Prosthesis installation pose determination method and electronic device

Abstract

The application is suitable for the medical technical field, and provides a prosthesis installation pose determination method and an electronic device. The method comprises the following steps: reconstructing a hip bone three-dimensional model and a femur three-dimensional model, virtually assembling a acetabular cup prosthesis model into a affected side acetabulum three-dimensional model in a preset initial pose; determining target pelvic tilt angles in multiple different poses; for each pose, adjusting the affected side acetabulum three-dimensional model to a corresponding target pose, controlling the femur three-dimensional model to simulate movement within a corresponding preset femur movement range, and prompting a collision area when the femur three-dimensional model and / or the femoral stem prosthesis model collides with the affected side acetabulum three-dimensional model and / or the acetabular cup prosthesis model in the target pose; adjusting the pose of the acetabular cup prosthesis model based on a pose adjustment instruction until no collision occurs in all poses, and obtaining a target installation pose of the acetabular cup prosthesis model, which can reduce the risk of postoperative prosthesis dislocation, limited joint movement and / or prosthesis wear.

Description

Technical Field

[0001] This application belongs to the field of medical technology, and in particular relates to a method for determining the position of a prosthesis and an electronic device. Background Technology

[0002] Hip replacement surgery involves fixing a hip prosthesis onto healthy bone in the corresponding location to replace the diseased hip joint, thereby restoring normal hip joint function. Traditional hip replacement surgery is usually performed manually by the surgeon based on their experience. However, manual operation has low precision and can easily lead to deviations between the actual placement of the hip prosthesis and the pre-planned placement, which can easily cause postoperative risks such as prosthesis dislocation, limited joint mobility, and / or prosthesis wear.

[0003] In recent years, with the rapid development of surgical robot technology, more and more hip replacement surgeries can be completed with the assistance of surgical robots. While this robot-assisted hip replacement surgery can improve the precision of the surgical procedure, it usually plans the placement of the hip prosthesis within a fixed safety zone (such as the Lewinnek safety zone, which is considered the gold standard). This static prosthesis placement planning method can increase the risk of postoperative prosthesis dislocation, limited joint mobility, and / or prosthesis wear. Summary of the Invention

[0004] In view of this, embodiments of this application provide a method for determining the prosthesis installation posture and an electronic device to solve the technical problem that current robot-assisted hip replacement surgery may increase the risk of postoperative prosthesis dislocation, limited joint range of motion, and / or prosthesis wear.

[0005] In a first aspect, embodiments of this application provide a method for determining the prosthesis mounting pose, including: Three-dimensional reconstruction is performed on the three-dimensional image data of the target object to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur of the target object; the three-dimensional model of the hip bone includes a three-dimensional model of the affected side acetabulum; The acetabular cup prosthesis model is virtually assembled into the three-dimensional model of the affected acetabulum in a preset initial pose; Determine the target pelvic tilt angle of the target object under various preset postures; For each of the aforementioned postures, based on the target pelvic tilt angle under the posture, the three-dimensional model of the affected acetabulum is adjusted to the corresponding target pose, and the three-dimensional model of the femur is controlled to perform simulated activities within the preset femoral range of motion corresponding to the posture. During the simulation, the collision between the three-dimensional model of the femur and / or the femoral stem prosthesis model virtually assembled on the three-dimensional model of the femur and the three-dimensional model of the affected acetabulum and / or the acetabular cup prosthesis model in the target pose is detected, and if the collision occurs, the collision area is indicated. The system receives a pose adjustment command for the acetabular cup prosthesis model and adjusts the pose of the acetabular cup prosthesis model based on the pose adjustment command until no collision occurs when the femoral 3D model simulates activities within the preset femoral range of motion corresponding to all the poses. The current pose of the acetabular cup prosthesis model is then determined as the target installation pose of the acetabular cup prosthesis model.

[0006] In one optional implementation of the first aspect, determining the target pelvic tilt angle of the target object under a preset variety of different postures includes: The system displays a variety of preset pelvic tilt angle determination strategies, allowing users to select the appropriate strategy based on the spinal-pelvic sequence and target image completeness of the target object. Different spinal-pelvic sequences and / or different target image completeness correspond to different pelvic tilt angle determination strategies. Based on the target pelvic tilt angle determination strategy selected by the user, the target pelvic tilt angle of the target object under various preset postures is determined.

[0007] In one optional implementation of the first aspect, the spinal-pelvic sequence includes a normal physiological sequence and an abnormal pathological sequence, and the completeness of the target image includes completeness and incompleteness; correspondingly: When the spinal pelvic sequence is the normal physiological sequence and the target image completeness is complete, the target pelvic tilt angle determination strategy is the first pelvic tilt angle determination strategy. When the spinal pelvic sequence is the normal physiological sequence and the target image completeness is missing, the target pelvic tilt angle determination strategy is the second pelvic tilt angle determination strategy. When the spinal pelvic sequence is the abnormal pathological sequence and the target image completeness is the missing sequence, the target pelvic tilt determination strategy is the third pelvic tilt determination strategy.

[0008] In one optional implementation of the first aspect, the target image for which the target image completeness is applied includes lateral real-shot image data of the target object under various different postures; correspondingly, when the target pelvic tilt angle determination strategy is the first pelvic tilt angle determination strategy, based on the target pelvic tilt angle determination strategy selected by the user, the target pelvic tilt angle of the target object under various preset different postures is determined, including: For each of the aforementioned postures, the target pelvic tilt angle of the target object in the aforementioned posture is determined based on the lateral real-shot image data of the target object in that posture.

[0009] In one optional implementation of the first aspect, when the target pelvic tilt angle determination strategy is the second pelvic tilt angle determination strategy, based on the target pelvic tilt angle determination strategy selected by the user, the target pelvic tilt angle of the target object under various preset postures is determined, including: Determine the initial pelvic tilt angle of the target object; Based on the initial pelvic tilt angle, a pelvic tilt angle statistical model is used to predict the target pelvic tilt angle of the target object under various different postures.

