Method and apparatus for mirroring processing-based determination of acetabular cup prosthesis information

Abstract

Disclosed in the present application are a method and apparatus for mirroring processing-based determination of acetabular cup prosthesis information. The present application relates to the field of information processing. The method comprises: acquiring a three-dimensional bone model of a patient, and establishing a coordinate system in the three-dimensional bone model according to target feature points in the three-dimensional bone model, wherein the three-dimensional bone model at least comprises a three-dimensional model of the pelvis of the patient; when the affected-side acetabular fossa is incomplete, performing mirroring processing on a healthy-side pelvis model in the three-dimensional bone model according to the coordinate system, and determining information of the affected-side acetabular fossa according to the mirrored healthy-side pelvis model; and determining prosthesis information of an acetabular cup prosthesis according to the information of the affected-side acetabular fossa, wherein the prosthesis information comprises at least one of the following: a prosthesis model and a prosthesis implantation position. The present application solves the technical problem in the related art where the accuracy of prosthesis information is low when determining prosthesis information of an acetabular cup prosthesis according to the affected-side acetabular fossa of a patient.

Description

Method and apparatus for determining acetabular cup prosthesis information based on mirror processing

[0001] This application claims priority to Chinese Patent Application No. 202411226174X, filed on September 2, 2024, entitled "Method and Apparatus for Determining Information of Acetabular Cup Prosthesis Based on Mirror Processing", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of information processing, and more specifically, to a method and apparatus for determining acetabular cup prosthesis information based on mirror processing. Background Technology

[0003] With the continuous development of technology, more and more surgical robots and surgical navigation systems are appearing in the medical field. Surgical robots and navigation have brought significant benefits to patients to a certain extent. The advent of surgical robots and navigation also necessitates more precise and personalized surgical planning for hip replacement. The type, placement, and angle of the prosthesis in hip replacement are crucial for postoperative recovery and can reduce the dislocation rate.

[0004] In typical cases of primary hip replacement surgery, the acetabular fossa is only partially damaged and remains a relatively intact ball-and-socket structure, allowing for the determination of prosthesis information using standard planning methods. However, in some complex hip replacement cases, such as those involving congenital hip dysplasia, it may be impossible to find a complete acetabular fossa on the affected side, or the acetabular fossa may have been damaged during revision surgery. In these situations, determining the acetabular cup prosthesis information based on the patient's affected acetabular fossa presents a technical challenge due to low accuracy.

[0005] There is currently no effective solution to the above problems. Summary of the Invention

[0006] This application provides a method and apparatus for determining acetabular cup prosthesis information based on mirror processing, so as to at least solve the technical problem of low accuracy of prosthesis information in related technologies when determining the prosthesis information of the acetabular cup prosthesis based on the patient's affected acetabular fossa.

[0007] According to one aspect of the embodiments of this application, a method for determining acetabular cup prosthesis information based on mirror processing is provided, comprising: acquiring a three-dimensional model of the patient's skeleton, and establishing a coordinate system in the three-dimensional model of the skeleton based on target feature points in the three-dimensional model of the skeleton, wherein the three-dimensional model of the skeleton includes at least a three-dimensional model of the patient's pelvis; in the case that the affected acetabular fossa is incomplete, performing mirror processing on the healthy pelvic model in the three-dimensional model of the skeleton according to the coordinate system, and determining the affected acetabular fossa information based on the mirrored healthy pelvic model; determining the prosthesis information of the acetabular cup prosthesis based on the affected acetabular fossa information, wherein the prosthesis information includes at least one of the following: prosthesis model and prosthesis implantation location.

[0008] Furthermore, the target feature points include the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic symphysis. The method for determining the acetabular cup prosthesis information based on mirror processing further includes: defining the plane containing the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic symphysis as the coronal plane; defining the plane passing through the left anterior superior iliac spine and the right anterior superior iliac spine and perpendicular to the coronal plane as the transverse plane; defining the plane passing through the pubic symphysis and perpendicular to the coronal plane and the transverse plane as the sagittal plane; and determining the coordinate system based on the coronal plane, the transverse plane, and the sagittal plane.

[0009] Furthermore, the method for determining acetabular cup prosthesis information based on mirror processing also includes: identifying the healthy-side teardrop line and the affected-side teardrop line from the 3D skeletal model, and determining the line connecting the first target point in the healthy-side teardrop line and the second target point in the affected-side teardrop line to obtain a target straight line; determining whether the sagittal plane needs adjustment based on the angle between the target straight line and the normal vector of the sagittal plane; if the sagittal plane needs adjustment, adjusting at least one of the left and right anterior superior iliac spine points to adjust the sagittal plane, and determining the coordinate system based on the coronal plane, the transverse plane, and the adjusted sagittal plane; if the sagittal plane does not need adjustment, determining the coordinate system based on the coronal plane, the transverse plane, and the sagittal plane.

[0010] Furthermore, the method for determining the acetabular cup prosthesis information based on mirror processing also includes: registering the mirrored healthy pelvic model with the affected pelvic model in the 3D skeletal model to obtain the target pelvic model; determining the center point of the target acetabular fossa corresponding to the affected acetabular fossa based on the target pelvic model; determining the acetabular length information based on the target pelvic model; and determining the affected acetabular fossa information based on at least one of the center point of the target acetabular fossa and the acetabular length information.

[0011] Furthermore, the method for determining the acetabular cup prosthesis information based on mirror processing also includes: identifying the center point of the acetabular fossa from the target pelvic model to obtain the first acetabular fossa center point; identifying the center point of the acetabular fossa from the healthy pelvic model to obtain the second acetabular fossa center point; performing mirror processing on the second acetabular fossa center point based on the sagittal plane in the coordinate system to obtain the third acetabular fossa center point; and determining the target acetabular fossa center point from the first acetabular fossa center point and the third acetabular fossa center point according to the distance between the first acetabular fossa center point and the third acetabular fossa center point.

[0012] Furthermore, when the information of the affected acetabular fossa includes the center point of the target acetabular fossa and the acetabular length information, the method for determining the acetabular cup prosthesis information based on mirror processing also includes: determining the prosthesis model of the acetabular cup prosthesis based on the acetabular length information; determining the prosthesis implantation position of the acetabular cup prosthesis based on the center point of the target acetabular fossa; and determining the prosthesis information of the acetabular cup prosthesis based on at least one of the implantation position and the prosthesis model.

[0013] Furthermore, the skeletal 3D model also includes a 3D model of the patient's femur. The method for determining the acetabular cup prosthesis information based on mirror processing further includes: simulating the implantation of the acetabular cup prosthesis's 3D model into the affected pelvic model within the skeletal 3D model based on the target acetabular fossa center point, thus obtaining a first skeletal 3D model; determining whether the current implantation position of the prosthesis 3D model needs adjustment based on the positional relationship between the prosthesis 3D model and the affected teardrop line in the first skeletal 3D model, as well as the positional differences between the affected and healthy femurs; if adjustment is needed, adjusting the current implantation position to obtain the prosthesis implantation position; if no adjustment is needed, determining the current implantation position as the prosthesis implantation position.

[0014] Furthermore, the method for determining acetabular cup prosthesis information based on mirror processing also includes: simulating the implantation of the acetabular cup prosthesis into the affected pelvic model within the skeletal 3D model based on the prosthesis implantation location, thus obtaining a second skeletal 3D model; determining whether the acetabular cup prosthesis needs additional prosthesis pads based on the acetabular cup coverage rate in the second skeletal 3D model; if additional prosthesis pads are needed, determining the prosthesis pad model based on the area of ​​the affected acetabular fossa not covered in the second skeletal 3D model; and determining the acetabular cup prosthesis information based on at least one of the implantation location and the prosthesis model, as well as the prosthesis pad model.

