Screw navigation method, hip surgery system, and computer program product

Abstract

The application is suitable for the technical field of medical devices, and provides a screw navigation method, a hip joint surgery system and a computer program product. The screw navigation method comprises the following steps: acquiring real-time position information of a screw; the real-time position information is collected by a screw guide; the real-time position information of the screw comprises a direction of the screw and a real-time position of the screw; according to a screw placement scheme and the real-time position information of the screw, adjustment information of a screw placement angle and a screw placement position of the screw is output in real time, so that the screw placement angle and the screw placement position of the screw are adjusted according to the adjustment information; wherein the screw placement scheme comprises planning the screw placement position and the screw placement angle of the screw, the real-time position information of the screw in surgery can be acquired in real time, then the position and the direction of the screw are continuously adjusted according to the target position of the screw in the screw placement scheme and the real-time position information of the screw, the screw can be placed based on the screw placement scheme, so that the accuracy and the safety of the screw placement are improved, the stability of the acetabular cup is improved, and the long-term survival rate of the prosthesis is increased.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and in particular relates to a hip joint screw navigation method, a hip joint surgical system, and a computer program product. Background Technology

[0002] Total hip arthroplasty (THA) is an effective treatment for various hip joint diseases or injuries. Screws are important tools in total hip arthroplasty, providing crucial initial mechanical stability for the acetabular cup, revision pad, and other components.

[0003] The complex anatomical structure around the acetabulum means that incorrect screw placement angle and depth may alter the physiological stress that the implanted acetabular cup can withstand. If the acetabular cup does not have sufficient initial stability, it can easily cause early loosening of the prosthesis, leading to hip replacement failure.

[0004] Therefore, improving the accuracy and safety of screw placement during hip surgery is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a hip joint screw navigation method, a hip joint surgical system, and a computer program product, which can effectively improve the accuracy and safety of screw placement during hip joint surgery.

[0006] In a first aspect, embodiments of this application provide a screw navigation method applied to a hip joint surgical system, the hip joint surgical system including a screw guide, the screw navigation method comprising: The real-time position information of the screw is acquired by the screw guide; the real-time position information of the screw includes the screw's direction and its real-time position. Based on the screw placement scheme and the real-time position information of the screw, the screw placement angle and position adjustment information are output in real time, so as to adjust the screw placement angle and position according to the adjustment information; wherein, the screw placement scheme includes planning the screw placement position and screw placement angle; The step of outputting the adjustment information of the screw placement angle and position in real time based on the screw placement scheme and the real-time position information of the screw includes: Based on the placement position of the planned screw and the real-time position of the screw, calculate the distance between the starting point of the planned screw and the starting point of the screw, and determine the positional error between the screw and the planned screw; Based on the placement angle of the planned screw and the direction of the screw, calculate the angle between the direction corresponding to the placement angle of the planned screw and the direction of the screw, and determine the directional error between the screw and the planned screw; The corresponding adjustment information is generated based on the position error and the direction error.

[0007] In one implementation of the first aspect, before the step of outputting adjustment information of the screw placement angle and position in real time according to the screw placement scheme and the real-time position information of the screw, so as to adjust the screw placement angle and position according to the adjustment information, the method further includes: The user's hip joint is reconstructed in three dimensions to obtain a three-dimensional model of the hip joint. The pin placement scheme was determined based on the aforementioned three-dimensional model of the hip joint.

[0008] In one implementation of the first aspect, determining the pin placement scheme based on the three-dimensional model of the hip joint includes: Based on the three-dimensional model of the hip joint, the pelvic depth is measured at the location of the pin placement to determine the pelvic depth corresponding to the pin placement location. Generate a planned screw with a length corresponding to the depth of the pelvis.

[0009] In one implementation of the first aspect, the pelvic depth is measured based on the three-dimensional model of the hip joint to determine the pelvic depth corresponding to the pin placement location, including: Based on the ray direction, a ray is emitted from the pin placement starting point; wherein, the ray direction is either the camera direction or the direction of the line connecting the centers of the acetabulum; If the number of intersections between the ray and the three-dimensional model of the hip joint is less than 1, then the pelvic depth is 0. If the number of intersections between the ray and the three-dimensional model of the hip joint is not less than 1, then the second intersection is determined as the endpoint, the distance between the pin placement starting point and the endpoint is calculated, and the distance is determined as the pelvic depth corresponding to the pin placement position.

