Acetabular cup angle calculation method and apparatus, electronic device, and storage medium

Abstract

An acetabular cup angle calculation method and apparatus, an electronic device, and a storage medium. The method comprises: on the basis of a pre-acquired acetabular cup parameter, prosthesis parameter and initial planning position, calculating, by means of a preset non-collision algorithm, acetabular cup angles corresponding to acetabular cup non-collision, so as to obtain a first acetabular cup angle set (S21); on the basis of the pre-acquired acetabular cup parameter, prosthesis parameter and initial planning position, calculating, by means of motion simulation, acetabular cup angles corresponding to human skeleton non-collision, so as to obtain a second acetabular cup angle set (S22); on the basis of the pre-acquired acetabular cup parameter, prosthesis parameter and initial planning position, calculating, by means of a preset non-dislocation algorithm, acetabular cup angles corresponding to acetabular cup non-dislocation, so as to obtain a third acetabular cup angle set (S23); calculating corresponding acetabular cup angles by means of a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set (S24); and calculating an intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth acetabular cup angle set to obtain a target acetabular cup angle set (S25).

Description

A method, device, electronic device and storage medium for calculating acetabular cup angle Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to an acetabular cup angle calculation method, device, electronic equipment and storage medium. Background Art

[0002] Currently, with the continuous development of medical technology, medical professionals can provide patients with more treatment options. For example, hip replacement can treat femoral head necrosis, femoral neck fractures, hip arthritis caused by various reasons, malignant tumors, etc. By replacing the diseased hip joint with an artificial prosthesis, the patient's hip joint is resected, pain is relieved, and normal function is restored.

[0003] As shown in Figure 1, current artificial hip joints primarily consist of four components: an acetabulum, a liner, a ball head, and a femoral stem. The acetabulum is mounted on the pelvis, while the ball head is mounted on the leg bone. During hip replacement surgery, the acetabulum's proper placement must be determined. An incorrect placement can cause the acetabulum's edge to collide with the femoral neck after surgery, leading to dislocation. However, current determination of the acetabulum's angle often relies on the surgeon's experience, resulting in low accuracy.

[0004] Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a method, device, electronic device, and storage medium for calculating the acetabular cup angle, so as to improve the accuracy of determining the acetabular cup angle. The specific technical solution is as follows:

[0006] A first aspect of an embodiment of the present application provides a method for calculating an acetabular cup angle, comprising:

[0007] According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm to obtain a first acetabular cup angle set;

[0008] According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planned position, the acetabular cup angle corresponding to the human skeleton not colliding is calculated through motion simulation to obtain a second acetabular cup angle set;

[0009] Calculating the acetabular cup angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, to obtain a third acetabular cup angle set;

[0010] Calculating the corresponding acetabular cup angles using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

[0011] An intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set, and the fourth angle set is calculated to obtain a target acetabular cup angle set.

[0012] In a possible embodiment, the method of calculating the acetabular angle corresponding to the acetabular cup non-collision by a preset non-collision algorithm based on the pre-acquired acetabular cup parameters, prosthesis parameters and initial planned position to obtain the first acetabular cup angle set includes:

[0013] Creating geometric models corresponding to the acetabular cup, the ball head, and the femoral neck for a plurality of preset acetabular cup angles based on the pre-acquired acetabular cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters, and the initial planned position;

[0014] For multiple preset acetabular cup angles, whether the ball head collides within a preset range of motion is determined based on the geometric model, and one or more acetabular cup angles corresponding to no collision are determined to obtain the first acetabular cup angle set.

[0015] In a possible embodiment, the acetabular cup angle corresponding to non-collision of the human skeleton is calculated by motion simulation based on the pre-acquired acetabular cup parameters, prosthesis parameters and initial planned position to obtain the second acetabular cup angle set, including:

[0016] Creating a human skeleton model for a plurality of preset acetabular angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position;

[0017] receiving one or more human behavior cycles selected by a user, wherein the one or more human behavior cycles include one or more of a standing to sitting posture, a walking posture, a bending posture, a squatting to standing posture, a leaning posture, a turning posture, a stair climbing posture, and a leg-crossing posture;

[0018] The one or more human behavior cycles are simulated according to the human femur model, and whether a collision occurs is determined, and one or more acetabular cup angles corresponding to no collision are determined to obtain the second acetabular cup angle set.