[0010] In one optional implementation of the first aspect, when the target pelvic tilt angle determination strategy is the third pelvic tilt angle determination strategy, the target pelvic tilt angle of the target object under various preset postures is determined based on the target pelvic tilt angle determination strategy selected by the user, including: Determine the initial pelvic tilt angle of the target object; The three-dimensional image data is processed using a digital reconstruction radiographic imaging algorithm to obtain the frontal and lateral simulated image data of the target object; Based on the anteroposterior simulated image data and the lateral simulated image data, the obturator parameters of the affected side of the target object are determined; Based on the initial pelvic tilt angle and the obturator parameter of the affected side, the target pelvic tilt angle of the target object under various different postures is determined.

[0011] In one alternative implementation of the first aspect, determining the initial pelvic tilt angle of the target object includes: Based on the three-dimensional coordinates of multiple first anatomical marker points on the three-dimensional model of the hip bone, a pelvic anatomical coordinate system for the target object is constructed; the pelvic anatomical coordinate system is a spatial rectangular coordinate system. Based on the pelvic anatomical coordinate system and the three-dimensional coordinates of multiple second anatomical markers on the hip bone three-dimensional model, the initial pelvic tilt angle of the target object is determined.

[0012] In one alternative implementation of the first aspect, the plurality of first anatomical markers include a marker for the left anterior superior iliac spine, a marker for the right anterior superior iliac spine, a marker for the left anterior pubic bone, a marker for the right anterior pubic bone, and a center marker for the three-dimensional model of the affected acetabulum. Correspondingly, based on the three-dimensional coordinates of multiple first anatomical marker points on the hip bone three-dimensional model, a pelvic anatomical coordinate system for the target object is constructed, including: Based on the three-dimensional coordinates of the left anterior superior iliac spine marker point, the three-dimensional coordinates of the right anterior superior iliac spine marker point, and the acetabular affected side direction of the target object, the first initial positive direction of the first coordinate axis is determined; the acetabular affected side direction is either left or right. Calculate the three-dimensional coordinates of the first center point of the left anterior superior iliac spine marker and the right anterior superior iliac spine marker, and calculate the three-dimensional coordinates of the second center point of the left anterior pubic bone marker and the right anterior pubic bone marker. Based on the three-dimensional coordinates of the first center point, the three-dimensional coordinates of the second center point, and the affected side direction of the acetabulum, determine the second initial positive direction of the second coordinate axis. Based on the affected side direction of the acetabulum, the second initial positive direction is cross-multiplied with the first initial positive direction to obtain the third initial positive direction of the third coordinate axis; Based on the central marker point, the first initial positive direction, the second initial positive direction, and the third initial positive direction, a pelvic anatomical coordinate system for the target object is constructed.

[0013] In an alternative implementation of the first aspect, before virtually assembling the acetabular cup prosthesis model into the three-dimensional model of the affected acetabulum in a preset initial pose, the method further includes: The three-dimensional coordinates of the center marker point of the three-dimensional model of the affected acetabulum are determined as the three-dimensional coordinates of the initial assembly position of the acetabular cup prosthesis model in the three-dimensional model of the affected acetabulum. The preset initial pose is obtained by combining the three-dimensional coordinates of the initial assembly position and the preset initial assembly angle for the acetabular cup prosthesis model.

[0014] In a second aspect, embodiments of this application provide an electronic device, including a memory and a computer program stored in the memory and executable on a processor, wherein the processor executes the computer program to implement the steps of the method described in any optional implementation of the first aspect above.

[0015] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in any optional implementation of the first aspect above.

[0016] Fourthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to implement the steps of the method described in any optional implementation of the first aspect.

[0017] Implementing the prosthesis installation pose determination method, electronic device, computer-readable storage medium, and computer program product provided in the embodiments of this application has the following beneficial effects: The prosthesis installation pose determination method provided in this application embodiment can achieve digital modeling of the pelvic anatomy by reconstructing the three-dimensional models of the hip and femur of the target object, thereby providing data support for subsequent steps; by virtually assembling the acetabular cup prosthesis model into the three-dimensional model of the affected acetabulum in a preset initial pose, and determining the target pelvic tilt angle of the target object in various different postures, and accordingly adjusting the three-dimensional model of the affected acetabulum to the target pose corresponding to each posture, it can simulate the actual pose of the acetabular cup of the target object in different postures; by controlling the three-dimensional model of the femur to simulate the activity within the corresponding preset femoral range in each posture, and detecting collisions during the simulation, and alerting the collision area when a collision is detected, it can not only This system simulates the dynamic relationship between the acetabular cup and femur in various postures of the target object. It also provides intuitive prompts about the collision area when a collision is detected, allowing users to efficiently adjust the pose of the acetabular cup prosthesis model. The system adjusts the pose of the acetabular cup prosthesis model based on received pose adjustment commands, and iteratively executes simulation activities and collision detection until the femoral 3D model does not experience collisions during simulations within the preset femoral range of motion in all postures. Only then is the current pose of the acetabular cup prosthesis model determined as the target installation pose. This ensures that the final planned target installation pose of the acetabular cup prosthesis model meets the biomechanical and dynamic stability requirements of the target object, thereby reducing the risks of prosthesis dislocation, limited joint mobility, and / or prosthesis wear. 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 1 A schematic flowchart illustrating a method for determining the prosthesis mounting pose provided in an embodiment of this application; Figure 2 A schematic flowchart illustrating a method for determining the pose of a prosthesis installation, provided for another embodiment of this application; Figure 3 A schematic diagram illustrating the implementation process of S13 in a method for determining the pose of a prosthesis installation provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] The following embodiments are only used to illustrate the technical solutions of this application more clearly, and are therefore only examples and should not be used to limit the scope of protection of this application.

[0021] In the description of the embodiments of this application, the technical terms "comprising," "including," "having," and any variations thereof all mean "including but not limited to," unless otherwise specifically emphasized. In the description of the embodiments of this application, unless otherwise stated, the technical term "multiple" refers to two or more, and the technical terms "at least one" or "one or more" refer to one, two, or more than two. The technical terms "first," "second," etc., are only used to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary / secondary relationship of the indicated technical features. The technical term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0022] As described in the background section, current robot-assisted hip replacement surgery typically plans the placement of the hip prosthesis within a fixed, safe zone. This ignores not only the dynamic changes in the relative positional relationship between the femur and pelvis when the patient is in different postures post-surgery (e.g., standing or sitting), but also the individual differences in spinal-pelvic morphology among patients and their impact on postoperative pelvic tilt (e.g., for patients with ankylosing spondylitis or flat back deformity, due to limited spinal mobility, they compensate through the pelvis when changing positions, resulting in more dramatic dynamic changes in postoperative pelvic tilt compared to the general population). Consequently, the planned prosthesis placement cannot flexibly adapt to various postures, let alone suit all patients. Therefore, this static prosthesis placement planning method exacerbates the risks of postoperative prosthesis dislocation, limited joint mobility, and / or prosthesis wear.