[0015] Furthermore, the method for determining the acetabular cup prosthesis information based on mirror processing also includes: after establishing a coordinate system in the 3D skeletal model based on the target feature points in the skeletal model, and assuming the affected acetabular fossa is intact, identifying the center point of the acetabular fossa from the healthy pelvic model to obtain the second acetabular fossa center point; performing mirror processing on the second acetabular fossa center point based on the sagittal plane in the coordinate system to obtain the third acetabular fossa center point; and determining the affected acetabular fossa information based on the third acetabular fossa center point and the affected pelvic model in the 3D skeletal model.

[0016] According to another aspect of the embodiments of this application, a device for determining acetabular cup prosthesis information based on mirror processing is also provided, comprising: an acquisition module configured to acquire a three-dimensional model of the patient's skeleton and establish a coordinate system in the three-dimensional model of the skeleton based on target feature points in the three-dimensional model of the skeleton, wherein the three-dimensional model of the skeleton includes at least a three-dimensional model of the patient's pelvis; a first determination module configured to, when the affected acetabular fossa is incomplete, perform mirror processing on the healthy pelvic model in the three-dimensional model of the skeleton based on the coordinate system, and determine the affected acetabular fossa information based on the mirrored healthy pelvic model; and a second determination module configured to determine the prosthesis information of the acetabular cup prosthesis based on the affected acetabular fossa information, wherein the prosthesis information includes at least one of the following: prosthesis model and prosthesis implantation location.

[0017] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to execute the above-described method for determining acetabular cup prosthesis information based on mirror processing when it is run.

[0018] According to another aspect of the embodiments of this application, an electronic device is also provided, the electronic device including one or more processors; a memory for storing one or more programs, which, when executed by one or more processors, cause one or more processors to implement the program for running the program, wherein the program is configured to execute the above-described method for determining acetabular cup prosthesis information based on mirror processing during runtime.

[0019] In this embodiment, the method involves determining the information of the affected acetabular fossa based on the patient's healthy pelvic model, and then determining the acetabular cup prosthesis information based on the affected acetabular fossa information. This is achieved by acquiring a three-dimensional skeletal model of the patient and establishing a coordinate system within the model based on target feature points. If the affected acetabular fossa is incomplete, the healthy pelvic model within the skeletal three-dimensional model is mirrored according to the coordinate system. The affected acetabular fossa information is then determined based on the mirrored healthy pelvic model, thereby determining the acetabular cup prosthesis information. The three-dimensional skeletal model includes at least a three-dimensional model of the patient's pelvis, and the prosthesis information includes at least one of the following: prosthesis model and prosthesis implantation location.

[0020] In the above process, because the affected acetabular fossa may be incomplete, it may be impossible to accurately determine the information of the affected acetabular fossa. Therefore, by mirroring the healthy pelvic model in the 3D skeletal model and determining the information of the affected acetabular fossa based on the mirrored healthy pelvic model, accurate information of the affected acetabular fossa based on the complete healthy acetabular fossa is achieved, thereby improving the accuracy of the determined information of the affected acetabular fossa. This, in turn, improves the accuracy of the determined prosthesis information when determining the acetabular cup prosthesis information based on the affected acetabular fossa information. Furthermore, by establishing a coordinate system in the 3D skeletal model based on the target feature points, and mirroring the healthy pelvic model based on this coordinate system, the positions of the mirrored healthy pelvic model and the affected pelvic model can highly overlap, further improving the accuracy of the determined information of the affected acetabular fossa, and thus improving the accuracy of the determined prosthesis information.

[0021] Therefore, the solution provided in this application achieves the goal of determining the information of the affected acetabular fossa based on the patient's healthy pelvic model, and then determining the information of the acetabular cup prosthesis based on the information of the affected acetabular fossa, thereby improving the accuracy of the prosthesis information and solving the technical problem of low accuracy of the prosthesis information in related technologies that determine the prosthesis information of the acetabular cup prosthesis based on the patient's affected acetabular fossa. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 is a schematic diagram of an optional method for determining acetabular cup prosthesis information based on mirror processing according to an embodiment of this application;

[0024] Figure 2 is a schematic diagram of an optional method for determining acetabular cup prosthesis information based on mirror processing according to an embodiment of this application;

[0025] Figure 3 is a schematic diagram of an optional device for determining acetabular cup prosthesis information based on mirror processing according to an embodiment of this application;

[0026] Figure 4 is a schematic diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0030] Example 1

[0031] According to an embodiment of this application, an embodiment of a method for determining acetabular cup prosthesis information based on mirror processing is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0032] Figure 1 is a schematic diagram of an optional method for determining acetabular cup prosthesis information based on mirror processing according to an embodiment of this application. As shown in Figure 1, the method includes the following steps:

[0033] Step S101: Obtain the patient's 3D skeletal model and establish a coordinate system in the 3D skeletal model based on the target feature points in the 3D skeletal model. The 3D skeletal model includes at least a 3D model of the patient's pelvis.

[0034] Optionally, electronic devices, application systems, servers, or other similar devices can be used as the execution subject of this application. In this embodiment, the target processing system is used as the execution subject to execute the method for determining acetabular cup prosthesis information based on mirror processing. In other embodiments, a surgical robot can also be used as the execution subject to execute the method for determining acetabular cup prosthesis information based on mirror processing. The method for determining acetabular cup prosthesis information based on mirror processing in this embodiment is used for preoperative planning.

[0035] Optionally, the target processing system can acquire the patient's CT data and then determine a three-dimensional model of the patient's skeleton based on the CT data. The patient's CT data includes at least image information of the patient's pelvis, and may also include image information of the patient's hip joint and femur. The three-dimensional skeleton model includes at least a three-dimensional model of the patient's pelvis, and may also include a three-dimensional model of the patient's hip joint and femur.

[0036] After determining the 3D skeletal model, the target processing system can identify multiple target feature points within the model. Optionally, the system can input the 3D skeletal model into a first neural network model, which then determines the target feature points from the model. Alternatively, the system can utilize 3D modeling software or medical image processing software to extract feature points from the model using computer vision and image processing techniques. For each detected feature point, a descriptor is calculated to capture the geometric properties of its surrounding area. This descriptor can be determined based on information such as local surface patches, curvature, and normals. The system can pre-configure feature information for various target feature points, enabling it to determine these feature points from the detected points using feature matching.

[0037] After determining the target feature points, the target processing system can establish a coordinate system in the 3D skeletal model based on these feature points. For example, the target processing system can determine the coordinate system in the 3D skeletal model based on the coplanarity of at least some of the target feature points. Alternatively, the target processing system can input the 3D coordinates of multiple target feature points into a second neural network model, and then output the coordinate system information of the 3D skeletal model through the second neural network model. Thus, the target processing system can establish a coordinate system in the 3D skeletal model based on this coordinate system information.

[0038] Step S102: In the case of incomplete acetabular fossa on the affected side, the healthy side pelvic model in the 3D skeletal model is mirrored according to the coordinate system, and the information of the affected side acetabular fossa is determined based on the mirrored healthy side pelvic model.

[0039] Optionally, for some complex acetabular replacement cases, such as patients with congenital hip dysplasia, it may be impossible to find a complete acetabular fossa on the affected side, or the acetabular fossa may have been damaged during revision surgery. In such cases, the acetabular fossa information determined based on the affected side is not accurate enough, which may affect the accuracy of the prosthesis information for the determined acetabular cup. Therefore, in this embodiment, when the affected side acetabular fossa is incomplete, the healthy side pelvic model in the 3D skeletal model is mirrored according to the coordinate system, and the affected side acetabular fossa information is determined based on the mirrored healthy side pelvic model.

