rotation trajectory, and the actual rotation trajectory includes the actual trajectory points collected by the joint during rotation;

[0014] Determining the mapping position on the guided rotation trajectory corresponding to the actual rotation trajectory includes:

[0015] Determine the projection position of the actual trajectory point on the rotational motion projection surface, and obtain the line or extension line connecting the projection position and the center of the circular guided rotation trajectory;

[0016] Based on the intersection of the connecting line or its extension with the circular guide rotation trajectory, the mapping position on the circular guide rotation trajectory corresponding to the actual trajectory point is obtained.

[0017] In one embodiment, the actual rotation trajectory includes the actual trajectory points collected during the rotation of the bone joint;

[0018] After filling the mapping position of the guided rotation trajectory in the interactive interface with the trajectory matching identifier, the method further includes:

[0019] Obtain the fill level of the trajectory matching markers in the guided rotation trajectory;

[0020] If the filling degree meets the preset threshold, it is determined that the actual rotation trajectory matches the guided rotation trajectory. If the number of actual trajectory points collected is less than the threshold, a new guided rotation trajectory is displayed on the interactive interface to prompt the joint to rotate again according to the new guided rotation trajectory. The new guided rotation trajectory corresponds to a new rotational motion projection surface.

[0021] In one embodiment, the bone joint includes the femur;

[0022] Determining the rotational motion projection plane of the bone joint before rotation begins includes:

[0023] Before rotation begins, in response to the user's rotation preparation operation, the rotation starting point of the femur is determined based on the current array position of the femur array set on the femur; the rotation preparation operation includes adjusting the femur to the position specified by the user;

[0024] Based on the direction vector corresponding to the rotation starting point and the axis of the femur, a plane perpendicular to the axis is determined as the rotational motion projection plane; wherein, the direction vector is determined based on the center point of the acetabulum and the upper end point of the medullary canal axis of the femur.

[0025] In one embodiment, determining the guiding rotation trajectory within the rotational motion projection plane based on the position of the osteophyte head in the joint within the rotational motion projection plane includes:

[0026] Determine the projection point of the center point of the acetabulum on the rotational motion projection plane;

[0027] The guiding rotation trajectory is determined with the projection point as the center and the distance between the rotation starting point and the projection point as the radius.

[0028] In one embodiment, when the actual rotation trajectory of the bone joint matches the guided rotation trajectory, determining the rotation center parameter of the bone head based on the actual rotation trajectory includes:

[0029] When the actual rotation trajectory of the joint matches the guided rotation trajectory, a set of actual trajectory points corresponding to the rotational motion projection plane is obtained based on the actual rotation trajectory.

[0030] Return to the step of determining the rotational motion projection plane of the bone joint before starting the rotation, and obtain the set of actual trajectory points corresponding to different rotational motion projection planes again;

[0031] The rotation center parameters of the bone bulb are obtained by fitting the rotation center of the bone bulb to multiple sets of actual trajectory points.

[0032] In one embodiment, fitting the rotation center of the bone bulb based on a plurality of the actual trajectory point sets includes:

[0033] Obtain the corresponding initialization sample set based on multiple sets of actual trajectory points;

[0034] The fitting center and fitting radius of the bone bulb head are determined based on the actual trajectory points in the initial sample set;

[0035] Obtain the distance between each actual trajectory point in each set of actual trajectory points and the fitting center, and determine the residual information corresponding to each distance and fitting radius. Based on the residual information, determine the reliable trajectory points in each set of actual trajectory points and the number of reliable trajectory points.

[0036] If the number of reliable trajectory points meets the quantity condition, determine the fitting center and fitting radius of the bone ball head based on each reliable trajectory point, and return to execute the step of obtaining the distance between each actual trajectory point in each set of actual trajectory points and the fitting center until the iteration termination condition is met;

[0037] The rotation center of the bone bulb is obtained based on the fitting center of the bone bulb when the number of reliable trajectory points is maximized.

[0038] Secondly, this application also provides a device for obtaining parameters of the rotation center of a bone joint, the device comprising:

[0039] The guide trajectory determination module is used to determine the rotational motion projection plane of the bone joint before the rotation begins, and to determine the guide rotation trajectory within the rotational motion projection plane based on the position of the bone ball head in the bone joint within the rotational motion projection plane.

[0040] An interactive page display module is used to display an interactive interface, on which the guided rotation trajectory is displayed to prompt the user to rotate the joint around the bone ball head according to the guided rotation trajectory.

[0041] The rotation center parameter acquisition module is used to determine the rotation center parameters of the osteophyte head based on the actual rotation trajectory when the actual rotation trajectory of the osteoarthritis matches the guided rotation trajectory.

[0042] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0043] Before starting the rotation, the rotational motion projection plane of the bone joint is determined, and the guiding rotation trajectory is determined within the rotational motion projection plane based on the position of the bone ball head in the bone joint in the rotational motion projection plane.

[0044] The interactive interface displays the guided rotation trajectory to prompt the user to rotate the joint around the bone ball head according to the guided rotation trajectory.

[0045] When the actual rotation trajectory of the bone joint matches the guided rotation trajectory, the rotation center parameters of the bone ball head are determined based on the actual rotation trajectory.

[0046] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0047] Before starting the rotation, the rotational motion projection plane of the bone joint is determined, and the guiding rotation trajectory is determined within the rotational motion projection plane based on the position of the bone ball head in the bone joint in the rotational motion projection plane.

[0048] The interactive interface displays the guided rotation trajectory to prompt the user to rotate the joint around the bone ball head according to the guided rotation trajectory.

[0049] When the actual rotation trajectory of the bone joint matches the guided rotation trajectory, the rotation center parameters of the bone ball head are determined based on the actual rotation trajectory.

[0050] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0051] Before starting the rotation, the rotational motion projection plane of the bone joint is determined, and the guiding rotation trajectory is determined within the rotational motion projection plane based on the position of the bone ball head in the bone joint in the rotational motion projection plane.

[0052] The interactive interface displays the guided rotation trajectory to prompt the user to rotate the joint around the bone ball head according to the guided rotation trajectory.

[0053] When the actual rotation trajectory of the bone joint matches the guided rotation trajectory, the rotation center parameters of the bone ball head are determined based on the actual rotation trajectory.