[0019] In a possible embodiment, creating a human skeleton model for a plurality of preset acetabular angles based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position includes:

[0020] The human skeleton model is created based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning position and multiple preset acetabular cup angles, and the pre-created human body model.

[0021] In a possible embodiment, the acetabular cup angle corresponding to the acetabular cup non-dislocation is calculated by a preset non-dislocation algorithm based on the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position to obtain a third acetabular cup angle set, including:

[0022] Calculating characteristic values ​​corresponding to a standing posture and a sitting posture corresponding to a plurality of preset acetabular angles according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position;

[0023] According to the characteristic value corresponding to each acetabular cup angle and the preset range, one or more acetabular cup angles that meet the preset requirements are determined to obtain the third acetabular cup angle set.

[0024] In a possible implementation, the initial planned position includes an initial acetabular cup angle;

[0025] After calculating the acetabular angle corresponding to the acetabular cup not dislocating by a preset non-dislocation algorithm based on the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position to obtain a third acetabular cup angle set, the method further includes:

[0026] It is determined whether the first acetabular cup angle set, the second acetabular cup angle set and the third acetabular cup angle set have an intersection. If so, it is determined that the initial acetabular cup angle is a set in the target acetabular cup angle set.

[0027] A second aspect of an embodiment of the present application provides a device for calculating an acetabular cup angle, comprising:

[0028] A first set calculation module is configured to calculate the acetabular angles corresponding to the acetabular cup non-collision according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planned position by using a preset non-collision algorithm to obtain a first acetabular cup angle set;

[0029] A second set calculation module is configured to calculate the acetabular angle corresponding to the human skeleton without collision through motion simulation based on the pre-acquired acetabular parameters, prosthesis parameters and initial planned position, thereby obtaining a second acetabular angle set;

[0030] a third set calculation module, configured to calculate the acetabular angles corresponding to the acetabular cup non-dislocation according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position by using a preset non-dislocation algorithm to obtain a third acetabular cup angle set;

[0031] a fourth set calculation module, configured to calculate corresponding acetabular cup angles using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

[0032] The target angle calculation module is configured to calculate the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set, and the fourth angle set to obtain a target acetabular cup angle set.

[0033] In one possible embodiment, the first set calculation module is specifically used to create geometric models corresponding to the acetabular cup, ball head and femoral neck for multiple preset acetabular cup angles based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position; for multiple preset acetabular cup angles, determine whether the ball head collides within the preset range of motion based on the geometric model, determine one or more acetabular cup angles corresponding to no collision, and obtain the first acetabular cup angle set.

[0034] In one possible embodiment, the second set calculation module is specifically used to create a human skeleton model for a plurality of preset acetabular angles based on the pre-acquired acetabular parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position; receive one or more human behavior cycles selected by the user, wherein the one or more human behavior cycles include one or more of standing to sitting posture, walking posture, bending posture, squatting to standing posture, leaning over posture, turning posture, going up and down stairs posture, and crossing legs posture; simulate the one or more human behavior cycles according to the human femoral model, and determine whether a collision occurs, determine one or more acetabular angles corresponding to no collision, and obtain the second acetabular angle set.

[0035] In one possible embodiment, the second set calculation module is specifically used to create the human skeletal model based on the pre-acquired acetabular parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning position and multiple preset acetabular angles, and a pre-created human body model.

[0036] In one possible embodiment, the third set calculation module is specifically used to calculate the characteristic values ​​corresponding to the standing posture and the sitting posture corresponding to multiple preset acetabular angles based on the pre-acquired acetabular parameters, the prosthesis parameters and the initial planned position; and determine one or more acetabular angles that meet the preset requirements based on the corresponding characteristic values ​​and the preset range of each acetabular angle to obtain the third acetabular angle set.

[0037] In a possible implementation, the initial planned position includes an initial acetabular cup angle;

[0038] The device further includes: an initial angle determination module, configured to determine whether there is an intersection among the first acetabular cup angle set, the second acetabular cup angle set, and the third acetabular cup angle set; if so, determining that the initial acetabular cup angle is a group in the target acetabular cup angle set.