[0010] In one implementation of the first aspect, after generating the planned screw with a length corresponding to the pelvic depth, the method further includes: The generated screw model of the planned screw is then bound to the acetabular cup prosthesis.

[0011] In one implementation of the first aspect, before the step of outputting adjustment information of the screw placement angle and position in real time according to the screw placement scheme and the real-time position information of the screw, so as to adjust the screw placement angle and position according to the adjustment information, the method further includes: The above screw placement plan is updated based on the real-time pelvic depth detection.

[0012] Secondly, embodiments of this application provide a hip joint surgical system, including: A screw guide device is used to collect real-time position information of the screw; A control terminal for executing the screw navigation method described in the first aspect and any one of the first aspects.

[0013] In one implementation of the second aspect, the screw guiding device includes: A screw guide includes a screw guide for determining the direction of the screw and a positioning device for determining the real-time position of the screw. The guide is used to display the real-time position information of the screw based on the real-time position and direction of the screw fed back by the screw guide.

[0014] Thirdly, embodiments of this application provide a terminal device, the terminal device including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the screw navigation method as described in the first aspect or any optional method of the first aspect.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the screw navigation method as described in the first aspect or any alternative method of the first aspect.

[0016] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the screw navigation method as described in the first aspect or any optional method of the first aspect.

[0017] Implementing the screw navigation method, apparatus, terminal device, computer-readable storage medium, and computer program product provided in this application has the following beneficial effects: The screw navigation method, hip joint surgery system, and computer program product provided in this application can acquire real-time screw position information during surgery. Then, based on the target position of the screw in the screw placement plan and the real-time screw position information, the position and direction of the screw are continuously adjusted. Screw placement can be performed based on the screw placement plan, thereby improving the accuracy and safety of screw placement, and thus improving the stability of the acetabular cup and increasing the long-term survival rate of the prosthesis. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is a schematic diagram illustrating the implementation process of a screw navigation method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the architecture of a hip joint surgery system provided in an embodiment of this application; Figure 3 This is a schematic diagram of the screw guide device in a hip joint surgery system provided in an embodiment of this application; Figure 4 This is a schematic diagram of a screw guide provided in an embodiment of this application; Figure 5 This is a schematic diagram illustrating the implementation process of another screw navigation method provided in this application embodiment; Figure 6 This is a schematic diagram of the process of measuring pelvic depth in the screw navigation method provided in the embodiments of this application; Figure 7 This is a schematic diagram illustrating the implementation process of another screw navigation method provided in this application embodiment; Figure 8 This is a schematic diagram of the structure of a screw navigation device provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0021] It should be understood that the term "and / or" as used in this application specification and the appended claims refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes such combinations. Furthermore, in the description of this application specification and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0022] It should also be understood that references to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include the specific features, structures, or characteristics described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0023] As mentioned earlier, screws are crucial tools in total hip replacement surgery, providing essential initial mechanical stability for the acetabular cup and revision pad. Currently, the placement depth and angle of screws during surgery are primarily determined by the surgeon's feel and experience with the three-dimensional anatomy of the pelvis. However, due to significant individual differences and the complex anatomical structure around the acetabulum, incorrect placement angles and depths can alter the physiological stress that the implanted acetabular cup can withstand. If the acetabular cup lacks sufficient initial stability, it can easily lead to early loosening of the prosthesis, ultimately resulting in hip replacement failure.

[0024] Screw navigation technology is an important direction for the intelligent and precise development of orthopedic surgery in recent years, aiming to improve the accuracy and safety of screw placement. However, there is still a lack of mature preoperative planning and intraoperative navigation solutions.