[0054] The aforementioned method, apparatus, computer device, storage medium, and computer program product for obtaining the rotation center parameters of a bone joint determine the rotational motion projection plane of the bone joint before rotation begins, and determine a guided rotation trajectory within the rotational motion projection plane based on the position of the femoral head in the bone joint. Then, an interactive interface is displayed, showing the guided rotation trajectory to prompt the user to rotate the bone joint around the femoral head according to the guided rotation trajectory. Furthermore, if the actual rotation trajectory of the bone joint matches the guided rotation trajectory, the rotation parameters of the femoral head are determined based on the actual rotation trajectory. In this embodiment, by determining the guided rotation trajectory within the rotational motion projection plane based on the position of the femoral head in the bone joint before rotation begins and displaying it on the interactive interface, the user can be guided to rotate the bone joint according to the guided rotation trajectory during rotation. This allows the trajectory points in the acquired actual rotation trajectory to be more regularly and reasonably distributed near the femoral head, reducing meaningless and noise points introduced during rotation. Therefore, when determining the rotation center parameters of the femoral head based on the actual rotation trajectory, a more accurate fitting result can be obtained, improving the accuracy of the rotation center estimation. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1a This is a schematic diagram of a bone joint rotation trajectory point in a related technology;

[0057] Figure 1b This is a schematic diagram of another bone joint rotation trajectory point in the related technology;

[0058] Figure 2 This is a flowchart illustrating a method for obtaining the rotation center parameters of a bone joint in one embodiment;

[0059] Figure 3 This is a schematic diagram of a process for filling trajectory matching identifiers in a rotation guide page in one embodiment;

[0060] Figure 4a This is a schematic diagram of a target position on a guided rotation trajectory in one embodiment;

[0061] Figure 4b This is a schematic diagram of a filled guide rotation trajectory in one embodiment;

[0062] Figure 5 This is a schematic diagram of the center point of the acetabulum and the upper end point of the medullary canal axis of the femur;

[0063] Figure 6 This is a schematic diagram of a set of multiple actual trajectory points in one embodiment;

[0064] Figure 7 This is a schematic diagram of a process for fitting the center of a circle based on actual trajectory points in one embodiment;

[0065] Figure 8 This is a schematic diagram of a process for fitting the rotation center of a bone bulb in one embodiment;

[0066] Figure 9a This is a schematic diagram illustrating the calculation of a bone and joint assessment parameter in one embodiment;

[0067] Figure 9b This is a schematic diagram illustrating the calculation of another bone and joint assessment parameter in one embodiment;

[0068] Figure 10 This is a structural block diagram of a device for obtaining the rotation center parameters of a bone joint in one embodiment;

[0069] Figure 11This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0071] To enable those skilled in the art to better understand this application, the relevant technologies are described below.

[0072] In the medical field, the rotation trajectory of a bone joint is often collected by rotating the joint. Based on the rotation trajectory, the relevant rotation parameters of the joint are estimated, and the condition of the joint can be determined based on the estimated rotation parameters.

[0073] The relevant technology mainly involves setting up a positioning array on the joints, allowing the doctor to rotate the corresponding limb so that the joints also rotate, and determining the rotation trajectory based on the position of the positioning array.

[0074] However, limb rotation has a high degree of randomness, and the rotation trajectory often contains meaningless points or noise points. Figure 1a and Figure 1b As shown in the diagram, the limb rotation trajectory is not a regular circle and includes multiple noise points. Consequently, the rotation parameters estimated using the above method are often inaccurate and have significant errors compared to the actual situation.

[0075] In response to this, this application provides a method, apparatus, computer device, storage medium, and computer program product for obtaining parameters of the rotation center of a bone joint, so as to at least solve the problem of low accuracy in estimating parameters of the rotation center of a bone joint obtained in related technologies.

[0076] In one exemplary embodiment, such as Figure 2 As shown, a method for obtaining the rotation center parameters of a bone joint is provided. This embodiment illustrates the application of this method to a terminal. It can be understood that this method can also be applied to a system including a terminal and a server, and implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps S201 to S203. Wherein:

[0077] S201, before starting the rotation, determine the rotational motion projection plane of the bone joint, and determine the guiding rotation trajectory within the rotational motion projection plane based on the position of the bone ball head in the bone joint in the rotational motion projection plane.

[0078] The rotational motion projection plane can be understood as a reference plane used to project the rotational motion of bone joints. By projecting the rotational motion of bone joints onto the rotational motion projection plane, the distribution of the motion trajectory of bone joints on a two-dimensional plane can be determined during the movement of bone joints in three-dimensional space.

[0079] A bone joint can include a head and a body, which are connected and maintain a stable relative position. For example, if the bone joint is the femur, its head and body are the femoral head and body, respectively, and they are connected by a neck. Similarly, if the bone joint is the humerus, its head and body are the humeral head and body, respectively. During rotation, the bone joint primarily rotates around its head. In some methods, a positioning array can be used to determine the rotational trajectory of the bone joint around its head; however, the resulting trajectory is rather random.

[0080] In this embodiment, the rotational motion projection plane of the bone joint can be predetermined before rotation begins, and the position of the bone ball head in the rotational motion projection plane can be determined before rotation begins. It is understood that since the bone joint rotates around the bone ball head, when the position of the target object (such as the patient) remains unchanged, the position of the bone ball head in the rotational motion projection plane is relatively fixed during rotation. Therefore, after determining the position of the bone ball head in the rotational motion projection plane, a corresponding guiding rotation trajectory can be determined based on this position.

[0081] The rotational motion projection plane of the joint is determined, and a guiding rotation trajectory is determined within the projection plane based on the position of the osteophyte head in the joint. This guiding rotation trajectory indicates the joint's motion trajectory in a two-dimensional plane. For example, the guiding rotation trajectory can include open lines or shapes composed of closed lines; such as circular, elliptical, or arc-shaped line segments. The guiding rotation trajectory can be determined based on the rotation parameters of the osteophyte head to be solved. Specifically, for example, the spatial distribution of the trajectory points required for the obtained osteophyte head rotation parameters can be determined on the two-dimensional plane, and then the corresponding guiding rotation trajectory can be determined based on this spatial distribution.

[0082] S202, Display the interactive interface, which shows a guide rotation trajectory to prompt you to rotate the joint around the head of the bone according to the guide rotation trajectory.

[0083] The interactive interface may include an interface displayed on the terminal to guide the user in rotating the bone joints.