[0039] An embodiment of the present invention further provides an electronic device, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0040] Memory for storing computer programs;

[0041] The processor is configured to implement any of the above-mentioned methods for calculating the acetabular cup angle when executing the program stored in the memory.

[0042] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for calculating the acetabular cup angle.

[0043] An embodiment of the present invention further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-mentioned methods for calculating the acetabular cup angle.

[0044] Beneficial effects of the embodiments of the present invention:

[0045] The embodiment of the present invention provides a method, device, electronic device and storage medium for calculating an acetabular cup angle. The method can calculate the acetabular cup angle corresponding to the acetabular cup non-collision according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position by a preset non-collision algorithm to obtain a first acetabular cup angle set; calculate the acetabular cup angle corresponding to the human skeleton non-collision according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position by motion simulation to obtain a second acetabular cup angle set; calculate the acetabular cup angle corresponding to the acetabular cup non-dislocation according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position by a preset non-dislocation algorithm to obtain a third acetabular cup angle set; calculate the corresponding acetabular cup angle according to a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set; calculate the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set to obtain a target acetabular cup angle set. It can be seen that through the method of the embodiment of the present application, not only can the acetabular cup angle be calculated by multiple preset algorithms, but the corresponding intersection can also be calculated to obtain a target acetabular cup angle set, thereby improving the calculation accuracy of the acetabular cup angle.

[0046] Of course, it is not necessary to achieve all of the advantages described above simultaneously in order to implement any product or method of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0048] FIG1 is a schematic structural diagram of a hip joint in the prior art;

[0049] FIG2 is a schematic flow chart of a method for calculating an acetabular cup angle according to an embodiment of the present application;

[0050] FIG3 is a schematic structural diagram of a hip joint provided in an embodiment of the present application;

[0051] FIG4 is a schematic structural diagram of a skeleton model provided in an embodiment of the present application;

[0052] FIG5 is a schematic diagram of a flow chart of calculating a first acetabular cup angle set according to an embodiment of the present application;

[0053] FIG6 is a schematic diagram of a flow chart of calculating a second acetabular cup angle set according to an embodiment of the present application;

[0054] FIG7 is a schematic diagram of a flow chart of calculating a third acetabular cup angle set according to an embodiment of the present application;

[0055] FIG8 is a schematic structural diagram of a device for calculating an acetabular cup angle according to an embodiment of the present application;

[0056] FIG9 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of the present invention.

[0058] In order to solve the problem of low accuracy of acetabular cup angle determination based solely on experience in the prior art, a first aspect of an embodiment of the present application provides a method for calculating the acetabular cup angle, as shown in FIG2 , comprising:

[0059] Step S21, calculating the acetabular angles corresponding to acetabular non-collision using a preset non-collision algorithm based on pre-acquired acetabular cup parameters, prosthesis parameters, and the initial planned position, to obtain a first acetabular cup angle set;

[0060] Step S22, calculating the acetabular angle corresponding to no collision with the human skeleton through motion simulation based on the pre-acquired acetabular parameters, prosthesis parameters and initial planned position, to obtain a second acetabular angle set;

[0061] Step S23, calculating the acetabular angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm based on the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, to obtain a third acetabular cup angle set;

[0062] Step S24, calculating the corresponding acetabular cup angles using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

[0063] Step S25: Calculate the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set, and the fourth angle set to obtain a target acetabular cup angle set.

[0064] It can be seen that through the method of the embodiment of the present application, not only can the acetabular cup angle corresponding to no collision between the acetabular cup, the liner and the femoral stem be satisfied through the preset algorithm, but the acetabular cup angle corresponding to no collision with the human skeleton, the acetabular cup angle corresponding to no dislocation of the acetabular cup, and the acetabular cup angle determined according to the empirical formula can also be determined, thereby calculating the corresponding intersection to obtain the target acetabular cup angle set, thereby improving the calculation accuracy of the acetabular cup angle.