[0023] In view of this, the present application first provides a method for determining the prosthesis installation pose, which can be applied to electronic devices. Exemplarily, the electronic device can be a mobile phone, tablet computer, laptop computer, or desktop computer, etc., and the specific type of electronic device is not limited in the present application.

[0024] Figure 1 This is a schematic flowchart illustrating a method for determining the pose of a prosthesis installation, provided as an embodiment of this application. Figure 1 As shown, the method for determining the prosthesis mounting pose may include S11 to S15, which are detailed below: S11, perform three-dimensional reconstruction on the three-dimensional image data of the target object to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur of the target object.

[0025] The target group can be individuals who require hip replacement surgery.

[0026] The three-dimensional image data can be computed tomography (CT) data or other types of three-dimensional medical image data. This application does not limit the type of the data.

[0027] In some scenarios, the 3D model of the hip bone may include the 3D model of the affected acetabulum, and the 3D model of the femur may include the 3D model of the affected femur. In other scenarios, the 3D model of the hip bone may also include the 3D model of the contralateral acetabulum, and the 3D model of the femur may also include the 3D model of the contralateral femur.

[0028] It should be understood that, because bone tissue in three-dimensional image data is intertwined with surrounding soft tissues, blood vessels, and other structures, in order to accurately reconstruct the three-dimensional models of the hip and femur, the electronic device can first perform interactive layer segmentation on the three-dimensional image data of the target object to segment independent hip and femur layers at the image semantic level. Then, based on the hip and femur layers, the electronic device can use the moving cubes algorithm to reconstruct the corresponding three-dimensional models of the hip and femur, respectively. It should be noted that the specific process of reconstructing the three-dimensional models of the hip and femur using the moving cubes algorithm can be found in descriptions in related technologies, and will not be detailed in the embodiments of this application.

[0029] Optionally, after obtaining the three-dimensional models of the hip bone and femur of the target object, the electronic device can display the three-dimensional models of the hip bone and femur for the user's convenience.

[0030] S12, the acetabular cup prosthesis model is virtually assembled into the three-dimensional model of the affected acetabulum in a preset initial pose.

[0031] The preset initial pose can be pre-planned by the electronic device. Based on this, such as Figure 2 As shown, before S12, the method for determining the prosthesis mounting pose may also include S21 to S22, which are detailed below: S21, determine the three-dimensional coordinates of the center marker point of the three-dimensional model of the affected acetabulum as the three-dimensional coordinates of the initial assembly position of the acetabular cup prosthesis model in the three-dimensional model of the affected acetabulum.

[0032] Optionally, the center marker point of the three-dimensional model of the affected acetabulum can be manually marked by the user on the three-dimensional model of the affected acetabulum displayed on the electronic device, or it can be automatically marked by the electronic device based on the patient's anatomical information. This application embodiment does not limit the specific marking method of the center marker point.

[0033] For example, the three-dimensional coordinates of the center marker point of the three-dimensional model of the affected acetabulum can specifically refer to the three-dimensional coordinates of the center marker point in the world coordinate system.

[0034] S22, combining the three-dimensional coordinates of the initial assembly position and the preset initial assembly angle for the acetabular cup prosthesis model, the preset initial pose of the acetabular cup prosthesis model is obtained.

[0035] The initial assembly angle may include the initial forward tilt angle and the initial outward tilt angle.

[0036] The initial anteversion angle refers to the angle between the normal vector of the opening plane of the acetabular cup prosthesis model and the coronal plane of the human body. The initial abduction angle refers to the angle between the normal vector of the opening plane of the acetabular cup prosthesis model and the transverse section of the human body. The coronal plane of the human body refers to the anatomical section used to divide the human body into anterior and posterior parts. The transverse section of the human body refers to the anatomical section used to divide the human body into superior and inferior parts.

[0037] For example, the initial forward tilt angle can be 20 degrees and the initial abduction angle can be 40 degrees.

[0038] S13, determine the target pelvic tilt angle of the target object in a variety of preset postures.

[0039] Various postures may include at least two of the following: standing, sitting, squatting, and other postures.

[0040] The target pelvic tilt angle can refer to the actual pelvic tilt angle of the target object in the corresponding posture.

[0041] It should be understood that the target object's pelvic tilt angle varies depending on its posture.

[0042] Optionally, S13 may specifically include, for example: Figure 3 S131 to S132 are described in detail below: S131 displays a variety of preset pelvic tilt determination strategies, allowing users to select the corresponding target pelvic tilt determination strategy from among the various strategies based on the target object's spinal pelvic sequence and the completeness of the target image.

[0043] Each preset pelvic tilt angle determination strategy can be used to determine the target pelvic tilt angle of the target object under various postures. For example, the preset multiple pelvic tilt angle determination strategies may include a first pelvic tilt angle determination strategy, a second pelvic tilt angle determination strategy, and a third pelvic tilt angle determination strategy. The first pelvic tilt angle determination strategy can be the strategy described in step 1.1, the second pelvic tilt angle determination strategy can be the strategy described in steps 2.1 to 2.2, and the third pelvic tilt angle determination strategy can be the strategy described in steps 3.1 to 3.4. Therefore, the specific details of these three pelvic tilt angle determination strategies can be found in the subsequent descriptions, and will not be detailed here.

[0044] Spinal-pelvic sequences can be used to describe whether the anatomical features between the spine and pelvis are normal. For example, spinal-pelvic sequences can include normal physiological sequences and abnormal pathological sequences.

[0045] Image completeness can be used to describe whether an image of a target object is complete. For example, image completeness can include completeness and incompleteness.