[0025] Based on this, embodiments of this application provide a screw navigation method and a hip joint surgery system, which can acquire real-time position information of the screw during surgery, and then continuously adjust the position and direction of the screw according to the target position of the screw in the screw placement plan and the real-time position information of the screw. It can place the screw based on the screw placement plan, thereby improving the accuracy and safety of screw placement, thereby improving the stability of the acetabular cup and increasing the long-term survival rate of the prosthesis.

[0026] The following will provide a detailed description of a screw navigation method provided in the embodiments of this application: Please see Figure 1 , Figure 1This is a schematic flowchart illustrating a screw navigation method provided in this application embodiment. The execution entity of the screw navigation method provided in this application embodiment can be the control terminal in the hip joint surgery system of this application embodiment, or other terminal devices. The aforementioned control terminal / terminal device can be a mobile terminal such as a smartphone, tablet, or wearable device, or it can be a computer, cloud server, auxiliary computer, or other devices in various application scenarios. By executing the various steps of the method provided in this application embodiment, the aforementioned terminal device can monitor and navigate the screw placement process during hip joint surgery, thereby improving the accuracy and safety of screw placement during hip joint surgery.

[0027] In one embodiment of this application, please refer to Figure 2 , Figure 2 This illustration shows a schematic diagram of the architecture of a hip joint surgery system 10 provided in an embodiment of this application, as shown below. Figure 2 As shown, the hip joint surgery system 10 described above may include a control terminal 110 and a screw guide device 120.

[0028] In specific applications, such as Figure 3 As shown, the screw guiding device 120 may include a guide 121 and a screw guide 122.

[0029] The working interface of the guide 121 can display the real-time position information of the screw based on the real-time position and direction of the screw fed back by the screw guide 122.

[0030] In a specific application, the screw guide 122 may include a screw guide portion 122a for determining the screw direction and a positioning device 122b for determining the real-time position of the screw.

[0031] In practical applications, the aforementioned positioning device can be a reflective optical disc. The reflective optical disc is used to allow the navigator to pinpoint the exact location of the screw guide.

[0032] In some embodiments, the positioning device described above can be installed on the screw guide, the end of the screw guide being the end point of the screw, and the direction of the screw guide being the screw direction.

[0033] During the surgery, placing the screw guide in the navigator's working area will display the screw's real-time position on the navigation interface.

[0034] Of course, in other implementations, the positioning device can also be set in any other location, and this application does not impose any specific restrictions on this.

[0035] In other implementations, the positioning device described above can also be other devices that can be used to determine the position of the screw, such as a visual imaging positioning mechanism, a laser scanning positioner, an infrared sensing positioning module, a displacement sensor combination positioning assembly, a mechanical edge-finding positioning fixture, etc. This application does not impose specific limitations on this.

[0036] For example, Figure 4 A schematic diagram of a screw guide provided in an embodiment of this application is given, as follows: Figure 4 As shown, the screw guide includes four reflector discs (122a) and a screw guide portion 122b (i.e., the positioning device).

[0037] It should be noted that the functions of the aforementioned guide device can also be integrated into the aforementioned control terminal, so that a single terminal device can simultaneously perform the functions of both the guide device and the control terminal.

[0038] During surgery, the aforementioned screw guide can be used to guide the placement of the screw and display the screw's position in real time.

[0039] In some embodiments, a calibrator can be used to calibrate the screw guide before use to reduce the error between the actual value and the theoretical value caused by machining.

[0040] Understandable, Figure 4 This is just one example of a screw guide. In practical applications, screw guides may include more or fewer reflective discs. The reflective discs may also be in the form of reflective sheets. The shape and size of the reflective sheets can be set according to the situation, and this application does not impose any specific limitations on this.

[0041] The hip joint surgery system provided in the embodiments of this application has been described above. Next, the following description will take the control terminal 110 of the above-mentioned hip joint surgery system 10 as the execution subject as an example: Please refer to it again. Figure 1 ,like Figure 1 As shown, the above screw navigation method may include S11 to S13, which are detailed below: S11: Obtain the real-time position information of the screw.

[0042] In practical applications, the real-time position information of the screw includes the screw's orientation and its real-time position.

[0043] In practical applications, the real-time position information of the screw can be obtained through the aforementioned screw guide.