[0040] In some embodiments, the target processing system can determine whether the affected acetabulum is intact based on the affected pelvic model in the 3D skeletal model. For example, the system identifies the affected acetabulum from the affected pelvic model and determines whether its area is greater than a preset area. If it is greater than the preset area, the affected acetabulum is determined to be intact; if it is less than or equal to the preset area, it is determined to be incomplete. Another example is identifying the affected acetabulum from the affected pelvic model and determining whether its shape is a preset shape. If it is a preset shape, the affected acetabulum is determined to be intact; if it is not a preset shape, it is determined to be incomplete. The preset shape can be hemispherical. Furthermore, the target processing system may also have other preset rules for determining whether the affected acetabulum is intact, and the system can determine the integrity of the affected acetabulum based on these rules.

[0041] After determining that the affected acetabular fossa is incomplete, the target processing system can optionally mirror the healthy pelvic model based on the sagittal plane in the coordinate system, and directly determine the acetabular fossa information in the mirrored healthy pelvic model as the affected acetabular fossa information. Alternatively, it can mirror the healthy pelvic model based on the sagittal plane in the coordinate system, and then process (e.g., register) the mirrored healthy pelvic model, thereby determining the affected acetabular fossa information based on the acetabular fossa information in the processed mirrored healthy pelvic model. The coordinate system is determined based on the coronal, sagittal, and transverse planes.

[0042] Optionally, the affected acetabular fossa information includes the center point of the target acetabular fossa corresponding to the affected acetabular fossa and the acetabular length information.

[0043] Step S103: Determine the prosthesis information of the acetabular cup prosthesis based on the information of the affected side acetabular fossa, wherein the prosthesis information includes at least one of the following: prosthesis model and prosthesis implantation location.

[0044] For example, the target processing system can determine the implantation position of the acetabular cup prosthesis based on the center point of the target acetabular fossa, and determine the prosthesis model of the acetabular cup prosthesis based on the acetabular length information.

[0045] Once the prosthesis information is determined, the acetabular cup can be implanted during the hip replacement surgery based on the aforementioned prosthesis information.

[0046] Based on the scheme defined in steps S101 to S103 above, it can be understood that in this embodiment, the method of determining the affected acetabular fossa information based on the patient's healthy pelvic model, and then determining the acetabular cup prosthesis information based on the affected acetabular fossa information, involves obtaining the patient's skeletal three-dimensional model, establishing a coordinate system in the skeletal three-dimensional model based on the target feature points in the skeletal three-dimensional model, and then, when the affected acetabular fossa is incomplete, mirroring the healthy pelvic model in the skeletal three-dimensional model according to the coordinate system, and determining the affected acetabular fossa information based on the mirrored healthy pelvic model, thereby determining the acetabular cup prosthesis information based on the affected acetabular fossa information. The skeletal three-dimensional model includes at least a three-dimensional model of the patient's pelvis, and the prosthesis information includes at least one of the following: prosthesis model and prosthesis implantation location.

[0047] It is noteworthy that in the above process, the affected acetabular fossa may be incomplete, potentially leading to an inability to accurately determine the information of the affected acetabular fossa. Therefore, by mirroring the healthy pelvic model in the 3D skeletal model and determining the affected acetabular fossa information based on the mirrored healthy pelvic model, accurate determination of the affected acetabular fossa information based on the patient's complete healthy acetabular fossa is achieved. This improves the accuracy of the determined affected acetabular fossa information, and consequently, the accuracy of the determined prosthesis information when using this affected acetabular fossa information. Furthermore, by establishing a coordinate system in the 3D skeletal model based on target feature points, and mirroring the healthy pelvic model based on this coordinate system, the mirrored healthy pelvic model and the affected pelvic model can be highly aligned, further improving the accuracy of the determined affected acetabular fossa information, and consequently, the accuracy of the determined prosthesis information.

[0048] Therefore, the solution provided in this application achieves the goal of determining the information of the affected acetabular fossa based on the patient's healthy pelvic model, and then determining the information of the acetabular cup prosthesis based on the information of the affected acetabular fossa, thereby improving the accuracy of the prosthesis information and solving the technical problem of low accuracy of the prosthesis information in related technologies that determine the prosthesis information of the acetabular cup prosthesis based on the patient's affected acetabular fossa.

[0049] In one optional embodiment, the target feature points include the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic symphysis. During the process of establishing a coordinate system in the 3D skeletal model based on the target feature points, the target processing system can determine the plane containing the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic symphysis as the coronal plane, the plane passing through the left anterior superior iliac spine and the right anterior superior iliac spine and perpendicular to the coronal plane as the transverse plane, and the plane passing through the pubic symphysis and perpendicular to the coronal plane and the transverse plane as the sagittal plane, thereby determining the coordinate system based on the coronal plane, the transverse plane, and the sagittal plane.

[0050] Optionally, the target processing system can use 3D modeling software or medical image processing software to determine the coronal, transverse, and sagittal planes mentioned above.

[0051] In some embodiments, after determining the coronal, transverse, and sagittal planes, the coordinate processing system can directly determine the coordinate system based on these planes. For example, the intersection point of the coronal, transverse, and sagittal planes is determined as the zero point. Then, the intersection line of any two of the three planes is determined, resulting in three intersection lines. These three intersection lines are then used as the x-axis, y-axis, and z-axis, and the coordinate system is determined in conjunction with the aforementioned zero point. In this embodiment, the positive directions of the x-axis, y-axis, and z-axis are not specifically limited; they can be preset or random.

[0052] In some embodiments, in order to improve the accuracy of the determined coordinate system, the target processing system may also perform an accuracy check on the determined sagittal plane, and if the check fails, adjust the sagittal plane to determine the coordinate system based on the coronal plane, the cross-section, and the adjusted sagittal plane.

[0053] It should be noted that by determining the coordinate system based on the aforementioned target feature points, the accuracy of the determined coordinate system is improved.

[0054] In one optional embodiment, during the process of determining the coordinate system based on the coronal, transverse, and sagittal planes, the target processing system can identify the healthy and affected teardrop lines from the 3D skeletal model, determine the line connecting the first target point in the healthy teardrop line and the second target point in the affected teardrop line to obtain a target straight line, and then determine whether the sagittal plane needs adjustment based on the angle between the target straight line and the normal vector of the sagittal plane. If the sagittal plane needs adjustment, at least one of the left and right anterior superior iliac spine points is adjusted to adjust the sagittal plane, and the coordinate system is determined based on the coronal, transverse, and adjusted sagittal planes. If the sagittal plane does not need adjustment, the coordinate system is determined based on the coronal, transverse, and sagittal planes.

[0055] Optionally, the target feature points also include a first target point in the healthy side's teardrop line and a second target point in the affected side's teardrop line. The teardrop line, also known as the U-shaped line, represents the inner edge of the acetabulum. The first target point is the lowest point in the healthy side's teardrop line, and the second target point is the lowest point in the affected side's teardrop line.

[0056] After determining the first and second target points, the target processing system can determine the line connecting the first and second target points to obtain the target straight line. Then, it calculates the angle between the target straight line and the normal vector of the sagittal plane. Based on the relationship between this angle and a preset angle, it determines whether the sagittal plane needs adjustment, which is equivalent to verifying the accuracy of the sagittal plane. Specifically, the angle between the target straight line and the normal vector of the sagittal plane must be less than or equal to 90°.