[0046] For example, the target image may include lateral view images of the target object in various different poses. The lateral view images may be, for example, lateral view X-ray images.

[0047] In this embodiment, different spinal-pelvic sequences and / or different target image completeness can correspond to different pelvic tilt determination strategies. Therefore, optionally, when the spinal-pelvic sequence of the target object is a normal physiological sequence and the target image completeness is complete, the target pelvic tilt determination strategy can be a first pelvic tilt determination strategy; when the spinal-pelvic sequence of the target object is a normal physiological sequence and the target image completeness is incomplete, the target pelvic tilt determination strategy can be a second pelvic tilt determination strategy; and when the spinal-pelvic sequence of the target object is an abnormal pathological sequence and the target image completeness is incomplete, the target pelvic tilt determination strategy can be a third pelvic tilt determination strategy.

[0048] S132, based on the target pelvic tilt angle determination strategy selected by the user, determine the target pelvic tilt angle of the target object under various preset postures.

[0049] It should be understood that the specific pelvic tilt calculation process differs depending on the pelvic tilt determination strategy. The following provides a detailed explanation of the specific pelvic tilt calculation process for each strategy.

[0050] Optionally, if the user selects a first pelvic tilt determination strategy, S132 may specifically include the following step 1.1: Step 1.1: For each posture, based on the lateral real-shot image data of the target object in that posture, determine the target pelvic tilt angle of the target object in that posture.

[0051] Here, lateral view image data can refer to lateral view image data of the target object that has actually been captured (such as lateral X-ray films). It should be understood that since lateral view image data can intuitively reflect the sagittal plane structure of the pelvis of the target object in the corresponding posture, electronic devices can directly obtain the target pelvic tilt angle of the target object in the corresponding posture from the lateral view image data.

[0052] For example, in the case of preset multiple postures including standing and sitting postures, that is, when the side-view real-shot image data includes side-view real-shot image data of the target object in standing posture and side-view real-shot image data of the target object in sitting posture, the electronic device can directly obtain the target pelvic tilt of the target object in standing posture from the side-view real-shot image data of the target object in standing posture, and can directly obtain the target pelvic tilt of the target object in sitting posture from the side-view real-shot image data of the target object in sitting posture.

[0053] Optionally, if the user selects a second pelvic tilt determination strategy, step S132 may specifically include the following steps 2.1 to 2.2: Step 2.1: Determine the initial pelvic tilt angle of the target object.

[0054] The initial pelvic tilt angle can refer to the pelvic tilt angle of the target object when it is in a static supine position.

[0055] Specifically, the electronic device can determine the initial pelvic tilt angle of the target object through the following steps 2.11 to 2.12: Step 2.11: Based on the three-dimensional coordinates of multiple first anatomical markers on the hip bone three-dimensional model, construct the pelvic anatomical coordinate system of the target object.

[0056] The pelvic anatomical coordinate system is a spatial rectangular coordinate system.

[0057] For example, the multiple first anatomical markers can be manually marked by the user on the three-dimensional model of the hip displayed on the electronic device, or they can be automatically marked by the electronic device based on the patient's anatomical information. This application embodiment does not limit the specific marking method of the multiple first anatomical markers.

[0058] Optionally, the multiple first anatomical landmarks may include the left anterior superior iliac spine landmark, the right anterior superior iliac spine landmark, the left anterior pubic bone landmark, the right anterior pubic bone landmark, and the center landmark of the three-dimensional model of the affected acetabulum. For example, the three-dimensional coordinates of each first anatomical landmark may specifically refer to the three-dimensional coordinates of each first anatomical landmark in the world coordinate system.

[0059] More specifically, the electronic device can construct the pelvic anatomical coordinate system of the target object based on the three-dimensional coordinates of multiple first anatomical marker points on the three-dimensional model of the hip bone through the following steps 2.111 to 2.114: Step 2.111: Determine the first initial positive direction of the first coordinate axis based on the three-dimensional coordinates of the left anterior superior iliac spine marker, the three-dimensional coordinates of the right anterior superior iliac spine marker, and the acetabular side direction of the target object.

[0060] The affected side of the acetabulum can be either the left or right side.

[0061] Optionally, when the affected side of the acetabulum is to the left, the electronic device can calculate a first vector pointing from the right anterior superior iliac spine marker to the left anterior superior iliac spine marker based on the three-dimensional coordinates of the left and right anterior superior iliac spine markers, and can determine the direction of the first vector as the first initial positive direction of the first coordinate axis; when the affected side of the acetabulum is to the right, the electronic device can calculate a second vector pointing from the left anterior superior iliac spine marker to the right anterior superior iliac spine marker based on the three-dimensional coordinates of the left and right anterior superior iliac spine markers, and can determine the direction of the second vector as the first initial positive direction of the first coordinate axis.

[0062] It should be noted that the specific calculation process of the first vector and the second vector can be found in the description in related technologies, and will not be described in detail in the embodiments of this application.

[0063] Step 2.112: Calculate the three-dimensional coordinates of the first center point of the left anterior superior iliac spine marker and the right anterior superior iliac spine marker, and calculate the three-dimensional coordinates of the second center point of the left anterior pubic bone marker and the right anterior pubic bone marker. Based on the three-dimensional coordinates of the first center point, the three-dimensional coordinates of the second center point, and the direction of the affected side of the acetabulum, determine the second initial positive direction of the second coordinate axis.

[0064] Specifically, the electronic device can calculate the three-dimensional coordinates of the center point (i.e., the first center point) of the left and right anterior superior iliac spine markers, and can calculate the three-dimensional coordinates of the center point (i.e., the second center point) of the left and right anterior pubic bone markers. It should be noted that the specific calculation process for the three-dimensional coordinates of the first and second center points can be found in descriptions in related technologies, and will not be detailed in this embodiment.

[0065] Optionally, when the affected side of the acetabulum is to the left, the electronic device can calculate a third vector from the second center point to the first center point based on the three-dimensional coordinates of the first center point and the three-dimensional coordinates of the second center point, and can determine the direction of the third vector as the second initial positive direction of the second coordinate axis; when the affected side of the acetabulum is to the right, the electronic device can calculate a fourth vector from the first center point to the second center point based on the three-dimensional coordinates of the first center point and the three-dimensional coordinates of the second center point, and can determine the direction of the fourth vector as the second initial positive direction of the second coordinate axis.