[0084] In the specific implementation, after obtaining the guided rotation trajectory, an interactive interface containing the guided rotation trajectory can be obtained and displayed, prompting the user to rotate the joint with the bone ball head as the rotation center according to the guided rotation trajectory. This prompt can be understood as rotating the joint with the bone ball head as the rotation center according to the guided rotation trajectory, so that the projection of the actual rotation trajectory of the joint on the rotation motion projection plane can match the guided rotation trajectory.

[0085] S203, when the actual rotation trajectory of the joint matches the guided rotation trajectory, determine the rotation center parameters of the bone ball head based on the actual rotation trajectory.

[0086] After the guided rotation trajectory is displayed through the interactive interface, the user can begin rotating the joint according to the guided rotation trajectory. During the joint rotation, the rotation status of the joint can be collected and recorded to obtain the actual rotation trajectory of the joint. In some embodiments, a positioning array can be set on the joint; for example, for the femur, a femoral array can be set on the femur, and the actual rotation trajectory can be obtained based on the position information of the femoral array during rotation. Then, it can be determined whether the obtained actual rotation trajectory matches the guided rotation trajectory. In some embodiments, the distribution of trajectory points in the actual rotation trajectory can be compared with the distribution of trajectory points in the guided rotation trajectory. If the two distributions are the same or similar, the actual rotation trajectory can be considered to match the guided rotation trajectory.

[0087] When the actual rotation trajectory of the bone joint matches the guided rotation trajectory, it can be assumed that the distribution of the trajectory points generated by the bone joint during rotation is consistent with the distribution of points on the guided rotation trajectory. At this time, the actual rotation trajectory contains fewer noise points and meaningless points (e.g., less than the threshold), and the actual rotation trajectory is reliable. Therefore, when the actual rotation trajectory matches the guided rotation trajectory, the rotation center parameters of the bone bulb can be determined based on the matched actual rotation trajectory, such as the rotation center position of the bone bulb.

[0088] In practical applications, when determining the rotation center parameters of the bone bulb head, the number of guiding rotation trajectories that need to be provided can be determined according to the actual situation. For example, during the process of acquiring rotation trajectories, it may be necessary to perform multiple rotations according to different guiding rotation trajectories. Then, the rotation center parameters can be determined based on the actual rotation trajectories obtained from multiple rotations. Alternatively, if the rotation center parameters of the bone bulb head can be solved based on a single guiding rotation trajectory, then only one guiding rotation trajectory can be provided, and the rotation center parameters can be determined based on this guiding rotation trajectory.

[0089] In the above-mentioned method for obtaining the rotation center parameters of the bone joint, the rotational motion projection plane of the bone joint can be determined before rotation begins. Based on the position of the femoral head in the rotational motion projection plane, a guiding rotation trajectory is determined within the projection plane. Then, an interactive interface is displayed, showing the guiding rotation trajectory to prompt the user to rotate the bone joint around the femoral head. Furthermore, if the actual rotation trajectory of the bone joint matches the guiding rotation trajectory, the rotation parameters of the femoral head are determined based on the actual rotation trajectory. In this embodiment, by determining the guiding rotation trajectory within the rotational motion projection plane based on the position of the femoral head in the rotational motion projection plane before rotation begins and displaying it on the interactive interface, the user can be guided to rotate the bone joint according to the guiding rotation trajectory during rotation. This allows the trajectory points in the acquired actual rotation trajectory to be more regularly and reasonably distributed near the femoral head, reducing meaningless and noise points introduced during rotation. Therefore, when determining the rotation center parameters of the femoral head based on the actual rotation trajectory, a more accurate fitting result can be obtained, improving the accuracy of the rotation center estimation.

[0090] In one embodiment, such as Figure 3 As shown, after displaying the interactive interface, the method may further include the following steps:

[0091] S301, Obtain the actual rotation trajectory of the joint and determine the mapping position on the guide rotation trajectory corresponding to the actual rotation trajectory.

[0092] In practical applications, during joint rotation, the actual rotation trajectory of the joint can be acquired. For example, the array position of the positioning array set on the joint can be obtained at preset time intervals, and the actual rotation trajectory of the joint can be continuously updated. Then, it can be determined whether there is a position in the acquired actual rotation trajectory that matches the guided rotation trajectory.

[0093] Specifically, the current actual rotation trajectory of the joint may include the position indicated by the guiding rotation trajectory, or it may not. This can be determined based on the currently acquired actual rotation trajectory. If the current actual rotation trajectory does not include the position indicated by the guiding rotation trajectory, the actual rotation trajectory can be updated and the determination repeated until it is determined that the actual rotation trajectory includes the position indicated by the guiding rotation trajectory. When the actual rotation trajectory includes the position indicated by the guiding rotation trajectory, the corresponding position can be determined within the guiding rotation trajectory; for ease of distinction, this position is also called the mapped position.

[0094] S302, fill the trajectory matching mark at the mapping position of the guide rotation trajectory in the interactive interface.

[0095] After determining the mapping positions, trajectory matching identifiers can be added to the mapped positions in the guided rotation trajectory displayed on the rotation guide page. These identifiers indicate that the actual rotation trajectory of the joint includes the corresponding mapped position in the guided rotation trajectory, promptly alerting the user to the appropriateness of the current actual rotation trajectory. Alternatively, for positions in the actual rotation trajectory that do not match the guided rotation trajectory, the current state of the guided rotation trajectory on the rotation guide page can be maintained without adding trajectory matching identifiers. In other words, the mapping identifiers can be added only when a matching position is found on the guided rotation trajectory.

[0096] In some optional embodiments, the guiding rotation trajectory in the rotation guide page can be drawn first using a preset style. For ease of distinction, the style used to draw the guiding rotation trajectory in the rotation guide page before the joint begins to rotate is called the first style. Then, during the joint rotation process, if the mapping position is determined, a trajectory matching identifier can be filled into the mapping position of the guiding rotation trajectory in the rotation guide page using a second style. The second style is different from the first style, and each mapping position on the guiding rotation trajectory can be filled using the same second style.

[0097] In this embodiment, by determining the mapping position on the guided rotation trajectory corresponding to the actual rotation trajectory, and filling the mapping position of the guided rotation trajectory in the rotation guidance page with trajectory matching identifiers, on the one hand, it can guide the user to rotate the bone joint according to the guided rotation trajectory, and on the other hand, it allows the user to know in time whether they have rotated the bone joint correctly according to the trajectory matching identifiers displayed in the rotation guidance page, and marks the rotation trajectory that has been correctly passed, so as to avoid the user rotating to the same position again, and reduce the noise points or meaningless points contained in the final actual rotation trajectory.