[0044] For example, the location of the screw can be determined by a reflector, and the direction of the screw can be determined by the direction of the guide in the screw guide.

[0045] In practical applications, by placing the screw in the aforementioned screw guide, the real-time position information of the screw can be obtained through the screw guide.

[0046] S12: Based on the screw placement scheme and the real-time position information of the screw, output the adjustment information of the screw placement angle and the screw placement position in real time, so as to adjust the screw placement angle and the screw placement position according to the adjustment information.

[0047] In practical applications, a customized screw placement plan can be pre-planned based on the patient's condition before surgery. During the operation, the screw placement can be guided by the pre-planned placement plan and the real-time position information of the screw. That is, the corresponding adjustment information is determined in real time based on the planned screw placement position and angle in the placement plan, as well as the real-time position and direction of the screw. This allows the operator to adjust the screw placement angle and position (specifically, the starting point of the screw) according to this adjustment information, ensuring that the screw is correctly placed into the acetabulum.

[0048] In some embodiments, the patient's screw placement plan can also be set in real time during the operation.

[0049] In some embodiments of this application, based on the preoperatively planned screw placement scheme, the distance between the starting point of the intraoperative screw and the starting point of the screw in the preoperative plan (referred to as the planned screw) is calculated to obtain the positional error between the intraoperative screw and the planned screw. The angle between the direction of the intraoperative screw and the direction of the planned screw is calculated to obtain the directional error between the intraoperative screw and the planned screw. Based on the above positional error and the above directional error, adjustment information including the corresponding adjustment direction and adjustment angle is generated so that the operator can adjust the position and angle of the screw placement according to the adjustment information so that the screw can be correctly placed into the acetabulum.

[0050] For example, a three-dimensional medical imaging coordinate system for the pelvis is used: X-axis: horizontal left and right direction, positive to the right; Y-axis: front and back direction, positive forward; Z-axis: vertical direction, positive upward; unit of length: mm; unit of angle: °.

[0051] Assume the coordinates of the preoperative planned screw starting point (i.e., the screw insertion point) are: P0(x0,y0,z0)=(15.2,8.6,22.4), the unit direction vector of the planned screw is: n0=(n0x,n0y,n0z)=(0.82,0.35,0.45), the coordinates of the starting point of the actual screw inserted during the operation (intraoperative screw) are: P1(x1,y1,z1)=(16.7,7.2,24.1), the unit direction vector of the intraoperative screw is: n1=(n1x,n1y,n1z)=(0.75,0.48,0.38).

[0052] Calculate the positional error based on the spatial distance between the intraoperative screw starting point and the planned screw starting point: ΔL=(x1) x0)2+(y1 y0)2+(z1 Substituting z0)2 into the numerical values, we get: ΔL≈2.66mm.

[0053] Position deviation components of each coordinate axis: X-axis deviation: Δx = x1 x0=1.5mm, meaning the screw insertion point during surgery was 1.5 mm to the right; Y-axis deviation: Δy=y1 y0= 1.4mm, meaning the screw insertion point during surgery was 1.4 mm anterior to the target. Z-axis deviation: Δz=z1 z0=1.7mm, meaning the screw insertion point during surgery is 1.7 mm higher than normal.

[0054] Calculate the directional error based on the angle between the directional vectors of the planned screw and the intraoperative screw: The calculated angle between the two direction vectors is: θ≈9.36 That is, the directional error between the intraoperative screw and the planned screw is 9.36°.

[0055] Based on the position error and orientation error, the pin adjustment information is generated as follows: Total position error: 2.66 mm; Adjustment direction: Left-right direction: adjust slightly to the left by 1.5 mm; Front-back direction: adjust slightly backward by 1.4 mm; Up-down direction: fine-tune downwards by 1.7 mm. Total directional error: 9.36; Adjustment direction: correct the screw axis during surgery by moving it back inwards, backwards, and downwards; Adjustment angle: correct the overall deflection angle by 9.36° in the opposite direction.