[0057] For example, if the angle between the target line and the normal vector of the sagittal plane is greater than a preset angle, the sagittal plane needs adjustment; if the angle is less than or equal to the preset angle, the sagittal plane does not need adjustment. The preset angle can be 10°.

[0058] Optionally, if it is determined that the sagittal plane needs adjustment, the target processing system can adjust at least one of the left and right anterior superior iliac spine points to adjust the sagittal plane. For example, the target processing system has a preset first adjustment rule for the left and right anterior superior iliac spine points, and the target processing system can adjust the left and right anterior superior iliac spine points according to the first adjustment rule. In this first adjustment rule, the adjustment method can be independent of the angle between the target line and the normal vector of the sagittal plane. For example, the first adjustment rule is "adjust the distance J at the left anterior superior iliac spine point along one of the three coordinate directions (A, B, C), (D, E, F), (G, H, I)". In this first adjustment rule, the adjustment method can also be related to the angle between the target line and the normal vector of the sagittal plane. For example, the first adjustment rule is "substitute the angle into the target calculation formula to obtain the distance K to be adjusted, and then adjust the distance K at the left anterior superior iliac spine point along one of the three coordinate directions (A, B, C), (D, E, F), (G, H, I)". Here, the target calculation formula is used to describe the correspondence between the angle between the target line and the normal vector of the sagittal plane and the adjustment distance. The target calculation formula is preset.

[0059] For example, the target processing system can also input the coordinates of at least one of the left and right anterior superior iliac spine points, the information of the sagittal plane, and the angle between the target line and the normal vector of the sagittal plane into a pre-trained third neural network model. The third neural network model then outputs an adjustment method for at least one of the left and right anterior superior iliac spine points. The target processing system can train the third neural network model based on a training sample set. The training samples in the training sample set include the sample coordinates of at least one of the left and right anterior superior iliac spine points, the information of the sample sagittal plane, and the sample angle between the target line and the normal vector of the sample sagittal plane. The true label is the adjustment method for at least one of the left and right anterior superior iliac spine points.

[0060] After adjusting the sagittal plane once, the target processing system can repeatedly execute the step of determining whether the adjusted sagittal plane needs to be adjusted again based on the angle between the target line and the normal vector of the adjusted sagittal plane, until it is determined that the adjusted sagittal plane does not need to be adjusted again, and then determine the coordinate system based on the coronal plane, the cross section, and the adjusted sagittal plane.

[0061] Optionally, if it is determined that the sagittal plane does not need adjustment, the target processing system can directly determine the coordinate system based on the coronal plane, cross-section, and sagittal plane.

[0062] It should be noted that the above process enables the accuracy verification of the sagittal plane, and if the accuracy verification fails, the sagittal plane is adjusted to determine the coordinate system based on the adjusted sagittal plane, thereby further improving the accuracy of the finally determined coordinate system.

[0063] In one alternative instance, during the process of determining the affected acetabular fossa information based on the mirrored healthy pelvic model, the target processing system can register the mirrored healthy pelvic model with the affected pelvic model in the 3D skeletal model to obtain the target pelvic model. Then, based on the target pelvic model, the target acetabular fossa center point corresponding to the affected acetabular fossa is determined. Next, the acetabular length information is determined based on the target pelvic model. Thus, the affected acetabular fossa information is determined based on at least one of the target acetabular fossa center point and the acetabular length information.

[0064] Optionally, the target processing system can mirror the healthy pelvic model based on the sagittal plane in the coordinate system to obtain a mirrored healthy pelvic model. Then, the mirrored healthy pelvic model is registered with the affected pelvic model in the 3D skeletal model to obtain a registered mirrored healthy pelvic model, which is the target pelvic model.

[0065] After obtaining the target pelvic model, the target processing system can identify the center point of the acetabulum from the target pelvic model, and then determine the target acetabulum center point corresponding to the affected side based on the acetabulum center in the target pelvic model. For example, the center of the acetabulum in the target pelvic model can be directly determined as the target acetabulum center point; or, the target acetabulum center can be determined by combining the acetabulum center in the target pelvic model with other information.

[0066] Optionally, the target processing system can identify the anterior, posterior, and superior borders of the healthy acetabulum from the target pelvic model, thereby determining the lengths of the anterior, posterior, and superior borders of the healthy acetabulum as acetabular length information.

[0067] In some embodiments, the target processing system identifies the anterior edge, posterior edge, and superior edge of the acetabulum in the same way as it identifies target feature points, so this will not be described again here.

[0068] Subsequently, the affected acetabular fossa information is determined based on at least one of the target acetabular fossa center point and acetabular length information. For example, the implantation position of the acetabular cup prosthesis is determined based on the target acetabular fossa center point, and the prosthesis model of the acetabular cup prosthesis is determined based on the acetabular length information.

[0069] It should be noted that by registering the mirrored healthy pelvic model based on the affected pelvic model, the overlap between the target pelvic model and the affected pelvic model is higher, which makes it easier to further improve the accuracy of the affected acetabular fossa information.

[0070] In one optional embodiment, during the process of determining the target acetabular fossa center point corresponding to the affected side acetabular fossa based on the target pelvic model, the target processing system can identify the acetabular fossa center point from the target pelvic model to obtain the first acetabular fossa center point, and then identify the acetabular fossa center point from the healthy side pelvic model to obtain the second acetabular fossa center point. Then, based on the sagittal plane in the coordinate system, the second acetabular fossa center point is mirrored to obtain the third acetabular fossa center point. Thus, based on the distance between the first acetabular fossa center point and the third acetabular fossa center point, the target acetabular fossa center point is determined from the first acetabular fossa center point and the third acetabular fossa center point.

[0071] Optionally, the target processing system can identify the center point of the acetabulum from the target pelvic model to obtain the first acetabulum center point, and identify the center point of the acetabulum from the healthy pelvic model to obtain the second acetabulum center point.

[0072] In some embodiments, the target processing system identifies the center point of the acetabulum (including the center point of the first acetabulum and the center point of the second acetabulum) in the same way as it identifies target feature points, so it will not be described again here.

[0073] Optionally, the target processing system can also mirror the second acetabular fossa center point based on the sagittal plane in the coordinate system to obtain the third acetabular fossa center point.

[0074] In some complex cases, such as patients with congenital hip dysplasia or those undergoing revision surgery, the acetabulum on the affected side may be incomplete or its position may be offset. In such cases, it is impossible to accurately locate the actual center of the acetabulum on the affected side. Furthermore, after registering the mirrored healthy pelvic model based on the affected pelvic model, the position of the target pelvic model may also be offset relative to the normal pelvic position. Therefore, in this embodiment, the center point of the first acetabulum and the center point of the third acetabulum can be compared to determine the center point of the target acetabulum.

[0075] Optionally, the target processing system can determine the distance between the center point of the first acetabular fossa and the center point of the third acetabular fossa. If the distance is greater than a first preset distance, it is determined that the position of the target pelvic model has shifted significantly relative to the normal pelvic position. In this case, the center point of the third acetabular fossa can be determined as the center point of the target acetabular fossa. If the distance between the center point of the first acetabular fossa and the center point of the third acetabular fossa is less than or equal to the first preset distance, it is determined that the position of the target pelvic model has not shifted significantly relative to the normal pelvic position. In this case, the center point of the first acetabular fossa can be determined as the center point of the target acetabular fossa.

[0076] It should be noted that by determining the target acetabular fossa center point based on the distance between the center points of the first and third acetabular fossae, the accuracy of determining the target acetabular fossa center is improved. This avoids the situation where, when the patient's affected pelvis is significantly offset from the normal pelvis, the target pelvis model obtained after registering the mirrored healthy pelvis model is also significantly offset from the normal pelvis, thus affecting the accuracy of determining the target acetabular fossa center.