[0098] In one embodiment, the guided rotation trajectory includes a circular guided rotation trajectory, and the actual rotation trajectory includes the actual trajectory points collected by the joint during rotation; correspondingly, in step S201, determining the mapping position on the guided rotation trajectory corresponding to the actual rotation trajectory may include the following steps:

[0099] Determine the projection position of the actual trajectory point on the rotational motion projection surface, and obtain the line or extension of the projection position to the center of the circular guided rotation trajectory; based on the intersection of the line or extension with the circular guided rotation trajectory, obtain the mapping position on the circular guided rotation trajectory corresponding to the actual trajectory point.

[0100] Specifically, the actual rotation trajectory can consist of at least one point. For ease of distinction, the midpoint of the actual rotation trajectory is called the actual trajectory point. The three-dimensional coordinate information of each actual trajectory point can be determined based on the array position of the positioning array set on the bone joint. After obtaining the actual rotation trajectory, for each actual rotation trajectory point in the actual rotation trajectory, the actual rotation trajectory point can be projected onto the rotational motion projection plane according to the spatial mapping relationship to obtain the projection position of the actual trajectory point on the rotational motion projection plane. Then, this projection position can be further projected onto the circular guided rotation trajectory.

[0101] Specifically, when projecting the projected position onto the circular guide rotation trajectory, the line connecting the projected position and the center of the circular guide rotation trajectory, or its extension, can be obtained first. If the projected position is within the circular guide rotation trajectory, the corresponding extension line is determined based on the center of the circle and the projected position. If the projected position is outside the circular guide rotation trajectory, the line connecting the projected position and the center of the circle can be obtained. Furthermore, the intersection of the line or extension with the circular guide rotation trajectory can be used as the mapping position on the circular guide rotation trajectory corresponding to the actual trajectory point.

[0102] For example, such as Figure 4a As shown, when the actually collected points are within the circular virtual trajectory (i.e., the circular guide trajectory), the center P' is set... AcetaCenter Connect the points to the actual collected points and extend them onto the virtual trajectory. The intersection of the extended line and the virtual trajectory is used as the point mapped onto the virtual trajectory, thus obtaining the mapped position. When the actual collected point is outside the virtual trajectory, the center P' is... AcetaCenter Connecting the points to the actual collected data, the intersection of the resulting line and the virtual trajectory is used as the point mapped onto the virtual trajectory, thus obtaining the mapped position. Furthermore, the mapped positions on the circular guided rotation trajectory can be filled. For example, the circular guided rotation trajectory can be drawn with dashed lines. After determining the mapped positions, yellow blocks can be used to fill the mapped positions. When the entire circular guided rotation trajectory is filled, the effect can be as follows: Figure 4b As shown.

[0103] In this embodiment, when the guiding rotation trajectory is a circular guiding rotation trajectory, the actual trajectory point can be quickly projected onto the circular guiding rotation trajectory based on the line or extension line connecting the projection position of the actual trajectory point in the rotational motion projection plane and the center of the circle, thus providing a data basis for filling the trajectory matching mark.

[0104] In one embodiment, the actual rotation trajectory includes the actual trajectory points collected during the rotation of the bone joint. After step S302, the method may further include the following steps:

[0105] Obtain the fill level of the trajectory matching identifier in the guided rotation trajectory; if the fill level meets the preset threshold, it is determined that the actual rotation trajectory matches the guided rotation trajectory, and if the number of actual trajectory points collected is less than the threshold, a new guided rotation trajectory is displayed on the interactive interface to prompt the joint to rotate again according to the new guided rotation trajectory.

[0106] The new guiding rotation trajectory corresponds to the new rotational motion projection surface.

[0107] In practical applications, during the user's rotation of the joint, the terminal can continuously determine the target position, fill the target position on the guided rotation trajectory in the rotation guide page, and count the degree of filling of the trajectory matching markers in the guided rotation trajectory to determine the progress of the user collecting the rotation trajectory with specified distribution characteristics.

[0108] If the filling degree of the rotation trajectory meets the preset threshold, it can be determined that the user has completed the acquisition according to the guided rotation trajectory and obtained a rotation trajectory with specified distribution characteristics. At this time, it can be determined that the actual rotation trajectory of the bone joint matches the guided rotation trajectory, and the number of actual trajectory points currently acquired can be compared with the preset threshold (also known as the minimum number of sampling points).

[0109] If the actual number of collected trajectory points is less than the threshold, the terminal can display a new guided rotation trajectory on the interactive interface. This prompts the user to rotate the joint again based on the newly displayed guided rotation trajectory, corresponding to a new rotational motion projection plane, to obtain more trajectory points distributed around the head of the bone. For example, when the points mapped to the guided rotation trajectory fill the entire guided rotation trajectory on the rotation guidance page (e.g., ... Figure 4b After a complete rotation of the joint around the rotating head, the user can be prompted to begin the next rotation. Alternatively, if the number of actual trajectory points collected is greater than or equal to a threshold, a prompt to stop rotation can be displayed, informing the user that further rotation is unnecessary.

[0110] In this embodiment, when the filling degree of the trajectory matching marker in the guided rotation trajectory meets a preset threshold, the actual rotation trajectory of the bone joint is determined to match the guided rotation trajectory, and the new guided rotation trajectory is displayed on the interactive interface. This can promptly prompt the user to start a new rotation when there are few actual trajectory points collected, avoiding the introduction of noise points or meaningless points in this rotation, while collecting more actual trajectory points and improving the quality of trajectory point collection.

[0111] In one embodiment, the bone joint includes the femur; in step S201, determining the rotational motion projection plane of the bone joint before starting rotation may include the following steps:

[0112] Before starting the rotation, in response to the user's rotation preparation operation, the rotation starting point of the femur is determined according to the current array position of the femur array set on the femur; according to the direction vector corresponding to the rotation starting point and the axis of the femur, a plane perpendicular to the axis is determined as the rotational motion projection plane.

[0113] The rotation preparation operation includes adjusting the femur to the user-specified position; the direction vector corresponding to the neck of the femur is determined based on the center point of the acetabulum and the upper end point of the medullary canal axis of the femur, for example, based on the center point of the acetabulum and the upper end point of the medullary canal axis of the femur read from the medical image of the target object.