[0066] For example, the three-dimensional coordinates of the first center point can refer to the three-dimensional coordinates of the first center point in the world coordinate system, and the three-dimensional coordinates of the second center point can refer to the three-dimensional coordinates of the second center point in the world coordinate system.

[0067] Step 2.113: Based on the direction of the affected side of the acetabulum, perform a cross product operation between the second initial positive direction and the first initial positive direction to obtain the third initial positive direction of the third coordinate axis.

[0068] It should be understood that when the affected side of the acetabulum is to the left, the third initial positive direction obtained by the cross product operation points directly behind the target object; when the affected side of the acetabulum is to the right, the third initial positive direction obtained by the cross product operation points directly in front of the target object.

[0069] Step 2.114: Construct the pelvic anatomical coordinate system of the target object based on the center marker point, the first initial positive direction, the second initial positive direction, and the third initial positive direction.

[0070] Optionally, after obtaining the first initial positive direction, the second initial positive direction, and the third initial positive direction, the electronic device may first detect whether the first initial positive direction, the second initial positive direction, and the third initial positive direction satisfy the geometric relationship of being orthogonal to each other.

[0071] Optionally, if the first initial positive direction, the second initial positive direction, and the third initial positive direction satisfy a pairwise orthogonal geometric relationship, the electronic device can construct a pelvic anatomical coordinate system with the center mark point of the affected acetabular cup model as the origin and the first initial positive direction, the second initial positive direction, and the third initial positive direction as the positive x-axis, the positive z-axis, and the positive y-axis, respectively.

[0072] Optionally, if the first initial positive direction, the second initial positive direction, and the third initial positive direction do not satisfy the geometric relationship of being orthogonal to each other, the electronic device can perform a cross product operation between the second initial positive direction and the third initial positive direction to obtain the first target positive direction; and can construct a pelvic anatomical coordinate system with the center mark point of the affected acetabular cup model as the origin, and the first target positive direction, the second initial positive direction, and the third initial positive direction as the positive x-axis, the positive z-axis, and the positive y-axis, respectively.

[0073] Step 2.12: Determine the initial pelvic tilt angle of the target object based on the pelvic anatomical coordinate system and the three-dimensional coordinates of multiple second anatomical markers on the hip bone three-dimensional model.

[0074] For example, the multiple second anatomical markers can be manually marked by the user on the three-dimensional model of the hip displayed on the electronic device, or they can be automatically marked by the electronic device based on the patient's anatomical information. This application embodiment does not limit the specific marking method for the multiple second anatomical markers.

[0075] Optionally, the multiple second anatomical landmarks may include the left anterior superior iliac spine landmark, the right anterior superior iliac spine landmark, and the center point of the pubic symphysis. For example, the three-dimensional coordinates of each second anatomical landmark may specifically refer to the three-dimensional coordinates of each second anatomical landmark in a world coordinate system.

[0076] Specifically, the electronic device can project the pubic symphysis center point and the aforementioned first center point onto the yz plane of the pelvic anatomical coordinate system (i.e., the plane defined by the y-axis and z-axis) based on the three-dimensional coordinates of the pubic symphysis center point and the aforementioned first center point, respectively, to obtain the first projection point and the second projection point corresponding to the pubic symphysis center point and the first center point, and can determine the angle between the line connecting the first projection point and the second projection point and the y-axis of the pelvic anatomical coordinate system as the initial pelvic tilt angle.

[0077] Optionally, a positive initial pelvic tilt angle indicates that the pelvis is in an anterior tilt state; a negative initial pelvic tilt angle indicates that the pelvis is in a posterior tilt state.

[0078] Step 2.2: Based on the initial pelvic tilt angle, a statistical model of pelvic tilt angle is used to predict the target pelvic tilt angle of the target object under various different postures.

[0079] The statistical model for pelvic tilt angle can be pre-trained by an electronic device using a deep learning algorithm based on multiple sample data. Each sample data can include the initial pelvic tilt angle of a sample object and the target pelvic tilt angle of that sample object in various different postures.

[0080] For example, when training a statistical model of pelvic tilt angle, the initial pelvic tilt angle in each sample data point can be used as the input to the statistical model, and the target pelvic tilt angles under various postures in each sample data point can be used as the output of the statistical model. This allows the statistical model to learn the mapping relationship between the initial pelvic tilt angle and the target pelvic tilt angles under various postures during training, thereby completing the training of the statistical model. The trained statistical model of pelvic tilt angle can be stored in the local memory of an electronic device.

[0081] Based on this, specifically, the electronic device can retrieve the trained statistical model of pelvic tilt angle from its local memory, and input the initial pelvic tilt angle into the model for processing, thereby predicting the target pelvic tilt angle of the target object in various different postures.

[0082] Optionally, if the user selects the third pelvic tilt angle determination strategy, S132 may specifically include the following steps 3.1 to 3.4: Step 3.1: Determine the initial pelvic tilt angle of the target object.

[0083] It should be noted that step 3.1 is exactly the same as step 2.1 above. Therefore, the specific implementation process of step 3.1 can be referred to the description in step 2.1, and will not be repeated here.

[0084] Step 3.2: The three-dimensional image data is processed using the digital reconstructed radiograph (DRR) algorithm to obtain the frontal and lateral simulated image data of the target object.

[0085] Specifically, the electronic device can define a positive virtual projection source and a positive virtual projection plane in three-dimensional space, and construct a positive projection model based on the positive virtual ray source and the positive virtual projection plane. Simultaneously, the electronic device can also define a lateral virtual projection source and a lateral virtual projection plane in three-dimensional space, and construct a lateral projection model based on the lateral virtual ray source and the lateral virtual projection plane. The projection model can be used to describe how to project three-dimensional image data onto a two-dimensional plane to obtain the corresponding two-dimensional projected image. For example, the projection model can be a perspective projection model or a parallel projection model, etc.

[0086] Based on this, electronic devices can use the DRR algorithm to process three-dimensional image data based on the orthogonal projection model to obtain orthogonal simulated image data of the target object; and use the DRR algorithm to process three-dimensional image data based on the lateral projection model to obtain lateral simulated image data of the target object.