[0065] Corresponding to the above-mentioned step S21, according to the acetabular cup parameters, prosthesis parameters and initial planning position obtained in advance, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm, and the prosthesis parameters and initial planning position such as the acetabular cup, liner, ball head, femoral stem, etc. can be obtained, such as the parameters such as the femoral head length and the neck-shaft angle of the femoral stem, and the calculation can meet the acetabular cup angle corresponding to the acetabular cup, liner and femoral stem. Referring to Figure 3, the ball head, that is, the femoral head is installed inside the acetabular cup, and the femoral stem is located at the other end of the ball head. When the ball head drives the femoral stem to rotate around the acetabular cup, the femoral neck may collide with the acetabular cup or the liner. The acetabular cup angle corresponding to the acetabular cup, liner and femoral stem can be met by the preset non-collision algorithm. Wherein, the acetabular cup angle in this application can include abduction angle and anteversion angle.

[0066] Corresponding to above-mentioned step S22, according to the described acetabular cup parameters, prosthesis parameters and initial planning position obtained in advance, the acetabular cup angle corresponding to the human skeleton is calculated by motion simulation, and a variety of behavior cycles can be simulated, for example, from standing to sitting, walking, bending over to tie shoelaces, from squatting to standing, leaning over, turning around, going up and down stairs, crossing legs (crossing one's legs) and other postures. Referring to Figure 4, a skeletal model of the human body can be created according to the prosthesis parameters and initial planning position such as the acetabular cup, liner, ball head, femoral stem, and then the relative position between the bones corresponding to different behavior cycles is simulated by this human skeleton model, thereby detecting whether a collision occurs. Specifically, whether the human skeleton does not collide can include whether a collision occurs between the femur, acetabulum, etc.

[0067] Corresponding to step S23, based on the previously acquired acetabular cup parameters, the prosthesis parameters, and the initial planned position, a preset non-dislocation algorithm is used to calculate the acetabular cup angle corresponding to the non-dislocation of the acetabular cup. The acetabular cup angle corresponding to the non-dislocation of the acetabular cup can be calculated using one or more preset non-dislocation algorithms known in the art. Calculating the acetabular cup angle using the non-dislocation method can ensure that the resulting acetabular cup meets the non-dislocation requirement.

[0068] Corresponding to the above step S24, the corresponding acetabular cup angle is calculated using a preset empirical formula and a preset redundancy value. The calculation can be performed using an empirical formula in the prior art. For example, when calculating the abduction angle and anteversion angle of the acetabular cup, the empirical formula is used to calculate an abduction angle of 40±10° and an anteversion angle of 15±10°.

[0069] Corresponding to the above-mentioned step S25, wherein the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set is calculated, the target acetabular cup angle finally calculated can meet the requirements of different algorithms, thereby improving the safety and reliability of the acetabular cup angle finally calculated.

[0070] In a possible embodiment, the above step S21 calculates the acetabular cup angles corresponding to the acetabular cup non-collision according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planned position by using a preset non-collision algorithm to obtain a first acetabular cup angle set, as shown in FIG5 , including:

[0071] Step S211, creating geometric models corresponding to the acetabular cup, ball head and femoral neck for a plurality of preset acetabular cup angles based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position;

[0072] Step S212: for a plurality of preset acetabular angles, determining whether the ball head collides within a preset range of motion according to the geometric model, determining one or more acetabular angles corresponding to no collision, and obtaining the first acetabular angle set.

[0073] Specifically, geometric models corresponding to the acetabular cup, ball head, and femoral neck are created based on pre-acquired prosthetic parameters such as the acetabular cup, liner, ball head, and femoral stem, as well as initial planned positions, such as femoral head length and the neck-shaft angle of the femoral stem. When determining multiple preset acetabular cup angles, a range of possible acetabular cup angle values ​​can be pre-set, and geometric models corresponding to the acetabular cup, ball head, and femoral neck are created for each possible value within that range.

[0074] In an example, referring to Figure 3, part A represents the ball head, part B represents the acetabular cup or liner, and part C is the femoral neck. R1 is the ball head radius, and R2 is the femoral neck radius. The following steps can be used to calculate whether the acetabular cup and femoral neck collide:

[0075] Calculate the prosthesis rom (range of motion).