[0114] In practical applications, the user can determine the starting point of femoral rotation. Specifically, before starting rotation, the user can perform a rotation preparation operation, which involves moving the femur to a user-specified position and then receiving a prompt message indicating the completion of the preparation operation. In response to this trigger operation, the current position of the femoral array pre-set on the femur can be obtained, and the point corresponding to this position is then determined as the starting point of femoral rotation. For example, after moving the femur to the designated position, the user presses the acquisition button, and the point P0 (x0, y0, z0) is recorded as the starting point of rotation.

[0115] After determining the starting point of rotation, the projection plane of the rotational motion can be determined by combining the femoral neck. Specifically, when determining the rotational parameters of the femoral head, the trajectory points should be distributed as regularly as possible around the femoral head. In other words, determining the distribution pattern of the trajectory points mainly involves determining their distribution pattern around the femoral head. In this embodiment, a projection plane of rotational motion can be quickly determined based on the femoral axis (such as the femoral neck) connected to the femoral head, serving as a reference for subsequent identification of femoral rotation.

[0116] When determining the projection plane of rotational motion, the direction vector corresponding to the neck of the femur can be obtained first. In one embodiment, preoperative medical images of the target object can be obtained first, such as preoperative CT (Computed Tomography) images of the femur and hip bones. Then, an image recognition algorithm can be used to determine the center point of the acetabulum and the upper endpoint of the medullary canal axis of the femur on the CT image. Figure 5This diagram illustrates the alignment of the acetabular fossa center point and the upper endpoint of the femoral medullary canal axis. During the surgical registration and registration process, registration points are generated on the femur and hip bones and displayed on the screen. The user is guided to click on these registration points using a probe array, accurately obtaining the registration relationship between the CT image and the real-world femur. This allows the acetabular fossa center point and the upper endpoint of the femoral medullary canal axis from the preoperative CT image to a realistic three-dimensional space. If the positions of the acetabular fossa center point and the upper endpoint of the femoral medullary canal axis are represented as P... AcetaCenter and P Medullary Then the direction vector corresponding to the neck (This can also be understood as the axis of rotation of the femur) can be represented as:

[0117]

[0118] Furthermore, by combining the point method, based on the direction vectors corresponding to the rotation starting point and the neck of the femur, a plane perpendicular to the neck and containing the rotation starting point can be determined as the rotational motion projection plane. Specifically, for example, for a pre-obtained rotation starting point P0, P0 is taken as a point on the rotation plane excluding the normal, and Vec... Normal (D, E, F) is taken as the normal to the plane of rotation (i.e., the projection plane of the rotational motion). According to the point normal form equation, the equation of the plane of rotation is obtained as follows:

[0119]

[0120] In this embodiment, by combining the direction vector corresponding to the rotation starting point and the axis of the femur, a plane perpendicular to the neck of the femur can be quickly determined as the projection plane of the rotational motion, thus accurately determining a reliable and accurate reference plane.

[0121] In one embodiment, in step S101, determining the guiding rotation trajectory within the rotational motion projection plane based on the position of the osteophyte head in the joint may include the following steps:

[0122] Determine the projection point of the center point of the acetabulum onto the rotational projection plane; determine the guiding rotation trajectory with the projection point as the center and the distance between the rotation starting point and the projection point as the radius.

[0123] In practice, the femoral head matches the acetabulum, and the spherical femoral head can rotate within the concave acetabular fossa, allowing for multi-directional rotation within the acetabulum. Based on the structural relationship between the femoral head and the acetabulum, it can be assumed that the center point of the acetabular fossa, the upper end point of the femoral medullary canal axis, and the center of the femoral head are on the same axis. Therefore, the position of the femoral head in the rotational motion projection plane can be determined based on the center point of the acetabular fossa.

[0124] Specifically, after obtaining the rotational motion projection plane, the projection point of the center point of the acetabulum on the rotational motion projection plane can be determined. This projection point can be regarded as the projection point of the center of the acetabular head on the rotational motion projection plane. Furthermore, this projection point can be used as the center of a circle, with the rotation starting point (e.g., ...) Figure 4a P` in RotaeEnd The distance between the projection point and the target point is used as the radius to obtain the corresponding circular trajectory, and this circular trajectory is used as the guiding rotation trajectory.

[0125] In this embodiment, on the one hand, the projection point of the femoral head on the rotational motion projection plane can be quickly determined based on the center point of the acetabulum. On the other hand, by taking the projection point as the center and the distance between the rotation starting point and the projection point as the radius, the guiding rotation trajectory is obtained, so that the trajectory points in the guiding rotation trajectory can be reasonably distributed around the femoral head, making the hypothetical femoral center inside the guiding rotation trajectory. Therefore, when the user rotates the joint according to the guiding rotation trajectory, the trajectory points of the actual rotation trajectory can contain most of the positional information around the femoral head, improving the processing accuracy and speed of the subsequent fitting algorithm.

[0126] In one embodiment, in step S203, when the actual rotation trajectory of the joint matches the guided rotation trajectory, determining the rotation parameters of the osteophyte head based on the actual rotation trajectory may include the following steps:

[0127] S2031, when the actual rotation trajectory of the joint matches the guided rotation trajectory, the set of actual trajectory points corresponding to the projection plane of the rotational motion is obtained based on the actual rotation trajectory.

[0128] In practice, when the actual rotation trajectory of the joint matches the current referenced rotation trajectory of the user, the set of actual trajectory points corresponding to the current rotation trajectory can be obtained based on the trajectory points corresponding to the actual rotation trajectory in this rotation, i.e., the actual trajectory points. The set of actual trajectory points includes multiple actual trajectory points.

[0129] S2032, return to the step of determining the rotational motion projection plane of the bone joint before starting the rotation, and obtain the set of actual trajectory points corresponding to different rotational motion projection planes again.

[0130] In some cases, it is necessary to obtain the rotation parameters of the bone head in three-dimensional space, such as the rotation center of the bone head in three-dimensional space. In this case, the actual rotation trajectory in different planes can be fitted. In this embodiment, after obtaining the set of actual trajectory points corresponding to the current guided rotation trajectory, the execution step S201 can be returned to re-execute steps S201~S202.