[0087] More specifically, taking the acquisition of orthogonal simulated image data as an example, the electronic device can determine multiple virtual projection paths originating from the orthogonal virtual projection source, passing through the 3D image data, and arriving at various pixels on the orthogonal virtual projection plane using an orthogonal projection model. For each virtual projection path, the electronic device can use the DRR algorithm to calculate the attenuation integral of the voxel values ​​of all voxels traversed by the virtual projection path in the 3D image data, thereby obtaining the grayscale value of the corresponding pixel on the orthogonal virtual projection plane. It should be understood that after calculating the grayscale values ​​of all pixels on the orthogonal virtual projection plane, the orthogonal simulated image data of the target object is obtained. It should be noted that the acquisition process of lateral simulated image data is based on the same principle as the acquisition process of orthogonal simulated image data; therefore, the acquisition process of lateral simulated image data can be referred to the above description and will not be repeated here.

[0088] Step 3.3: Determine the obturator parameters of the affected side of the target object based on the anteroposterior and lateral simulated image data.

[0089] Optionally, the obturator parameters of the affected side may include the height value of the obturator foramen in the anteroposterior view, the length of the oblique marker line in the lateral view, and the height value of the obturator foramen in the lateral view. The oblique marker line in the lateral view can refer to the line segment used to connect the left and right ends of the obturator foramen structure in the lateral view.

[0090] Based on this, specifically, the electronic device can identify the obturator foramen structure on the affected side in the anteroposterior simulated image data, construct an anteroposterior transverse marker line to connect the left and right ends of the obturator foramen structure, and determine the length of the anteroposterior transverse marker line. Then, the electronic device can determine the height value of the obturator foramen on the affected side as the ratio of the length of the anteroposterior transverse marker line to a preset scaling factor. The preset scaling factor can be used to describe the ratio of the transverse length to the longitudinal height of the obturator structure of the target object under ideal conditions.

[0091] Furthermore, the electronic device can identify the obturator foramen structure on the affected side in lateral simulated imaging data, construct a lateral oblique landmark line connecting the left and right ends of the obturator foramen structure on the affected side, and determine the length of the lateral oblique landmark line. Then, based on the length of the lateral oblique landmark line, the electronic device can determine the projection height of the lateral oblique landmark line on the y-axis of the pelvic anatomical coordinate system, and define the projection height as the height value of the obturator foramen on the affected side.

[0092] Step 3.4: Based on the initial pelvic tilt angle and the obturator parameters of the affected side, determine the target pelvic tilt angle of the target object in various different postures.

[0093] Specifically, the electronic device can calculate a first ratio of the obturator foramen height value on the lateral side to the length of the oblique lateral marker line, and can determine the arcsine of the first ratio as the first tilt angle. Then, the electronic device can calculate a second ratio of the obturator foramen height value on the anterior side to the length of the oblique lateral marker line, and can determine the arcsine of the second ratio as the second tilt angle. The difference between the first and second tilt angles can be determined as the predicted change in pelvic angle. The predicted change in pelvic angle represents the predicted difference between the preoperative and postoperative pelvic tilt angles of the target patient.

[0094] Based on this, electronic devices can predict changes in the initial pelvic tilt angle and pelvic angle, and determine the target pelvic tilt angle of the target object in various different postures.

[0095] For example, the electronic device can determine the target pelvic tilt angle of the target object in a standing posture by summing the initial pelvic tilt angle with the predicted change in pelvic angle. Furthermore, the electronic device can also determine the target pelvic tilt angle of the target object in a sitting posture by summing the target pelvic tilt angle of the target object in a standing posture with a preset change in standing-sitting tilt angle. The preset change in standing-sitting tilt angle can be obtained, for example, by statistically analyzing the differences in pelvic tilt angles of multiple sample objects in standing and sitting postures, and then taking the average of the statistically analyzed differences in pelvic tilt angles.

[0096] This application provides various pelvic tilt angle determination strategies for different spinal pelvic sequences and / or different target image completeness, allowing users to adaptively select a matching pelvic tilt angle determination strategy based on the actual situation of the target object. This not only expands the application scenarios of the prosthesis installation pose determination method, but also ensures the accuracy of the target pelvic tilt angle calculation in various scenarios.

[0097] S14. For each posture, based on the target pelvic tilt angle under that posture, adjust the three-dimensional model of the affected acetabulum to the corresponding target pose, and control the three-dimensional model of the femur to perform simulated activities within the preset femoral range of motion corresponding to that posture. During the simulation, detect the collision between the three-dimensional model of the femur and / or the femoral stem prosthesis model virtually assembled on the three-dimensional model of the femur and / or the three-dimensional model of the affected acetabulum and / or the acetabular cup prosthesis model in the target pose, and provide a prompt for the collision area if no collision occurs.

[0098] Optionally, for each posture, the electronic device can calculate the pelvic rotation angle corresponding to the posture based on the initial pelvic tilt angle of the target object and the target pelvic tilt angle of the target object in that posture, and determine the rotation matrix corresponding to the three-dimensional model of the affected acetabulum in that posture based on the pelvic rotation angle corresponding to the posture, and adjust the pose of the three-dimensional model of the affected acetabulum based on the rotation matrix, thereby adjusting the three-dimensional model of the affected acetabulum to its target pose corresponding to that posture.

[0099] The preset femoral range of motion corresponding to a posture can be used to describe the actual range of motion of the femur when the target object is in that posture. It should be understood that the preset femoral range of motion differs for different postures.

[0100] Collision status can be used to describe whether a collision occurs between the 3D femoral model and / or the femoral stem prosthesis model virtually mounted on the 3D femoral model and the affected acetabular 3D model and / or the acetabular cup prosthesis model in the target pose. Based on this, collision status can include collision occurring and no collision occurring.

[0101] Specifically, during each simulation, the electronic device can emit a virtual ray along a preset direction from each point to be detected on the femoral 3D model and the femoral stem prosthesis model, and determine the intersection of the virtual ray with each triangular facet in the affected acetabular 3D model and the corresponding acetabular cup prosthesis model in the target pose. Furthermore, based on the target number of triangular facets intersecting with the virtual ray, it can determine whether the femoral 3D model and / or the femoral stem prosthesis model virtually assembled on the femoral 3D model collide with the affected acetabular 3D model and / or the acetabular cup prosthesis model in the target pose.