[0077] In one optional embodiment, when the affected acetabular fossa information includes the target acetabular fossa center point and acetabular length information, during the process of determining the prosthesis information of the acetabular cup prosthesis based on the affected acetabular fossa information, the target processing system can determine the prosthesis model of the acetabular cup prosthesis based on the acetabular length information, determine the prosthesis implantation position of the acetabular cup prosthesis based on the target acetabular fossa center point, and thus determine the prosthesis information of the acetabular cup prosthesis based on at least one of the prosthesis implantation position and the prosthesis model.

[0078] Optionally, when the affected acetabular fossa is incomplete, the acetabular length information includes at least the lengths of the anterior, posterior, and superior acetabular rims of the healthy side. It may also include the positional information of these three rims. For example, the target processing system can add the lengths of the anterior, posterior, and superior acetabular rims of the healthy side, divide the sum by 2 to obtain the target value, and then determine the diameter of the acetabular cup prosthesis based on this target value. The prosthesis model of the acetabular cup prosthesis can then be determined based on this diameter. For example, the anterior, posterior, and superior acetabular rims of the healthy side form a triangle. The target processing system can determine the circumcircle of this triangle based on the lengths of the anterior, posterior, and superior acetabular rims, and the positional information of these three rims. The diameter of this circumcircle is then determined as the diameter of the acetabular cup prosthesis, and the prosthesis model is determined based on this diameter. Alternatively, the target processing system can input the lengths of the anterior, posterior, and superior acetabular rims into a pre-trained fourth neural network model, which will then output the prosthesis model. Furthermore, the target processing system can have a pre-defined correspondence between the lengths of the anterior, posterior, and superior acetabular rims and the prosthesis model, allowing the system to determine the prosthesis model based on this correspondence.

[0079] Optionally, the target processing system can directly determine the center point of the target acetabular fossa as the prosthesis implantation site. Alternatively, the target processing system can simulate the implantation of the acetabular cup prosthesis's 3D model into the affected side's pelvic model within the 3D skeletal model based on the target acetabular fossa center point, then evaluate the effect of the simulated implantation, and determine the final prosthesis implantation site based on the evaluation results.

[0080] Optionally, the target processing system can determine the prosthesis information of the acetabular cup prosthesis based on at least one of the prosthesis implantation location and the prosthesis model. In some embodiments, the prosthesis information of the acetabular cup prosthesis also includes the prosthesis implantation angle of the acetabular cup prosthesis, which can be preset and includes, but is not limited to, the anteversion angle and abduction angle of the acetabular cup prosthesis.

[0081] It should be noted that the above method enables accurate determination of the implantation location and model of the prosthesis, thereby improving the accuracy of the prosthesis information for the determined acetabular cup prosthesis.

[0082] In one optional embodiment, the skeletal 3D model further includes a 3D model of the patient's femur. During the process of determining the implantation position of the acetabular cup prosthesis based on the target acetabular fossa center point, the target processing system can simulate implanting the 3D model of the acetabular cup prosthesis into the affected pelvic model within the skeletal 3D model based on the target acetabular fossa center point, thus obtaining a first skeletal 3D model. Then, based on the positional relationship between the prosthesis 3D model and the affected teardrop line in the first skeletal 3D model, as well as the positional difference information between the affected and healthy femurs, it determines whether the current implantation position of the prosthesis 3D model needs adjustment. If adjustment is required, the current implantation position is adjusted to obtain the prosthesis implantation position; otherwise, the current implantation position is determined as the prosthesis implantation position.

[0083] Optionally, the target processing system can determine the center point of the target acetabular fossa as the initial prosthesis implantation position, and then simulate the implantation of the acetabular cup prosthesis three-dimensional model into the affected side pelvic model in the skeletal three-dimensional model according to the initial prosthesis implantation position, thereby obtaining the first skeletal three-dimensional model.

[0084] Subsequently, the target processing system can determine whether the current implantation position of the prosthesis 3D model needs adjustment based on the positional relationship between the prosthesis 3D model and the teardrop line on the affected side in the first skeletal 3D model, as well as the positional difference information between the affected and healthy femurs. For example, if the lower edge of the acetabular cup of the prosthesis 3D model exceeds the second preset distance of the teardrop line on the affected side, or if the height difference between the healthy and affected femurs is greater than a preset height difference, it is determined that the current implantation position of the prosthesis 3D model needs adjustment. If the lower edge of the acetabular cup of the prosthesis 3D model does not exceed the second preset distance of the teardrop line on the affected side, and the height difference between the healthy and affected femurs is less than or equal to the preset height difference, it is determined that the current implantation position of the prosthesis 3D model does not need adjustment. Optionally, the aforementioned second preset distance can be 0.5 mm, and the aforementioned height difference between the healthy and affected femurs refers to the height difference between the healthy and affected femurs in the patient's standing posture. It is worth noting that when simulating the implantation of the prosthesis 3D model into the skeletal 3D model, the position of the affected femur may change.

[0085] Optionally, when adjustments to the current implantation position are needed, the current implantation position can be adjusted to obtain the prosthesis implantation position. For example, the target processing system can adjust the current implantation position according to a preset second adjustment rule. The second adjustment rule includes a first adjustment sub-rule and a second adjustment sub-rule. The target processing system can adjust the current implantation position according to the first adjustment sub-rule if the positional relationship between the prosthesis 3D model and the affected side teardrop line in the first skeletal 3D model does not meet the first preset condition. Similarly, the target processing system can adjust the current implantation position according to the second adjustment sub-rule if the positional difference information between the affected and healthy femurs does not meet the second preset condition. The first and second adjustment sub-rules are defined as "adjusting the current implantation position by a certain distance along a certain direction."

[0086] Optionally, the first preset condition may be that the lower edge of the acetabular cup of the prosthesis three-dimensional model does not exceed the second preset distance of the teardrop line on the affected side, and the second preset condition may be that the height difference between the healthy femur and the affected femur is less than or equal to a preset height difference.

[0087] In some embodiments, after adjusting the current implantation position, the target processing system can repeatedly execute the step of re-simulating the implantation of the prosthesis 3D model into the affected pelvic model in the skeletal 3D model according to the adjusted current implantation position to obtain a third skeletal 3D model. Based on the positional relationship between the prosthesis 3D model and the affected teardrop line in the third skeletal 3D model, and the positional difference information between the affected femur and the healthy femur in the third skeletal 3D model, the system determines whether it is necessary to adjust the current implantation position of the prosthesis 3D model. The process continues until it is determined that no adjustment of the current implantation position is needed, and then the current implantation position is determined as the prosthesis implantation position.

[0088] It should be noted that by simulating the implantation of the prosthesis based on the center point of the target acetabulum, and judging whether the implantation position needs to be adjusted based on the implantation effect, the accuracy of the determined prosthesis implantation position is improved.

[0089] In one optional embodiment, during the process of determining the prosthesis information of the acetabular cup prosthesis based on at least one of the prosthesis implantation location and prosthesis model, the target processing system can simulate the implantation of the acetabular cup prosthesis three-dimensional model into the affected pelvic model in the skeletal three-dimensional model based on the prosthesis implantation location to obtain a second skeletal three-dimensional model. Then, based on the acetabular cup coverage rate in the second skeletal three-dimensional model, it is determined whether the acetabular cup prosthesis needs to be supplemented with a prosthesis pad. If a prosthesis pad needs to be supplemented, the prosthesis pad model is determined based on the area of ​​the affected acetabular fossa that is not covered in the second skeletal three-dimensional model, and the prosthesis information of the acetabular cup prosthesis is determined based on at least one of the prosthesis implantation location and prosthesis model and the prosthesis pad model.