[0076] In an example, it can be calculated by the following formula:

[0077] Where θ represents the angular range of motion of the femoral stem; A represents the cross-section of the ball head; r head Indicates the radius of the ball head; r neck represents the femoral neck radius.

[0078] The human body motion is converted into the rotation of the femoral neck in the acetabular cup coordinate system.

[0079] As an example, the human body motion can be converted into the rotation of the femoral neck in the acetabular cup coordinate system using the following formula.

[0080] R neck2femur =R Z (-φ stemFlex ))·R Y (-φantetorsion)·R X (-(180°-φ CCD -φ stemAdd ))

[0081] Among them, R femur2pelvis,n R represents the rotation coefficient from the femur coordinate system to the pelvis coordinate system; pelvis2body R represents the rotation coefficient from the pelvic coordinate system to the body coordinate system; leg2body,n R represents the rotation coefficient from the leg coordinate system to the body coordinate system; femur2leg R represents the rotation coefficient from the femur coordinate system to the body coordinate system; X Represents the preset rotation matrix along the x-axis; R YRepresents the preset rotation matrix along the y-axis; R Z Represents the preset rotation matrix along the z axis; Rneck2cup,n,φincl,φant represents the rotation coefficient from the femoral neck coordinate system to the acetabular cup coordinate system; Rcup2pelvis,φincl,φant represents the rotation coefficient from the acetabular cup coordinate system to the pelvic coordinate system; R neck2femur represents the rotation coefficient from the femoral neck coordinate system to the femoral coordinate system; φ tilt Indicates the preset rotation angle; φ incl Indicates the forward tilt angle; φ ant represents the abduction angle; φ stemFlex represents the neck bending angle; φantetorsion represents the twisting angle; φ CCD Indicates the preset angle; φ stemAdd It means neck plus angle.

[0082] Calculate the angle between the current femoral neck and the center axis of the acetabular cup.

[0083] Among them, ρn, φincl, φant represent the characteristic angle, R 11 、R 12 、R 13 、R 21 、R 22 、R 23 、R 31 、R 32 、R 33 are the elements of the matrix.

[0084] Determine whether the current angle exceeds rom. If it exceeds, it is determined that a collision has occurred.

[0085] Among them, d min (φ incl ,φ ant ) represents the minimum value of the anteversion angle and abduction angle calculated by the min dn function.

[0086] In a possible embodiment, the above step S22 calculates the acetabular angle corresponding to the human skeleton not colliding with the acetabular cup parameters, prosthesis parameters and initial planned position obtained in advance through motion simulation to obtain a second acetabular cup angle set, as shown in FIG6 , including:

[0087] Step S221, creating a human skeleton model for a plurality of preset acetabular angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position;

[0088] Step S222, receiving one or more human behavior cycles selected by the user, wherein the one or more human behavior cycles include one or more of standing to sitting posture, walking posture, bending posture, squatting to standing posture, leaning over posture, turning posture, going up and down stairs posture, and crossing legs posture;

[0089] Step S223: simulating the one or more human behavior cycles according to the human femur model, determining whether a collision occurs, determining one or more acetabular cup angles corresponding to no collision, and obtaining the second acetabular cup angle set.

[0090] In a possible embodiment, the human skeleton model is created for a plurality of preset acetabular cup angles based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position, including: creating the human skeleton model based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planned position and a plurality of preset acetabular cup angles, and a pre-created human body model.

[0091] Wherein, according to the described acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters, described initial planning position and multiple preset acetabular cup angles obtained in advance, and the human body model created in advance, create the described human skeleton model, can according to the prosthesis parameters and initial planning position such as the described acetabular cup, liner, ball head, femoral stem obtained in advance, multiple preset acetabular cup angles are substituted into the human body model, that is, a prosthesis model is placed on the human body model, i.e., surgical planning, can be referring to Fig. 4. In the present application, the human skeleton model is generated by CT data three-dimensional reconstruction, is personalized, and embodies the bone structure characteristics of each patient. Receive one or more behavior cycles selected by the user, can include from standing to sitting, walking, bending over to tie shoelaces, from squatting to standing, leaning over, turning around, going up and down stairs, crossing legs (crossing legs) and other postures, can also carry out motion assessment simultaneously, and carry out the assessment of daily behavior and personalized behavior, and carry out the personalized setting of straightening and bending, external rotation and internal rotation, abduction and introversion. During actual use, for each posture, it can be determined whether the pre-set multiple acetabular cup angles collide. In one example, multiple acetabular cup angles can be pre-set, and then for each acetabular cup angle, it can be determined whether a collision occurs in one or more corresponding postures. If there is a collision, the acetabular cup angle is discarded; if there is no collision, the acetabular cup angle is retained, thereby obtaining multiple acetabular cup angles, i.e., the second acetabular cup angle set.