[0056] In some embodiments of this application, the control terminal may include a display device, such as a display screen, which displays the position of the planned screw and the real-time position of the screw during the operation, and generates corresponding adjustment instructions based on the adjustment information, thereby guiding the operator to perform the operation more intuitively and improving the interactivity and convenience of the hip joint surgery system.

[0057] As can be seen from the above, the screw navigation method provided in this application can acquire the real-time position information of the screw during surgery, and then continuously adjust the position and direction of the screw according to the target position of the screw in the screw placement plan and the real-time position information of the screw. It can place the screw based on the screw placement plan, thereby improving the accuracy and safety of screw placement, thereby improving the stability of the acetabular cup and increasing the long-term survival rate of the prosthesis.

[0058] Please see Figure 5 In one embodiment of this application, the screw navigation method described above may further include the following steps: S13: Perform three-dimensional reconstruction of the user's hip joint to obtain a three-dimensional model of the hip joint; S14: Determine the pin placement scheme based on the three-dimensional model of the hip joint.

[0059] The pin placement scheme includes pin placement position, pin placement angle, and pin placement depth.

[0060] In some embodiments of this application, the above-mentioned determination of the pin placement scheme based on the three-dimensional model of the hip joint includes: Based on the three-dimensional model of the hip joint, the pelvic depth of the pin placement location is measured to determine the pelvic depth corresponding to the pin placement location. Generate a planned screw with a length corresponding to the pelvic depth.

[0061] In practical applications, before surgery, a computed tomography (CT) scan can be performed on the patient. By importing the patient's CT data into the planning software, a three-dimensional reconstruction of the patient's hip joint can be achieved, resulting in a three-dimensional model of the patient's hip joint. Based on this model, the surgeon can then plan the appropriate surgical procedure. Following the planned procedure, the pelvic depth can be measured at locations where screws may be needed.

[0062] In some embodiments, the aforementioned planned screw can be a cylinder, or it can be a planned screw with the same shape as the screw actually used.

[0063] In practice, the ray direction can be set to either the camera direction or the direction of the line connecting the centers of the acetabulum and hip joint. Click the desired pin placement location on the 3D model of the hip joint with the mouse. Let's say this point is P1. If the ray direction is set to the camera direction, a ray will be generated through P1 (the pin placement starting point). The ray direction is perpendicular to the screen and pointing inwards. Calculate the intersection points of this ray with the 3D model of the hip joint. If the number of intersection points is less than one, the pelvic depth is 0. If the number of intersection points is not less than one, let the second intersection point be P2. Calculate the distance between P1 and P2; this distance is the pelvic depth at that location in the selected direction. Alternatively, if the ray direction is set to the line connecting the centers of the acetabulum and hip joint, a ray will be generated through P1. The ray direction is the direction vector from the center of the acetabulum to P1. Calculate the intersection points of this ray with the 3D model of the hip joint. If the number of intersection points is less than one, the pelvic depth is 0. If the number of intersection points is not less than one, let the second intersection point be P2. Calculate the distance between P1 and P2; this distance is the pelvic depth at that location in the selected direction.

[0064] For example, Figure 6 A schematic diagram of pelvic depth measurement provided in an embodiment of this application is shown.

[0065] In some embodiments, P1, P2, and the distance from P1 to P2 can be displayed in a three-dimensional view to more intuitively show the preoperative planned location of the screw.

[0066] The camera direction refers to the screen direction, which is perpendicular to the screen and pointing inwards.

[0067] After generating the simulated planning screw, the position and angle of the planning screw, as well as the screw length, can be determined, that is, the placement position, placement angle, and screw length in the placement scheme can be determined.

[0068] As can be seen from the above, the screw navigation method provided in this application embodiment can be used to assist the total hip replacement surgery robot in achieving safe and precise screw placement. After planning the position of the acetabular prosthesis according to the patient's condition, the screw placement position and angle are reasonably planned according to the patient's condition, thereby improving the accuracy and safety of screw placement, thereby improving the stability of the acetabular cup and increasing the long-term survival rate of the prosthesis.

[0069] In some embodiments, the generated screw model of the planned screw can be bound to the acetabular cup prosthesis.

[0070] In practical applications, the screw model of the planned screw generated in the planning software can be bound to the acetabular cup prosthesis.