[0090] Optionally, after determining the prosthesis implantation location, the target processing system can simulate the implantation of the acetabular cup prosthesis's three-dimensional model into the affected side's pelvic model within the skeletal three-dimensional model, thereby obtaining a second skeletal three-dimensional model.

[0091] Furthermore, the target processing system can calculate the acetabular cup coverage in the second bone 3D model. It calculates the outer surface area (area1) of the prosthesis 3D model and the area (area2) of bone contact between the prosthesis 3D model and the second bone 3D model, thereby determining the acetabular cup coverage.

[0092] Optionally, after determining the acetabular cup coverage, the target processing system can determine whether the acetabular cup coverage is greater than a preset coverage. If the acetabular cup coverage is greater than the preset coverage, it is determined that no additional prosthesis pad is needed, and the prosthesis information of the acetabular cup prosthesis can be determined based on at least one of the prosthesis implantation location and prosthesis model. The preset coverage can be 80%.

[0093] If the acetabular cup coverage is less than or equal to the preset coverage, the target processing system can determine the prosthesis pad model based on the area of ​​the affected acetabular fossa not covered in the second bone 3D model. For example, the prosthesis pad whose outer surface is equal to or closest to the area of ​​the affected acetabular fossa not covered in the second bone 3D model is identified as the prosthesis pad that needs to be supplemented, and the model of the prosthesis pad is determined.

[0094] Subsequently, optionally, the target processing system can directly determine the prosthesis information of the acetabular cup prosthesis based on at least one of the prosthesis implantation location and prosthesis model, as well as the prosthesis pad model.

[0095] Optionally, the target processing system can also simulate the implantation of a prosthesis pad model corresponding to the prosthesis pad model into the second bone 3D model to obtain a fourth bone 3D model, and then calculate the acetabular cup coverage in the fourth bone 3D model. For example, the target processing system can calculate the outer surface area (area1) of the prosthesis 3D model, the area (area2') of bone contact between the prosthesis 3D model and the fourth bone 3D model, the area (area3) of the outer surface of the prosthesis pad model that may contact bone, the area (area4) of the surface of the prosthesis pad model in contact with the prosthesis 3D model in the fourth bone 3D model, and the area (area5) of bone contact between the prosthesis pad model and the fourth bone 3D model, thereby determining the acetabular cup coverage in the fourth bone 3D model.

[0096] Optionally, after determining the prosthesis pad model, the prosthesis information of the acetabular cup prosthesis can be determined directly based on at least one of the prosthesis implantation location and the prosthesis model, as well as the prosthesis pad model.

[0097] Optionally, after determining the prosthesis pad model, the step of determining whether the acetabular cup prosthesis needs to be supplemented with a prosthesis pad based on the acetabular cup coverage in the fourth bone 3D model can be repeated until it is determined that no prosthesis pad is needed. In this case, the prosthesis information of the acetabular cup prosthesis is determined based on at least one of the prosthesis implantation location and prosthesis model, as well as the prosthesis pad model.

[0098] In some embodiments, the target processing system can use 3D modeling software or medical image processing software to edit (including but not limited to mirroring, simulated implantation, etc.) the above-mentioned 3D bone model, first 3D bone model, second 3D bone model, third 3D bone model, fourth 3D bone model, prosthesis 3D model, and prosthesis pad model. The system can also use 3D modeling software or medical image processing software to statistically analyze the above-mentioned target feature points, the angle between the target line and the normal vector of the sagittal plane, the center point of the acetabulum, the acetabular length information, the distance between the center point of the first acetabulum and the center point of the third acetabulum, the positional relationship between the prosthesis 3D model and the teardrop line on the affected side, the positional difference information between the femur on the affected side and the healthy side, and information such as area1, area2, area2', area3, area4, and area5.

[0099] It should be noted that by simulating the implantation of the prosthesis into the 3D model of the bone, and judging whether the need for additional pads is required based on the simulated implantation effect, the prosthesis information of the acetabular cup prosthesis can be determined in combination with the prosthesis pad model when additional pads are needed, which further improves the accuracy of the determined prosthesis model.

[0100] In one optional embodiment, after establishing a coordinate system in the 3D skeletal model based on the target feature points in the skeletal model, the target processing system can identify the center point of the acetabulum from the healthy pelvic model, and obtain the second center point of the acetabulum, provided that the affected acetabulum is intact; mirror the second center point of the acetabulum based on the sagittal plane in the coordinate system, and obtain the third center point of the acetabulum; determine the information of the affected acetabulum based on the third center point of the acetabulum and the affected pelvic model in the 3D skeletal model.

[0101] Optionally, if the affected acetabulum is intact, the target processing system can identify the center point of the acetabulum from the healthy pelvic model, obtain the second center point of the acetabulum, and perform mirror processing on the second center point of the acetabulum based on the sagittal plane in the coordinate system to obtain the third center point of the acetabulum.

[0102] In some complex cases, such as patients with congenital hip dysplasia or those undergoing revision surgery, the position of the acetabulum on the affected side may be offset. In such cases, it is impossible to accurately locate the actual center of the acetabulum on the affected side. Therefore, the target processing system can identify the center point of the acetabulum from the pelvic model of the affected side in the 3D skeletal model, obtain the center point of the fourth acetabulum, and then determine the center point of the target acetabulum based on the distance between the center point of the fourth acetabulum and the center point of the third acetabulum.

[0103] For example, the target processing system can determine the distance between the center point of the fourth acetabulum and the center point of the third acetabulum. If this distance is greater than a third preset distance, it indicates that the position of the affected pelvic model has significantly deviated from the normal pelvic position. In this case, the center point of the third acetabulum can be determined as the target acetabulum center point. Alternatively, the center point of the fourth acetabulum can be adjusted based on the center point of the third acetabulum so that the distance between the adjusted center point of the fourth acetabulum and the center point of the third acetabulum is less than or equal to the third preset distance, thus determining the adjusted center point of the fourth acetabulum as the target acetabulum center point. If the distance between the center point of the fourth acetabulum and the center point of the third acetabulum is less than or equal to the third preset distance, it indicates that the position of the affected pelvic model has not significantly deviated from the normal pelvic position. In this case, the center point of the fourth acetabulum can be determined as the target acetabulum center point.

[0104] After determining the center point of the target acetabular fossa, the target processing system can also determine the acetabular length information based on the affected pelvic model. For example, if the affected acetabular fossa is intact, the acetabular length information includes at least the length of the anterior edge, the posterior edge, and the superior edge of the affected acetabulum. It can also include the positional information of the anterior edge, the posterior edge, and the superior edge of the affected acetabulum.

[0105] Subsequently, the target processing system can determine the center and length information of the target acetabular fossa as the affected side acetabular fossa information, and then determine the prosthesis information of the acetabular cup prosthesis based on the affected side acetabular fossa information. In some embodiments, when the affected side acetabular fossa is intact, the method for determining the prosthesis information of the acetabular cup prosthesis based on the affected side acetabular fossa information is the same as when the affected side acetabular fossa is incomplete, so it will not be described again here.

[0106] It should be noted that, in some complex cases where the affected acetabulum is intact, the position of the affected acetabulum may be offset. Therefore, in this embodiment, by combining the center point of the acetabulum of the healthy pelvic model to determine the information of the affected acetabulum, the accuracy of the determined information of the affected acetabulum can be further improved, thereby improving the accuracy of the determined prosthesis information.