[0102] For example, when the number of targets is odd, the electronic device can determine that the femoral 3D model and / or the femoral stem prosthesis model virtually mounted on the femoral 3D model collide with the affected acetabulum 3D model and / or the acetabular cup prosthesis model in the target pose; when the number of targets is even, the electronic device can determine that the femoral 3D model and / or the femoral stem prosthesis model virtually mounted on the femoral 3D model do not collide with the affected acetabulum 3D model and / or the acetabular cup prosthesis model in the target pose.

[0103] For example, an electronic device can highlight the collision area to indicate a collision. Of course, the electronic device can also use other methods to indicate a collision. This application does not limit the specific method of indicating the collision area.

[0104] S15, receive the pose adjustment command for the acetabular cup prosthesis model, and adjust the pose of the acetabular cup prosthesis model based on the pose adjustment command until no collision occurs when the femoral 3D model simulates activities within the preset femoral range of motion in all poses, and determine the current pose of the acetabular cup prosthesis model as the target installation pose of the acetabular cup prosthesis model.

[0105] In practical applications, after the electronic device provides a collision warning, the user can adjust the pose of the acetabular cup prosthesis model based on that collision area to avoid poses where collisions may occur. For example, the user can input pose adjustment commands for the acetabular cup prosthesis model on the electronic device.

[0106] Specifically, after receiving the pose adjustment command, the electronic device can repeatedly execute steps to adjust the pose of the acetabular cup prosthesis model based on the pose adjustment command, control the femoral 3D model to perform simulated activities within the corresponding preset femoral range of motion, and detect collisions during the activities, until the femoral 3D model does not collide when simulating activities within the preset femoral range of motion corresponding to all poses. At this point, the current pose of the acetabular cup prosthesis model is its most ideal target installation pose.

[0107] After obtaining the target installation pose of the acetabular cup prosthesis model, the electronic device can display the target installation pose so that the actual acetabular cup prosthesis can be installed based on the target installation pose.

[0108] As can be seen from the above, the embodiments of this application can achieve digital modeling of the pelvic anatomy by reconstructing the three-dimensional models of the hip and femur of the target object, thereby providing data support for subsequent steps; by virtually assembling the acetabular cup prosthesis model into the three-dimensional model of the affected acetabulum in a preset initial pose, and determining the target pelvic tilt angle of the target object in various different postures, and accordingly adjusting the three-dimensional model of the affected acetabulum to the target pose corresponding to each posture, it is possible to simulate the actual posture of the acetabular cup of the target object in different postures; by controlling the three-dimensional model of the femur to simulate the activity within the corresponding preset femoral range in each posture, and detecting collisions during the simulation, and alerting the collision area when a collision is detected, it is possible not only to achieve the simulation of the actual posture of the acetabular cup in different postures, but also to simulate the actual posture of the target object in different postures. The simulation of the dynamic relationship between the acetabular cup and femur in various postures of the target object can also provide intuitive prompts for the collision area when a collision is detected, so that users can efficiently adjust the pose of the acetabular cup prosthesis model. By adjusting the pose of the acetabular cup prosthesis model based on the received pose adjustment instructions, and cyclically executing steps such as simulation activities and collision detection, until the femoral 3D model does not collide when simulating activities within the preset femoral range of motion in all postures, the current pose of the acetabular cup prosthesis model is determined as the target installation pose of the acetabular cup prosthesis model. This ensures that the final planned target installation pose of the acetabular cup prosthesis model meets the biomechanical and dynamic stability requirements of the target object, thereby reducing the risks of prosthesis dislocation, joint range of motion restriction and / or prosthesis wear.

[0109] It is 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.

[0110] This application also provides an electronic device. Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device may include: a processor 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processor 40, such as a program corresponding to the prosthesis mounting pose determination method. When the processor 40 executes the computer program 42, it implements the steps in the above-described prosthesis mounting pose determination method embodiment, for example... Figure 1 S11~S15 are shown.

[0111] For example, computer program 42 may be divided into one or more modules / units, one or more of which are stored in memory 41 and executed by processor 40 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 42 in electronic device 4.

[0112] Those skilled in the art will understand that Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or combine certain components, or use different components.

[0113] The processor 40 can 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 components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0114] The memory 41 can be an internal storage unit of the electronic device 4, such as a hard disk or RAM. The memory 41 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, or flash card. Furthermore, the memory 41 can include both internal and external storage units of the electronic device 4. The memory 41 is used to store computer programs and other programs and data required by the electronic device. The memory 41 can also be used to temporarily store data that has been output or will be output.

[0115] This application also provides a computer-readable storage medium that can store a computer program, which, when executed by a processor, can implement the steps in the above method embodiments.

[0116] This application also provides a computer program product that, when run on an electronic device, enables the electronic device to perform the steps described in the above method embodiments.

[0117] 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.

[0118] It should be noted that, unless otherwise specified, all technical terms used in the embodiments of this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. The technical terms used in the embodiments of this application are only used to explain specific embodiments of this application and are not intended to limit this application.

[0119] The term "embodiment" as used in the description of embodiments in this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0120] 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.