[0092] In a possible embodiment, the above step S23 calculates the acetabular angle corresponding to the acetabular cup non-dislocation according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position by using a preset non-dislocation algorithm to obtain a third acetabular cup angle set, as shown in FIG7 , including:

[0093] Step S231, calculating characteristic values ​​corresponding to a plurality of preset acetabular angles for a standing posture and a sitting posture, respectively, based on the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position;

[0094] Step S232: determining one or more acetabular cup angles that meet preset requirements based on the characteristic value corresponding to each acetabular cup angle and the preset range, and obtaining the third acetabular cup angle set.

[0095] The method calculates characteristic values ​​corresponding to various acetabular angles for standing and sitting postures based on the pre-acquired acetabular cup parameters, prosthesis parameters, and the initial planned position. The AI ​​angle for standing and sitting postures corresponding to each acetabular cup angle can be calculated. For example, if the AI ​​angle for standing is within the range of 25-45 degrees and the AI ​​angle for sitting is within the range of 41-63 degrees, dislocation is not present.

[0096] Specifically, the calculation formula of AI angle is as follows:

[0097] V1=(0,0,-1) T ;

[0098] V p =(0,1,1) T ;

[0099] Among them, V1 and Vp represent different initial values, M1, M2, and M3 represent different matrices, PT represents the pelvic tilt angle, RA and RI represent the RA angle and RI angle respectively, d is the preset distance, and dot() and acos() represent different preset functions.

[0100] In one possible embodiment, the initial planned position includes an initial acetabular cup angle; after the acetabular cup angle corresponding to the non-dislocation of the acetabular cup is calculated based on the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position and a third acetabular cup angle set is obtained, the method further includes: determining whether there is an intersection among the calculated first acetabular cup angle set, the second acetabular cup angle set and the third acetabular cup angle set, and if so, determining that the initial acetabular cup angle is a group in the target acetabular cup angle set.

[0101] To illustrate the method of the embodiment of the present application, the following is described in conjunction with specific embodiments. The solutions of the present application may include the following two:

[0102] Method 1: 1. Select the prosthesis brand, model, and specifications to generate the prosthesis's collision-free range (ROM 1) (a 3D region relative to the acetabular cup coordinate system). 2. After setting the acetabular cup center position, anteversion, and abduction angles, combine the prosthesis and the person, and convert the prosthesis coordinate system to the human coordinate system. This yields the human skeleton's collision-free range (ROM 2) (a 3D region bounded by the collision point). 3. ROM 3 (extracting the extreme values ​​from the Excel file). 4. Find the intersection of the three 3D ROM regions and determine the acetabular cup angle combination within this intersection.

[0103] Method 2: 1. Plan a set of acetabular angle combinations and sequentially apply them to different ranges of motion. If the current acetabular angle intersects the three ROMs, the current angle combination is considered a safe zone angle combination; if not, it is discarded. 2. Sequentially iterate through all acetabular angle combinations (0-30° anteversion, 0-60° abduction) to determine which combinations are ideal. This method will yield acetabular angle combinations that simultaneously avoid collisions between the prosthesis and the bone.