[0071] If the position of the acetabular cup prosthesis moves, update the position coordinates of the planning screws based on the position coordinates of the acetabular cup prosthesis after movement.

[0072] In practical applications, the rotation matrix of the current acetabular cup is saved as cupMat1, and the rotation matrix of the current planning screw is saved as screwMat1. When the position of the acetabular cup is moved, a new rotation matrix of the acetabular cup is obtained as cupMat2. The intermediate matrix of the acetabular cup transformation, cupMat3, is obtained by left-multiplying cupMat1 by cupMat3. ScrewMat2 is obtained by left-multiplying screwMat1 by cupMat3. Applying screwMat2 to the planning screw can obtain the position of the new planning screw.

[0073] In practical applications, the coordinates of the starting point P1 of the planned screw and the coordinates of the second intersection point P2 with the 3D model of the hip joint are multiplied by the matrix screwMat2 to obtain P1' and P2'. A ray is drawn from P1' to P2'. If P1' is outside the 3D model of the hip joint and the intersection point of the ray with the bone surface is greater than 1, then the distance from P1' to the second intersection point is the pelvic depth of the screw in the new position. If P1' is on the 3D model of the hip joint and the intersection point of the ray with the bone surface is greater than 1, then the distance from P1' to the second intersection point is the pelvic depth of the screw in the new position. If P1' is inside the 3D model of the hip joint and the intersection point of the ray with the bone surface is greater than 1, then the distance from the first intersection point of the ray to the second intersection point is the pelvic depth of the screw in the new position.

[0074] The screw length is automatically adjusted by updating the planning screw length based on the pelvic depth.

[0075] In some embodiments, such as Figure 7 As shown, the above screw navigation method may further include the following steps: S15: Update the above screw placement plan based on the real-time detected pelvic depth.

[0076] In practical applications, before the operator places the screws, tools such as probes can be used to measure the patient's pelvic depth.

[0077] In practical applications, the probe can also be equipped with a reflective disc, so that the position can be tracked in real time by the navigator. The operator places the probe tip on the patient's hip bone to obtain the pin placement point, and the pelvic depth in the direction of the probe can be calculated based on the obtained pin placement point.

[0078] In practical applications, the starting point of the probe placement location (pin placement point) is used to calculate the pelvic depth using a ray along the extended line of the probe.

[0079] Alternatively, the pelvic depth can be calculated by using the center of the planned acetabular cup as the starting point and ray-directed from the starting point to the acquisition point.

[0080] After recalculating the pelvic depth, a new plan for screws of the corresponding length can be generated, forming a new screw placement scheme, which can then be used to place the screws.

[0081] As can be seen from the above, the screw navigation method provided in this application can update the screw placement scheme according to the measured pelvic depth, which can further improve the accuracy and safety of screw placement.

[0082] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0083] Based on the screw navigation method provided in the above embodiments, this application further provides an embodiment of a screw navigation device that implements the above method embodiments.

[0084] Please see Figure 8 , Figure 8 This is a schematic diagram of a screw navigation device provided in an embodiment of this application. In this embodiment, the screw navigation device is applied to a hip joint surgery system, which includes a screw guide, and the various units included are used for performing... Figure 1 The steps in the corresponding embodiments. Please refer to the details. Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown.

[0085] like Figure 8 As shown, the screw navigation device 80 includes: an acquisition unit 801 and a navigation unit 802. Wherein: The acquisition unit 801 is used to acquire the real-time position information of the screw; the real-time position information is collected by the screw guide; the real-time position information of the screw includes the direction of the screw and the real-time position of the screw; The navigation unit 802 is used to output adjustment information of the screw placement angle and the screw placement position in real time according to the screw placement scheme and the real-time position information of the screw, so as to adjust the screw placement angle and the screw placement position according to the adjustment information; wherein, the screw placement scheme includes planning the screw placement position and the screw placement angle.