[0121] 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 method for determining the implant placement posture, characterized in that, include: Three-dimensional reconstruction is performed on the three-dimensional image data of the target object to obtain a three-dimensional model of the hip bone and a three-dimensional model of the femur of the target object; the three-dimensional model of the hip bone includes a three-dimensional model of the affected side acetabulum; The acetabular cup prosthesis model is virtually assembled into the three-dimensional model of the affected acetabulum in a preset initial pose; The system displays a variety of preset pelvic tilt angle determination strategies, allowing users to select the corresponding target pelvic tilt angle determination strategy from among the various strategies based on the spinal pelvic sequence of the target object and the completeness of the target image. Each of the pelvic tilt angle determination strategies is used to determine the target pelvic tilt angle of the target object under various different postures; different spinal pelvic sequences and / or different target image completeness correspond to different pelvic tilt angle determination strategies; Based on the target pelvic tilt angle determination strategy selected by the user, the target pelvic tilt angle of the target object under various preset postures is determined. For each of the aforementioned postures, based on the target pelvic tilt angle under the posture, the three-dimensional model of the affected acetabulum is adjusted to the corresponding target pose, and the three-dimensional model of the femur is controlled to perform simulated activities within the preset femoral range of motion corresponding to the posture. During the simulation, the collision between the three-dimensional model of the femur and / or the femoral stem prosthesis model virtually assembled on the three-dimensional model of the femur and the three-dimensional model of the affected acetabulum and / or the acetabular cup prosthesis model in the target pose is detected, and if the collision occurs, the collision area is indicated. Receive a pose adjustment command for the acetabular cup prosthesis model, and adjust the pose of the acetabular cup prosthesis model based on the pose adjustment command until no collision occurs when the femoral three-dimensional model simulates activities within the preset femoral range of motion corresponding to all the poses. Then determine the current pose of the acetabular cup prosthesis model as the target installation pose of the acetabular cup prosthesis model. The pose adjustment command is input by the user based on the collision area; the preset femoral range of motion is used to describe the actual range of motion of the femur of the target object when the target object is in the pose. The spinal-pelvic sequence includes a normal physiological sequence and an abnormal pathological sequence, and the completeness of the target image includes completeness and incompleteness; when the spinal-pelvic sequence is the abnormal pathological sequence and the completeness of the target image is incomplete, the target pelvic tilt angle determination strategy is a third pelvic tilt angle determination strategy; correspondingly, based on the target pelvic tilt angle determination strategy selected by the user, the target pelvic tilt angle of the target object in various preset postures is determined, including: Determine the initial pelvic tilt angle of the target object; The three-dimensional image data is processed using a digital reconstruction radiographic imaging algorithm to obtain the frontal and lateral simulated image data of the target object; Based on the anteroposterior simulated image data and the lateral simulated image data, the obturator parameters of the affected side of the target object are determined; Based on the initial pelvic tilt angle and the obturator parameter of the affected side, the target pelvic tilt angle of the target object under various different postures is determined.

2. The method according to claim 1, characterized in that, Correspondingly: When the spinal pelvic sequence is the normal physiological sequence and the target image completeness is complete, the target pelvic tilt angle determination strategy is the first pelvic tilt angle determination strategy. When the spinal pelvic sequence is the normal physiological sequence and the target image completeness is missing, the target pelvic tilt angle determination strategy is the second pelvic tilt angle determination strategy.

3. The method according to claim 2, characterized in that, The target image completeness refers to target images including lateral real-shot image data of the target object in various different postures; correspondingly, when the target pelvic tilt angle determination strategy is the first pelvic tilt angle determination strategy, based on the target pelvic tilt angle determination strategy selected by the user, the target pelvic tilt angle of the target object in various preset different postures is determined, including: For each of the aforementioned postures, the target pelvic tilt angle of the target object in the aforementioned posture is determined based on the lateral real-shot image data of the target object in that posture.

4. The method according to claim 2, characterized in that, When the target pelvic tilt angle determination strategy is the second pelvic tilt angle determination strategy, based on the target pelvic tilt angle determination strategy selected by the user, the target pelvic tilt angle of the target object under various preset postures is determined, including: Determine the initial pelvic tilt angle of the target object; Based on the initial pelvic tilt angle, a pelvic tilt angle statistical model is used to predict the target pelvic tilt angle of the target object under various different postures.

5. The method according to claim 1 or 4, characterized in that, Determining the initial pelvic tilt angle of the target object includes: Based on the three-dimensional coordinates of multiple first anatomical marker points on the three-dimensional model of the hip bone, a pelvic anatomical coordinate system for the target object is constructed; the pelvic anatomical coordinate system is a spatial rectangular coordinate system. Based on the pelvic anatomical coordinate system and the three-dimensional coordinates of multiple second anatomical markers on the hip bone three-dimensional model, the initial pelvic tilt angle of the target object is determined.

6. The method according to claim 5, characterized in that, The plurality of first anatomical landmarks include the left anterior superior iliac spine landmark, the right anterior superior iliac spine landmark, the left anterior pubic bone landmark, the right anterior pubic bone landmark, and the center landmark of the three-dimensional model of the affected acetabulum; Correspondingly, based on the three-dimensional coordinates of multiple first anatomical marker points on the hip bone three-dimensional model, a pelvic anatomical coordinate system for the target object is constructed, including: Based on the three-dimensional coordinates of the left anterior superior iliac spine marker point, the three-dimensional coordinates of the right anterior superior iliac spine marker point, and the acetabular affected side direction of the target object, the first initial positive direction of the first coordinate axis is determined; the acetabular affected side direction is either left or right. Calculate the three-dimensional coordinates of the first center point of the left anterior superior iliac spine marker and the right anterior superior iliac spine marker, and calculate the three-dimensional coordinates of the second center point of the left anterior pubic bone marker and the right anterior pubic bone marker. Based on the three-dimensional coordinates of the first center point, the three-dimensional coordinates of the second center point, and the affected side direction of the acetabulum, determine the second initial positive direction of the second coordinate axis. Based on the affected side direction of the acetabulum, the second initial positive direction is cross-multiplied with the first initial positive direction to obtain the third initial positive direction of the third coordinate axis; Based on the central marker point, the first initial positive direction, the second initial positive direction, and the third initial positive direction, a pelvic anatomical coordinate system for the target object is constructed.

7. The method according to any one of claims 1-3, characterized in that, Before virtually assembling the acetabular cup prosthesis model into the three-dimensional model of the affected acetabulum in a preset initial pose, the method further includes: The three-dimensional coordinates of the center marker point of the three-dimensional model of the affected acetabulum are determined as the three-dimensional coordinates of the initial assembly position of the acetabular cup prosthesis model in the three-dimensional model of the affected acetabulum. The preset initial pose is obtained by combining the three-dimensional coordinates of the initial assembly position and the preset initial assembly angle for the acetabular cup prosthesis model.

8. An electronic device, characterized in that, It includes a memory and a computer program stored in the memory and executable on a processor, wherein the processor, when executing the computer program, implements the steps of the method as described in any one of claims 1-7.

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