[0104] A second aspect of an embodiment of the present application provides a device for calculating an acetabular cup angle, as shown in FIG8 , comprising:

[0105] A first set calculation module 801 is configured to calculate the acetabular angles corresponding to acetabular non-collision based on pre-acquired acetabular parameters, prosthesis parameters, and initial planned positions using a preset non-collision algorithm to obtain a first acetabular angle set;

[0106] A second set calculation module 802 is configured to calculate the acetabular angles corresponding to the human skeleton without collision based on the pre-acquired acetabular parameters, prosthesis parameters and initial planned position through motion simulation to obtain a second acetabular angle set;

[0107] A third set calculation module 803 is configured to calculate the acetabular angles corresponding to the acetabular cup non-dislocation according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position using a preset non-dislocation algorithm to obtain a third acetabular cup angle set;

[0108] A fourth set calculation module 804 is configured to calculate corresponding acetabular cup angles using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

[0109] The target angle calculation module 805 is configured to calculate the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set, and the fourth angle set to obtain a target acetabular cup angle set.

[0110] In one possible embodiment, the first set calculation module is specifically used to create geometric models corresponding to the acetabular cup, ball head and femoral neck for multiple preset acetabular cup angles based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position; for multiple preset acetabular cup angles, determine whether the ball head collides within the preset range of motion based on the geometric model, determine one or more acetabular cup angles corresponding to no collision, and obtain the first acetabular cup angle set.

[0111] In one possible embodiment, the second set calculation module is specifically used to create a human skeleton model for a plurality of preset acetabular angles based on the pre-acquired acetabular parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position; receive one or more human behavior cycles selected by the user, wherein the one or more human behavior cycles include one or more of standing to sitting posture, walking posture, bending posture, squatting to standing posture, leaning over posture, turning posture, going up and down stairs posture, and crossing legs posture; simulate the one or more human behavior cycles according to the human femoral model, and determine whether a collision occurs, determine one or more acetabular angles corresponding to no collision, and obtain the second acetabular angle set.

[0112] In one possible embodiment, the second set calculation module is specifically used to create the human skeletal model based on the pre-acquired acetabular parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning position and multiple preset acetabular angles, and a pre-created human body model.

[0113] In one possible embodiment, the third set calculation module is specifically used to calculate the characteristic values ​​corresponding to the standing posture and the sitting posture corresponding to multiple preset acetabular angles based on the pre-acquired acetabular parameters, the prosthesis parameters and the initial planned position; and determine one or more acetabular angles that meet the preset requirements based on the corresponding characteristic values ​​and the preset range of each acetabular angle to obtain the third acetabular angle set.

[0114] It can be seen that through the device of the embodiment of the present application, not only can the acetabular cup angle corresponding to no collision between the acetabular cup and the femur be determined through a preset algorithm, but also the acetabular cup angle corresponding to no collision between the human skeleton and the acetabular cup, as well as the acetabular cup angle corresponding to no dislocation of the acetabular cup, and the acetabular cup angle determined according to the empirical formula can be determined, thereby calculating the corresponding intersection to obtain the target acetabular cup angle set, thereby improving the calculation accuracy of the acetabular cup angle.

[0115] An embodiment of the present invention further provides an electronic device, as shown in FIG9 , including a processor 901, a communication interface 902, a memory 903, and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other via the communication bus 904.

[0116] Memory 903, used for storing computer programs;

[0117] The processor 901 is configured to execute the program stored in the memory 903, and implement the following steps:

[0118] According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm to obtain a first acetabular cup angle set;

[0119] According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planned position, the acetabular cup angle corresponding to the human skeleton not colliding is calculated through motion simulation to obtain a second acetabular cup angle set;

[0120] Calculating the acetabular cup angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, to obtain a third acetabular cup angle set;

[0121] Calculating the corresponding acetabular cup angles using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

[0122] An intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set, and the fourth angle set is calculated to obtain a target acetabular cup angle set.

[0123] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0124] The communication interface is used for communication between the above electronic device and other devices.

[0125] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0126] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0127] In another embodiment of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for calculating the acetabular cup angle are implemented.

[0128] In another embodiment of the present invention, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any of the methods for calculating the acetabular cup angle in the above embodiments.

[0129] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0130] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0131] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device, electronic device, storage medium, and computer program product embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For related portions, reference can be made to the descriptions of the method embodiments.