[0131] Before restarting the rotation, a new rotational motion projection surface and a corresponding guiding rotation trajectory are determined. This new projection surface can be different from the previously determined one. The user can determine the new projection surface by changing the position of the rotation starting point; the specific implementation method can be found in the description of the foregoing embodiments, and will not be repeated here. By repeating the above steps, a set of actual trajectory points corresponding to different rotational motion projection surfaces can be obtained.

[0132] For example, a user can rotate according to the guided rotation trajectory 1 displayed on the rotation guide page, and the device can collect the actual trajectory point set Assembly1. Then, the rotation guide page can prompt the user to pause the current rotation and start the next rotation, thereby obtaining the next actual trajectory point set Assembly2. This process is repeated multiple times to obtain n sets Assembly1, Assembly2... Assemblyn. In one example, the method described in this embodiment can be used to collect such... Figure 6 The set of multiple actual trajectory points shown.

[0133] S2033, the rotation center of the bone bulb is fitted based on multiple actual trajectory point sets to obtain the rotation center parameters of the bone bulb.

[0134] After obtaining multiple sets of actual trajectory points corresponding to different rotation projection planes, the rotation center of the bone bulb is fitted to obtain the rotation center parameters of the bone bulb.

[0135] In this embodiment, by providing guided rotation trajectories corresponding to different rotational motion projection planes, the actual trajectory points around the three-dimensional space of the bone head can be fully collected, thereby obtaining most of the positional information around the bone head and improving the processing accuracy and speed of subsequent fitting algorithms.

[0136] In one embodiment, step S2033, fitting the rotation center of the bone ball head based on multiple sets of actual trajectory points, may include the following steps:

[0137] S1, obtain the corresponding initial sample set based on multiple actual trajectory point sets.

[0138] In one example, each initial sample set corresponds to a set of actual trajectory points.

[0139] In this embodiment, the RANSAC (Random Sample Consensus) algorithm can be used to fit the centers of multiple sets of actual trajectory points to obtain the rotation center of the bone ball head. Specifically, firstly, an initial sample set can be obtained based on one or more sets of the multiple sets of actual trajectory points. This initial sample set, also known as the minimum sample set, can be used to initialize the model parameters. For example, for a selected set of actual trajectory points, an initial sample set can be obtained based on each actual trajectory point in that set.

[0140] S2, determine the fitting center and fitting radius of the bone bulb head based on the actual trajectory points in the initial sample set.

[0141] After obtaining the initial sample set, the fitting center and fitting radius of the bone bulb head can be determined by fitting each actual trajectory point in the initial sample set.

[0142] In some alternative embodiments, when fitting the center and radius of the spherical head based on an initial sample set, the center of the circle can be fitted using the least squares method, thereby obtaining the fitted center and radius of the spherical head. For example... Figure 7 As shown, after data collection is complete, a model can be defined. The defined model is the plane equation of a circle with center (A, B) and radius R:

[0143]

[0144] The plane equation can be simplified to:

[0145]

[0146] By finding a, b, and c, we can obtain the center and radius of the circle.

[0147]

[0148]

[0149]

[0150] Error function during fitting process It can be defined as each sample point in the set. (i.e., the square of the difference between the distance from the actual trajectory point to the center of the circle and the radius)

[0151]

[0152] It can be further simplified to:

[0153]

[0154] During the fitting process, parameters a, b, and c are solved by minimizing the error function, such that... Minimum. Specifically, it can be set to: By taking the partial derivatives with respect to a, b, and c respectively, and then setting the partial derivatives to 0, the local minimum point can be found. The specific process is as follows:

[0155]

[0156]

[0157]

[0158] Therefore, the values ​​of the three parameters a, b, and c can be obtained.

[0159] S3, obtain the distance between each actual trajectory point in each actual trajectory point set and the fitting center, and determine the fitting residual corresponding to each distance and fitting radius. Based on the fitting residual, determine the reliable trajectory points in each actual trajectory point set and the number of the reliable trajectory points.

[0160] After obtaining the fitting center and fitting radius of the bone bulb head based on the initial sample set, the fitting results, including the fitting center and fitting radius, can be evaluated based on each set of actual trajectory points. Specifically, for each actual trajectory point in each set of actual trajectory points, the distance between the actual trajectory point and the fitting center can be obtained, and the residual between this distance and the fitting radius can be determined as residual information.

[0161] For example, such as Figure 8 As shown, the residual between each actual trajectory point and the fitted model can be determined. That is, based on the distance between the actual trajectory point and the current center and the current radius obtained by fitting, the corresponding residual is calculated, and the difference between the distance between the actual trajectory point and the current center and the current radius is obtained.

[0162] After obtaining the differences corresponding to each actual trajectory point, it can be determined whether the actual trajectory point belongs to a reliable trajectory point, i.e., a reliable trajectory point, based on the differences. This reliable trajectory point can then be used for subsequent fitting. Figure 8 As shown, after obtaining the residual corresponding to each actual trajectory point, it can be determined whether the residual is less than the preset error threshold. If not, the actual trajectory point can be marked as an outer point, which can be understood as an unreliable trajectory point. If so, the actual trajectory point can be marked as an inner point, which is a reliable trajectory point.

[0163] S4, if the number of reliable trajectory points meets the quantity condition, fit the center and radius of the bone ball head according to each reliable trajectory point, and return to obtain the difference between the distance and the current center and the current radius of each actual trajectory point in the set of actual trajectory points, until the training end condition is met.

[0164] After obtaining the number of reliable trajectory points, it can be determined whether the number of reliable trajectory points meets the preset quantity condition. For example, continuing from the previous example, after determining the interior and exterior points, the number of interior and exterior points can be counted, and the currently counted number of interior points can be compared with the number of interior points corresponding to the previously recorded fitting results. If the currently counted number of interior points is the largest among all fitting results, it can be considered to meet the quantity condition, updated as the optimal solution, and the iteration count updated. If the number of reliable trajectory points does not meet the quantity condition, the current iteration result can be discarded, the current iteration count updated, and the fitting process repeated.

[0165] If the current iteration count has not reached the preset iteration count, the least squares method can be used to refit the center and radius of the bone ball head based on each reliable trajectory point, and return to step S3 to obtain the distance between the actual trajectory point in each actual trajectory point set and the current center and the difference of the current radius. Repeat the above steps until the termination condition is met, such as the current iteration count reaching the maximum iteration count or the algorithm error being less than the error threshold.

[0166] S5. Based on the center of the bone head when the number of reliable trajectory points is maximized, the rotation center of the bone head is obtained.