[0086] In one implementation of this application, the navigation unit 802 is specifically used to calculate the distance between the starting point of the planning screw and the starting point of the screw based on the placement position of the planning screw and the real-time position of the screw, and to determine the positional error between the screw and the planning screw. Based on the placement angle of the planned screw and the direction of the screw, calculate the angle between the direction corresponding to the placement angle of the planned screw and the direction of the screw, and determine the directional error between the screw and the planned screw; The corresponding adjustment information is generated based on the position error and the direction error.

[0087] In one embodiment of this application, the screw navigation device may further include a planning unit. The control unit is used to perform three-dimensional reconstruction of the user's hip joint to obtain a three-dimensional model of the hip joint; and to determine a screw placement scheme based on the three-dimensional model of the hip joint.

[0088] In one embodiment of this application, the planning unit is specifically used to measure the pelvic depth at the pin placement location based on the three-dimensional model of the hip joint, so as to determine the pelvic depth corresponding to the pin placement location. Generate a planned screw with a length corresponding to the depth of the pelvis.

[0089] In one embodiment of this application, the pelvic depth is measured based on the three-dimensional model of the hip joint to determine the pelvic depth corresponding to the pin placement location, including: Based on the ray direction, a ray is emitted from the pin placement starting point; wherein, the ray direction is either the camera direction or the direction of the line connecting the centers of the acetabulum; If the number of intersections between the ray and the three-dimensional model of the hip joint is less than 1, then the pelvic depth is 0. If the number of intersections between the ray and the three-dimensional model of the hip joint is not less than 1, then the second intersection is determined as the endpoint, the distance between the pin placement starting point and the endpoint is calculated, and the distance is determined as the pelvic depth corresponding to the pin placement position.

[0090] In one embodiment of this application, the screw navigation device further includes a binding unit. The binding unit is used to bind the generated screw model of the planned screw to the acetabular cup prosthesis.

[0091] In one embodiment of this application, the screw navigation device further includes a replanning unit, which can be used to update the screw placement scheme based on the real-time detected pelvic depth.

[0092] It should be noted that the information interaction and execution process between the above-mentioned units are based on the same concept as the method embodiments of this application, and their specific functions and technical effects can be referred to the method embodiments section.

[0093] In summary, the screw navigation device provided in this application embodiment can also acquire real-time position information of the screw during surgery, and then continuously adjust the position and direction of the screw according to the target position of the screw in the screw placement plan and the real-time position information of the screw. It can place the screw based on the screw placement plan, thereby improving the accuracy and safety of screw placement, thereby improving the stability of the acetabular cup and increasing the long-term survival rate of the prosthesis.

[0094] Figure 9 This is a schematic diagram of the structure of a terminal device provided in another embodiment of this application. For example... Figure 9 As shown, the terminal device 900 provided in this embodiment includes: a processor 90, a memory 91, and a computer program 92 stored in the memory 91 and executable on the processor 90, such as an image segmentation program. When the processor 90 executes the computer program 92, it implements the steps in the various screw navigation method embodiments described above, for example... Figure 4 S11~S13 are shown. Alternatively, when the processor 90 executes the computer program 92, it implements the functions of each module / unit in the above system embodiments, for example... Figure 8The unit / module shown.

[0095] For example, the computer program 92 can be divided into one or more modules / units, which are stored in the memory 91 and executed by the processor 90 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 92 in the terminal device 900. For example, the computer program 92 can be divided into multiple units; please refer to the specific functions of each unit. Figures 1-7 The relevant descriptions in the corresponding embodiments are not repeated here.

[0096] The terminal device may include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art will understand that... Figure 9 This is merely an example of terminal device 900 and does not constitute a limitation on terminal device 900. It may include more or fewer components than shown, or combine certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0097] The processor 90 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware groups, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0098] The memory 91 can be an internal storage unit of the terminal device 900, such as a hard disk or memory of the terminal device 900. The memory 91 can also be an external storage device of the terminal device 900, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal device 900. Furthermore, the memory 91 can include both internal and external storage units of the terminal device 900. The memory 91 is used to store the computer program and other programs and data required by the terminal device. The memory 91 can also be used to temporarily store data that has been output or will be output.

[0099] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, can implement the aforementioned screw navigation method.

[0100] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the aforementioned screw navigation method.