[0132] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A method for calculating an acetabular cup angle, characterized in that: include: According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm to obtain a first acetabular cup angle set; According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the human skeleton not colliding is calculated through motion simulation to obtain a second acetabular cup angle set; According to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, the acetabular cup angle corresponding to the acetabular cup non-dislocation is calculated by a preset non-dislocation algorithm to obtain a third acetabular cup angle set; Calculate the corresponding acetabular cup angle by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set; An intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set is calculated to obtain a target acetabular cup angle set.

2. The method according to claim 1, characterized in that The method of calculating the acetabular cup angle corresponding to the acetabular cup non-collision by a preset non-collision algorithm according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, and obtaining a first acetabular cup angle set includes: According to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planning position, a geometric model corresponding to the acetabular cup, ball head and femoral neck is created for a plurality of preset acetabular cup angles; For a plurality of preset acetabular cup angles, it is determined whether the ball head collides within a preset range of motion according to the geometric model, and one or more acetabular cup angles corresponding to no collision are determined to obtain the first acetabular cup angle set.

3. The method according to claim 1, characterized in that The method of calculating the acetabular angle corresponding to the human skeleton not colliding with the acetabular cup parameters, prosthesis parameters and initial planning position obtained in advance through motion simulation to obtain a second acetabular cup angle set includes: Creating a human skeleton model for a variety of preset acetabular cup angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planning position; Receiving one or more human behavior cycles selected by a user, wherein the one or more human behavior cycles include one or more of a posture from standing to sitting, a walking posture, a bending posture, a posture from squatting to standing, a leaning posture, a turning posture, a posture of going up and down stairs, and a posture of crossing legs; The one or more human behavior cycles are simulated according to the human femur model, and it is determined whether a collision occurs, and one or more acetabular cup angles corresponding to no collision are determined to obtain the second acetabular cup angle set.

4. The method according to claim 3, characterized in that The method of creating a human skeleton model for a plurality of preset acetabular cup angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position comprises: The human skeleton model is created based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning position and multiple preset acetabular cup angles, and the pre-created human body model.

5. The method according to claim 1, characterized in that The method of calculating the acetabular cup angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, and obtaining a third acetabular cup angle set, comprises: Calculating characteristic values ​​corresponding to the standing posture and the sitting posture corresponding to a plurality of preset acetabular angles respectively according to the acetabular cup parameters, the prosthesis parameters and the initial planned position acquired in advance; According to the characteristic value corresponding to each acetabular cup angle and the preset range, one or more acetabular cup angles meeting the preset requirements are determined to obtain the third acetabular cup angle set.

6. The method according to claim 1, characterized in that The initial planned position includes an initial acetabular cup angle; After calculating the acetabular cup angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, and obtaining the third acetabular cup angle set, the method further comprises: It is determined whether the first acetabular cup angle set, the second acetabular cup angle set and the third acetabular cup angle set have an intersection, and if so, it is determined that the initial acetabular cup angle is a set in the target acetabular cup angle set.

7. A device for calculating an acetabular cup angle, characterized in that: include: A first set calculation module is used to calculate the acetabular cup angle corresponding to the acetabular cup non-collision according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position by using a preset non-collision algorithm to obtain a first acetabular cup angle set; A second set calculation module is used to calculate the acetabular angle corresponding to the human skeleton without collision through motion simulation according to the acetabular cup parameters, prosthesis parameters and initial planning position obtained in advance, so as to obtain a second acetabular cup angle set; A third set calculation module is used to calculate the acetabular cup angle corresponding to the acetabular cup non-dislocation according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position by using a preset non-dislocation algorithm to obtain a third acetabular cup angle set; A fourth set calculation module, used to calculate the corresponding acetabular cup angles by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set; The target angle calculation module is used to calculate the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set to obtain a target acetabular cup angle set.

8. The device according to claim 7, characterized in that The first set of calculation modules is specifically used to calculate the acetabular cup parameters, liner parameters, ball head parameters acquired in advance. number, femoral stem parameters and the initial planning position, and creating geometric models corresponding to the acetabular cup, ball head and femoral neck for multiple preset acetabular cup angles; For a plurality of preset acetabular cup angles, it is determined whether the ball head collides within a preset range of motion according to the geometric model, and one or more acetabular cup angles corresponding to no collision are determined to obtain the first acetabular cup angle set.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 1 to 6 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 6 are implemented.

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