[0167] By comparing the number of reliable trajectory points corresponding to each fitting result, the center of the bone head obtained by fitting the result with the maximum number of reliable trajectory points is taken as the rotation center of the bone head.

[0168] It is understandable that when there are multiple initial sample sets, steps S2 to S5 can be performed on each initial sample set separately. After comparing the rotation centers obtained based on each initial sample set, the final rotation center of the bone ball head can be determined.

[0169] In the process of calling the algorithm for fitting, compared with the method of randomly selecting trajectory points as the minimum sample set in related technologies, this embodiment uses an actual set of trajectory points as an initial sample set, which effectively improves the regularity of trajectory points in the initial sample set, reduces noise points and meaningless points in the set, greatly reduces the number of algorithm iterations, and increases the accuracy of the algorithm fitting results.

[0170] In some embodiments, after obtaining the rotation parameters of the osteoglobulin, surgery-related assessment information can also be obtained based on the rotation center.

[0171] For example, in total hip arthroplasty, if the obtained femoral head rotation parameters are the center of rotation of the femoral head, this center can be taken as the actual center of the femoral head. Then, by calculating the distance between the center of the femoral head and the axis of the femoral medullary canal (which can be determined through preoperative imaging and intraoperative registration; for details, refer to the calculation method of the upper endpoint of the femoral medullary canal axis), the combined eccentricity on the femoral side can be determined. Figure 9a As shown.

[0172] The length of the lower limb on the femoral side can be determined by calculating the distance between the center of the femoral bulb and the lesser trochanter of the femur (which can be determined through preoperative imaging and intraoperative registration; for details, refer to the calculation method of the upper endpoint of the femoral medullary canal axis). Figure 9b As shown. After acquiring preoperative and intraoperative medical images of the bone and joint and the contralateral bone and joint, respectively, relevant parameters can be derived based on the preoperative and intraoperative medical images and the intraoperative registration relationship. The preoperative and contralateral femoral lower limb length and joint offset can be calculated and compared with the lower limb length and joint offset after rotation to accurately quantify the relevant assessment information of the surgery.

[0173] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0174] Based on the same inventive concept, this application also provides a device for acquiring the rotation center parameters of a bone joint, used to implement the above-described method for acquiring these parameters. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the device for acquiring the rotation center parameters of a bone joint provided below can be found in the limitations of the method for acquiring the rotation center parameters of a bone joint described above, and will not be repeated here.

[0175] In one exemplary embodiment, such as Figure 10 As shown, a device for obtaining parameters of the rotation center of a bone joint is provided, comprising:

[0176] The guide trajectory determination module 1001 is used to determine the rotational motion projection plane of the bone joint before the rotation begins, and to determine the guide rotation trajectory in the rotational motion projection plane according to the position of the bone ball head in the bone joint in the rotational motion projection plane.

[0177] The interactive page display module 1002 is used to display an interactive interface, on which the guided rotation trajectory is displayed to prompt the user to rotate the joint around the bone ball head according to the guided rotation trajectory.

[0178] The rotation parameter acquisition module 1003 is used to determine the rotation center parameters of the bone ball head based on the actual rotation trajectory when the actual rotation trajectory of the bone joint matches the guided rotation trajectory.

[0179] In one embodiment, the interactive page display module 1002 is further configured to:

[0180] Obtain the actual rotation trajectory of the joint and determine the mapping position on the guided rotation trajectory corresponding to the actual rotation trajectory;

[0181] In the interactive interface, the mapped position of the guided rotation trajectory is filled with a trajectory matching identifier.

[0182] In one embodiment, the guided rotation trajectory includes a circular guided rotation trajectory; the actual rotation trajectory includes the actual trajectory points collected by the joint during rotation.

[0183] The interactive page display module 1002 is used for:

[0184] Determine the projection position of the actual trajectory point on the rotational motion projection surface, and obtain the line or extension line connecting the projection position and the center of the circular guided rotation trajectory;

[0185] Based on the intersection of the connecting line or its extension with the circular guide rotation trajectory, the mapping position on the circular guide rotation trajectory corresponding to the actual trajectory point is obtained.

[0186] In one embodiment, the actual rotation trajectory includes the actual trajectory points collected during the rotation of the bone joint; the interactive page display module 1002 is further used for:

[0187] Obtain the fill level of the trajectory matching markers in the guided rotation trajectory;

[0188] If the filling degree meets the preset threshold, it is determined that the actual rotation trajectory matches the guided rotation trajectory. If the number of actual trajectory points collected is less than the threshold, a new guided rotation trajectory is displayed on the interactive interface to prompt the joint to rotate again according to the new guided rotation trajectory. The new guided rotation trajectory corresponds to a new rotational motion projection surface.

[0189] In one embodiment, the bone joint includes the femur;

[0190] The guidance trajectory determination module 1001 is used for:

[0191] Before rotation begins, in response to the user's rotation preparation operation, the rotation starting point of the femur is determined based on the current array position of the femur array set on the femur; the rotation preparation operation includes adjusting the femur to the position specified by the user;

[0192] Based on the direction vector corresponding to the rotation starting point and the axis of the femur, a plane perpendicular to the axis is determined as the rotational motion projection plane; wherein, the direction vector is determined based on the center point of the acetabulum and the upper end point of the medullary canal axis of the femur.

[0193] In one embodiment, the guide trajectory determination module 1001 is configured to:

[0194] Determine the projection point of the center point of the acetabulum on the rotational motion projection plane;

[0195] The guiding rotation trajectory is determined with the projection point as the center and the distance between the rotation starting point and the projection point as the radius.

[0196] In one embodiment, the rotation parameter acquisition module 1003 is used for:

[0197] When the actual rotation trajectory of the joint matches the guided rotation trajectory, a set of actual trajectory points corresponding to the rotational motion projection plane is obtained based on the actual rotation trajectory.

[0198] Return to the step of determining the rotational motion projection plane of the bone joint before starting the rotation, and obtain the set of actual trajectory points corresponding to different rotational motion projection planes again;

[0199] The rotation center parameters of the bone bulb are obtained by fitting the rotation center of the bone bulb to multiple sets of actual trajectory points.