[0107] In some embodiments, FIG2 is a schematic diagram of an optional method for determining acetabular cup prosthesis information based on mirror processing according to an embodiment of this application. FIG2 illustrates an application process of the method for determining acetabular cup prosthesis information based on mirror processing in this embodiment. As shown in FIG2, the target processing system can first read the CT data of the patient to be implanted with an acetabular cup prosthesis, and then perform three-dimensional reconstruction on the CT data to obtain a three-dimensional model of the patient's skeleton. Then, target feature points are identified in the three-dimensional model of the skeleton, and a coordinate system is established in the three-dimensional model of the skeleton based on the target feature points. After establishing the coordinate system, the target processing system determines whether the coordinate system is suitable. For example, it calculates the angle between the vector A formed by the line connecting the first target point of the teardrop line on the healthy side and the second target point of the teardrop line on the affected side, and the normal vector B of the sagittal plane of the coordinate system. If the angle is less than an acceptable threshold, the coordinate system is determined; if the angle is greater than or equal to the acceptable threshold, the sagittal plane is adjusted to adjust the coordinate system until the coordinate system is determined to be suitable and no further adjustment is needed.

[0108] Next, as shown in Figure 2, the target processing system determines whether the affected acetabulum is intact. If the affected acetabulum is incomplete, the system mirrors and registers the healthy pelvic model in the 3D skeletal model according to the coordinate system to obtain the target pelvic model. The system then mirrors the center point of the acetabulum in the healthy pelvic model to obtain the center point of the third acetabulum. Based on the target pelvic model and the center point of the third acetabulum, the system determines the information of the affected acetabulum. If the affected acetabulum is intact, the system mirrors the center point of the acetabulum in the healthy pelvic model to obtain the center point of the third acetabulum. Based on the center point of the third acetabulum and the affected pelvic model, the system determines the information of the affected acetabulum.

[0109] Next, as shown in Figure 2, after determining the information of the affected acetabular fossa, the target processing system can determine the prosthesis model of the acetabular cup based on this information, and simulate implantation of the acetabular cup prosthesis to determine the final implantation position based on the simulated implantation effect. After determining the implantation position, the target processing system can calculate the acetabular cup coverage rate and then determine whether the acetabular cup prosthesis needs to be supplemented with a prosthesis pad based on the coverage rate, i.e., whether the coverage rate is greater than the acceptable range. Optionally, if it is greater than the acceptable range, the prosthesis pad model is determined, and the system continues to determine whether the acetabular cup coverage rate is greater than the acceptable range until the coverage rate is less than or equal to the acceptable range. At this point, the prosthesis information of the acetabular cup prosthesis is determined based on at least one of the implantation position and the prosthesis model, as well as the prosthesis pad model. If the acetabular cup coverage rate is not greater than the acceptable range, the prosthesis information of the acetabular cup prosthesis is determined based on at least one of the implantation position and the prosthesis model, thus completing the determination of the prosthesis information.

[0110] Therefore, the solution provided in this application achieves the goal of determining the information of the affected acetabular fossa based on the patient's healthy pelvic model, and then determining the information of the acetabular cup prosthesis based on the information of the affected acetabular fossa, thereby improving the accuracy of the prosthesis information and solving the technical problem of low accuracy of the prosthesis information in related technologies that determine the prosthesis information of the acetabular cup prosthesis based on the patient's affected acetabular fossa.

[0111] Example 2

[0112] According to an embodiment of this application, an embodiment of a device for determining acetabular cup prosthesis information based on mirror processing is provided. FIG3 is a schematic diagram of an optional device for determining acetabular cup prosthesis information based on mirror processing according to an embodiment of this application. As shown in FIG3, the device includes:

[0113] The acquisition module 301 is configured to acquire a three-dimensional model of the patient's skeleton and establish a coordinate system in the three-dimensional model of the skeleton based on the target feature points in the three-dimensional model of the skeleton. The three-dimensional model of the skeleton includes at least a three-dimensional model of the patient's pelvis.

[0114] The first determining module 302 is configured to, when the affected side acetabulum is incomplete, mirror the healthy side pelvic model in the 3D skeletal model according to the coordinate system, and determine the affected side acetabulum information based on the mirrored healthy side pelvic model.

[0115] The second determining module 303 is configured to determine the prosthesis information of the acetabular cup prosthesis based on the information of the affected side acetabular fossa, wherein the prosthesis information includes at least one of the following: prosthesis model and prosthesis implantation location.

[0116] It should be noted that the above-mentioned acquisition module 301, first determination module 302 and second determination module 303 correspond to steps S101 to S103 in the above embodiments. The three modules and the corresponding steps implement the same examples and application scenarios, but are not limited to the content disclosed in the above embodiment 1.

[0117] Optionally, the target feature points include the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic symphysis. The acquisition module 301 further includes: a first determining submodule, configured to determine the plane containing the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic symphysis as the coronal plane; a second determining submodule, configured to determine the plane passing through the left anterior superior iliac spine and the right anterior superior iliac spine and perpendicular to the coronal plane as the transverse plane; a third determining submodule, configured to determine the plane passing through the pubic symphysis and perpendicular to the coronal plane and the transverse plane as the sagittal plane; and a fourth determining submodule, configured to determine the coordinate system based on the coronal plane, the transverse plane, and the sagittal plane.

[0118] Optionally, the fourth determining submodule further includes: a first determining unit, configured to identify the healthy side teardrop line and the affected side teardrop line from the 3D skeletal model, and determine the line connecting the first target point in the healthy side teardrop line and the second target point in the affected side teardrop line to obtain a target straight line; a first judging unit, configured to judge whether the sagittal plane needs adjustment based on the angle between the target straight line and the normal vector of the sagittal plane; a second determining unit, configured to adjust at least one of the left anterior superior iliac spine point and the right anterior superior iliac spine point to adjust the sagittal plane if it is determined that the sagittal plane needs adjustment, and determine the coordinate system based on the coronal plane, the transverse plane, and the adjusted sagittal plane; and a third determining unit, configured to determine the coordinate system based on the coronal plane, the transverse plane, and the sagittal plane if it is determined that the sagittal plane does not need adjustment.

[0119] Optionally, the first determining module 302 further includes: a registration submodule, configured to register the mirrored healthy pelvic model based on the affected pelvic model in the 3D skeletal model to obtain a target pelvic model; a fifth determining submodule, configured to determine the center point of the target acetabulum corresponding to the affected acetabulum based on the target pelvic model; a sixth determining submodule, configured to determine the acetabular length information based on the target pelvic model; and a seventh determining submodule, configured to determine the affected acetabular fossa information based on at least one of the center point of the target acetabular fossa and the acetabular length information.

[0120] Optionally, the fifth determining submodule further includes: a first identification unit, configured to identify the center point of the acetabulum from the target pelvic model to obtain the first acetabulum center point; a second identification unit, configured to identify the center point of the acetabulum from the healthy pelvic model to obtain the second acetabulum center point; a first processing unit, configured to perform mirror processing on the second acetabulum center point based on the sagittal plane in the coordinate system to obtain the third acetabulum center point; and a fourth determining unit, configured to determine the target acetabulum center point from the first acetabulum center point and the third acetabulum center point based on the distance between the first acetabulum center point and the third acetabulum center point.

[0121] Optionally, when the information of the affected acetabular fossa includes the center point of the target acetabular fossa and the acetabular length information, the second determining module 303 further includes: an eighth determining submodule, configured to determine the prosthesis model of the acetabular cup prosthesis based on the acetabular length information; a ninth determining submodule, configured to determine the prosthesis implantation position of the acetabular cup prosthesis based on the center point of the target acetabular fossa; and a tenth determining submodule, configured to determine the prosthesis information of the acetabular cup prosthesis based on at least one of the prosthesis implantation position and the prosthesis model.