[0101] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the terminal device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0102] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

[0103] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0104] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A screw navigation method, characterized in that, Applied to a hip joint surgical system, the hip joint surgical system including a screw guide, the screw navigation method comprising: The real-time position information of the screw is acquired by the screw guide; the real-time position information of the screw includes the screw's direction and its real-time position. Based on the screw placement scheme and the real-time position information of the screw, the screw placement angle and position adjustment information are output in real time, so as to adjust the screw placement angle and position according to the adjustment information; wherein, the screw placement scheme includes planning the screw placement position and screw placement angle; The step of outputting the adjustment information of the screw placement angle and position in real time based on the screw placement scheme and the real-time position information of the screw includes: Based on the placement position of the planned screw and the real-time position of the screw, calculate the distance between the starting point of the planned screw and the starting point of the screw, and determine the positional error between the screw and the planned screw; Based on the placement angle of the planned screw and the direction of the screw, calculate the angle between the direction corresponding to the placement angle of the planned screw and the direction of the screw, and determine the directional error between the screw and the planned screw; The corresponding adjustment information is generated based on the position error and the direction error.

2. The screw navigation method according to claim 1, characterized in that, Before the step of outputting adjustment information for the screw's placement angle and position in real time based on the screw placement scheme and the screw's real-time position information, so as to adjust the screw's placement angle and position according to the adjustment information, the method further includes: The user's hip joint is reconstructed in three dimensions to obtain a three-dimensional model of the hip joint. The pin placement scheme was determined based on the aforementioned three-dimensional model of the hip joint.

3. The screw navigation method according to claim 2, characterized in that, The determination of the pin placement scheme based on the three-dimensional model of the hip joint includes: Based on the three-dimensional model of the hip joint, the pelvic depth is measured at the location of the pin placement to determine the pelvic depth corresponding to the pin placement location. Generate a planned screw with a length corresponding to the depth of the pelvis.

4. The screw navigation method according to claim 3, characterized in that, Based on the three-dimensional model of the hip joint, the pelvic depth is measured at the location of the screw placement to determine the pelvic depth corresponding to the screw placement location, including: Based on the ray direction, a ray is emitted from the pin placement starting point; wherein, the ray direction is either the camera direction or the direction of the line connecting the centers of the acetabulum; If the number of intersections between the ray and the three-dimensional model of the hip joint is less than 1, then the pelvic depth is 0. If the number of intersections between the ray and the three-dimensional model of the hip joint is not less than 1, then the second intersection is determined as the endpoint, the distance between the pin placement starting point and the endpoint is calculated, and the distance is determined as the pelvic depth corresponding to the pin placement position.

5. The screw navigation method according to claim 3, characterized in that, After generating the planned screw with a length corresponding to the pelvic depth, the process further includes: The generated screw model of the planned screw is then bound to the acetabular cup prosthesis.

6. The screw navigation method according to claim 5, characterized in that, After binding the generated screw model of the planned screw to the acetabular cup prosthesis, the process also includes: If the position of the acetabular cup prosthesis moves, the position coordinates of the planning screw are updated according to the position coordinates of the acetabular cup prosthesis after the movement.

7. The screw navigation method according to any one of claims 1 to 6, characterized in that, Before the step of outputting adjustment information for the screw's placement angle and position in real time based on the screw placement scheme and the screw's real-time position information, so as to adjust the screw's placement angle and position according to the adjustment information, the method further includes: The above screw placement plan is updated based on the real-time pelvic depth detection.

8. A hip joint surgical system, characterized in that, include: A screw guide device is used to collect real-time position information of the screw; A control terminal for performing the screw navigation method as described in any one of claims 1 to 7.

9. The hip joint surgical system as described in claim 8, characterized in that, The screw guiding device includes: A screw guide includes a screw guide for determining the direction of the screw and a positioning device for determining the real-time position of the screw. The guide is used to display the real-time position information of the screw based on the real-time position and direction of the screw fed back by the screw guide.

10. A computer program product, characterized in that, When the computer program product is run on a terminal device, the terminal device executes the screw navigation method as described in any one of claims 1 to 7.

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