[0200] In one embodiment, the guide trajectory determination module 1001 is configured to:

[0201] Obtain the corresponding initialization sample set based on multiple sets of actual trajectory points;

[0202] The fitting center and fitting radius of the bone bulb head are determined based on the actual trajectory points in the initial sample set;

[0203] Obtain the distance between each actual trajectory point in each set of actual trajectory points and the fitting center, and determine the residual information corresponding to each distance and fitting radius. Based on the residual information, determine the reliable trajectory points in each set of actual trajectory points and the number of reliable trajectory points.

[0204] If the number of reliable trajectory points meets the quantity condition, determine the fitting center and fitting radius of the bone ball head based on each reliable trajectory point, and return to execute the step of obtaining the distance between each actual trajectory point in each set of actual trajectory points and the fitting center until the iteration termination condition is met;

[0205] The rotation center of the bone bulb is obtained based on the fitting center of the bone bulb when the number of reliable trajectory points is maximized.

[0206] Each module in the aforementioned device for acquiring the rotation center parameters of the bone joint can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0207] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for obtaining parameters of the rotation center of a bone joint. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0208] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0209] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0210] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0211] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0212] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0213] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0214] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0215] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for obtaining parameters of the rotation center of a bone joint, characterized in that, The method includes: Before starting the rotation, the rotational motion projection plane of the bone joint is determined, and the guiding rotation trajectory is determined within the rotational motion projection plane based on the position of the bone ball head in the bone joint in the rotational motion projection plane. The interactive interface displays the guided rotation trajectory to prompt the user to rotate the joint around the bone ball head according to the guided rotation trajectory. When the actual rotation trajectory of the bone joint matches the guided rotation trajectory, the rotation center parameters of the bone ball head are determined based on the actual rotation trajectory.

2. The method according to claim 1, characterized in that, Following the step of displaying the interactive interface, the method further includes: Obtain the actual rotation trajectory of the joint and determine the mapping position on the guided rotation trajectory corresponding to the actual rotation trajectory; In the interactive interface, the mapped position of the guided rotation trajectory is filled with a trajectory matching identifier.

3. The method according to claim 2, characterized in that, The guided rotation trajectory includes a circular guided rotation trajectory, and the actual rotation trajectory includes the actual trajectory points collected by the bone joint during rotation; Determining the mapping position on the guided rotation trajectory corresponding to the actual rotation trajectory includes: Determine the projection position of the actual trajectory point on the rotational motion projection surface, and obtain the line or extension line connecting the projection position and the center of the circular guided rotation trajectory; Based on the intersection of the connecting line or its extension with the circular guide rotation trajectory, the mapping position on the circular guide rotation trajectory corresponding to the actual trajectory point is obtained.

4. The method according to claim 2, characterized in that, The actual rotation trajectory includes the actual trajectory points collected during the rotation of the bone joint; After filling the mapping position of the guided rotation trajectory in the interactive interface with the trajectory matching identifier, the method further includes: Obtain the fill level of the trajectory matching markers in the guided rotation trajectory; If the filling degree meets the preset threshold, it is determined that the actual rotation trajectory matches the guided rotation trajectory. If the number of actual trajectory points collected is less than the threshold, a new guided rotation trajectory is displayed on the interactive interface to prompt the joint to rotate again according to the new guided rotation trajectory. The new guided rotation trajectory corresponds to a new rotational motion projection surface.

5. The method according to claim 1, characterized in that, The bone joint includes the femur; Determining the rotational motion projection plane of the bone joint before rotation begins includes: Before rotation begins, in response to the user's rotation preparation operation, the rotation starting point of the femur is determined based on the current array position of the femur array set on the femur; the rotation preparation operation includes adjusting the femur to the position specified by the user; Based on the direction vector corresponding to the rotation starting point and the axis of the femur, a plane perpendicular to the axis is determined as the rotational motion projection plane; wherein, the direction vector is determined based on the center point of the acetabulum and the upper end point of the medullary canal axis of the femur.

6. The method according to claim 5, characterized in that, The step of determining the guiding rotation trajectory within the rotational motion projection plane based on the position of the osteophyte head in the joint includes: Determine the projection point of the center point of the acetabulum on the rotational motion projection plane; The guiding rotation trajectory is determined with the projection point as the center and the distance between the rotation starting point and the projection point as the radius.

7. The method according to any one of claims 1 to 6, characterized in that, When the actual rotation trajectory of the bone joint matches the guided rotation trajectory, determining the rotation center parameters of the bone bulb based on the actual rotation trajectory includes: When the actual rotation trajectory of the joint matches the guided rotation trajectory, a set of actual trajectory points corresponding to the rotational motion projection plane is obtained based on the actual rotation trajectory. Return to the step of determining the rotational motion projection plane of the bone joint before starting the rotation, and obtain the set of actual trajectory points corresponding to different rotational motion projection planes again; The rotation center parameters of the bone bulb are obtained by fitting the rotation center of the bone bulb to multiple sets of actual trajectory points.

8. The method according to claim 7, characterized in that, The step of fitting the rotation center of the bone bulb based on multiple sets of actual trajectory points includes: Obtain the corresponding initialization sample set based on multiple sets of actual trajectory points; The fitting center and fitting radius of the bone bulb head are determined based on the actual trajectory points in the initial sample set; Obtain the distance between each actual trajectory point in each set of actual trajectory points and the fitting center, and determine the residual information corresponding to each distance and fitting radius. Based on the residual information, determine the reliable trajectory points in each set of actual trajectory points and the number of reliable trajectory points. If the number of reliable trajectory points meets the quantity condition, determine the fitting center and fitting radius of the bone ball head based on each reliable trajectory point, and return to execute the step of obtaining the distance between each actual trajectory point in each set of actual trajectory points and the fitting center until the iteration termination condition is met; The rotation center of the bone bulb is obtained based on the fitting center of the bone bulb when the number of reliable trajectory points is maximized.

9. A device for acquiring parameters of the rotation center of a bone joint, characterized in that, The device includes: The guide trajectory determination module is used to determine the rotational motion projection plane of the bone joint before the rotation begins, and to determine the guide rotation trajectory within the rotational motion projection plane based on the position of the bone ball head in the bone joint within the rotational motion projection plane. An interactive page display module is used to display an interactive interface, on which the guided rotation trajectory is displayed to prompt the user to rotate the joint around the bone ball head according to the guided rotation trajectory. The rotation center parameter acquisition module is used to determine the rotation center parameters of the osteophyte head based on the actual rotation trajectory when the actual rotation trajectory of the osteoarthritis matches the guided rotation trajectory.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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