[0122] Optionally, the skeletal 3D model also includes a 3D model of the patient's femur. The eighth determining submodule further includes: a second processing unit, configured to simulate implanting the 3D model of the acetabular cup prosthesis into the affected pelvic model within the skeletal 3D model based on the target acetabular fossa center point, to obtain a first skeletal 3D model; a second judgment unit, configured to determine whether the current implantation position of the prosthesis 3D model needs adjustment based on the positional relationship between the prosthesis 3D model and the affected teardrop line in the first skeletal 3D model, and the positional difference information between the affected and healthy femurs; an adjustment unit, configured to adjust the current implantation position if adjustment is needed, to obtain the prosthesis implantation position; and a fifth determining unit, configured to determine the current implantation position as the prosthesis implantation position if no adjustment is needed.

[0123] Optionally, the tenth determining submodule further includes: a third processing unit, configured to simulate the implantation of the acetabular cup prosthesis into the affected pelvic model in the skeletal 3D model based on the prosthesis implantation location, to obtain a second skeletal 3D model; a third judging unit, configured to determine whether the acetabular cup prosthesis needs to be supplemented with a prosthesis pad based on the acetabular cup coverage rate in the second skeletal 3D model; a sixth determining unit, configured to determine the prosthesis pad model based on the area of ​​the affected acetabular fossa not covered in the second skeletal 3D model if a prosthesis pad needs to be supplemented; and a seventh determining unit, configured to determine the prosthesis information of the acetabular cup prosthesis based on at least one of the prosthesis implantation location and the prosthesis model, as well as the prosthesis pad model.

[0124] Optionally, the device for determining acetabular cup prosthesis information based on mirror processing further includes: an identification module, configured to identify the center point of the acetabular fossa from the healthy pelvic model when the affected acetabular fossa is intact, to obtain the second acetabular fossa center point; a processing module, configured to perform mirror processing on the second acetabular fossa center point based on the sagittal plane in the coordinate system, to obtain the third acetabular fossa center point; and a third determination module, configured to determine the affected acetabular fossa information based on the third acetabular fossa center point and the affected pelvic model in the 3D skeletal model.

[0125] Example 3

[0126] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to execute the above-described method for determining acetabular cup prosthesis information based on mirror processing when it is run.

[0127] Example 4

[0128] According to another aspect of the embodiments of this application, an electronic device is also provided, wherein FIG4 is a schematic diagram of an optional electronic device according to an embodiment of this application. As shown in FIG4, the electronic device includes one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are configured to perform the above-described method for determining acetabular cup prosthesis information based on mirror processing.

[0129] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0130] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0131] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0132] The units described as separate components may or may not be physically separate. Similarly, the components shown as units may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0133] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0134] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0135] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application. Industrial applicability

[0136] The method and apparatus for determining acetabular cup prosthesis information based on mirror processing provided in this application address the issue that the affected acetabular fossa may be incomplete, potentially leading to the inability to accurately determine the information based on it. Therefore, by mirroring the healthy pelvic model within the skeletal 3D model and determining the affected acetabular fossa information based on the mirrored healthy pelvic model, accurate information about the affected acetabular fossa can be determined based on the complete healthy acetabular fossa of the patient. This improves the accuracy of the determined affected acetabular fossa information, and consequently, the accuracy of the determined prosthesis information when using this information. Furthermore, by establishing a coordinate system in the skeletal 3D model based on target feature points, and then mirroring the healthy pelvic model based on this coordinate system, the mirrored healthy pelvic model and the affected pelvic model can be highly aligned, further improving the accuracy of the determined affected acetabular fossa information and consequently, the accuracy of the determined prosthesis information.

Claims

1. A method for determining acetabular cup prosthesis information based on mirror processing, comprising: A three-dimensional model of the patient's skeleton is obtained, and a coordinate system is established in the three-dimensional model of the skeleton based on the target feature points in the three-dimensional model of the skeleton, wherein the three-dimensional model of the skeleton includes at least a three-dimensional model of the patient's pelvis. In the case of incomplete acetabular fossa on the affected side, the healthy pelvic model in the three-dimensional skeletal model is mirrored according to the coordinate system, and the information of the acetabular fossa on the affected side is determined based on the mirrored healthy pelvic model. The prosthesis information of the acetabular cup is determined based on the information of the affected side acetabular fossa, wherein the prosthesis information includes at least one of the following: prosthesis model and prosthesis implantation location.

2. The method according to claim 1, wherein, The target feature points include the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic symphysis. A coordinate system is established in the 3D skeletal model based on these target feature points, including: The plane containing the left anterior superior iliac spine, the right anterior superior iliac spine, and the pubic symphysis is defined as the coronal plane; The plane that passes through the left anterior superior iliac spine point and the right anterior superior iliac spine point and is perpendicular to the coronal plane is defined as the cross section; The plane that passes through the pubic symphysis and is perpendicular to the coronal plane and the transverse plane is defined as the sagittal plane; The coordinate system is determined based on the coronal plane, the transverse plane, and the sagittal plane.

3. The method according to claim 2, wherein, Determining the coordinate system based on the coronal plane, the transverse plane, and the sagittal plane includes: Identify the healthy side teardrop line and the affected side teardrop line from the 3D bone model, and determine the line connecting the first target point in the healthy side teardrop line and the second target point in the affected side teardrop line to obtain the target straight line; Based on the angle between the target line and the normal vector of the sagittal plane, determine whether the sagittal plane needs adjustment; If it is determined that the sagittal plane needs to be adjusted, at least one of the left anterior superior iliac spine point and the right anterior superior iliac spine point is adjusted to adjust the sagittal plane, and the coordinate system is determined based on the coronal plane, the transverse plane, and the adjusted sagittal plane; If it is determined that the sagittal plane does not need adjustment, the coordinate system is determined based on the coronal plane, the transverse plane, and the sagittal plane.

4. The method according to claim 1, wherein, Based on the mirrored healthy pelvic model, information about the affected acetabular fossa is determined, including: Based on the affected side pelvic model in the 3D skeletal model, the mirrored healthy side pelvic model is registered to obtain the target pelvic model. Determine the center point of the target acetabulum corresponding to the affected side based on the target pelvic model; The acetabular length information is determined based on the target pelvic model; The affected acetabular fossa information is determined based on at least one of the target acetabular fossa center point and the acetabular length information.

5. The method according to claim 4, wherein, Determining the center point of the target acetabular fossa corresponding to the affected side based on the target pelvic model includes: The center point of the acetabulum is identified from the target pelvic model to obtain the center point of the first acetabulum; The center point of the acetabulum is identified from the healthy pelvic model to obtain the center point of the second acetabulum. The third acetabular fossa center point is obtained by mirroring the second acetabular fossa center point based on the sagittal plane in the coordinate system. The target acetabular fossa center point is determined from the first acetabular fossa center point and the third acetabular fossa center point based on the distance between the center point of the first acetabular fossa and the center point of the third acetabular fossa.

6. The method according to claim 1, wherein, When the affected acetabular fossa information includes the target acetabular fossa center point and acetabular length information, the prosthesis information of the acetabular cup prosthesis is determined based on the affected acetabular fossa information, including: The prosthesis model of the acetabular cup is determined based on the acetabular length information; The implantation position of the acetabular cup prosthesis is determined based on the center point of the target acetabular fossa. The prosthesis information of the acetabular cup prosthesis is determined based on at least one of the prosthesis implantation location and the prosthesis model.

7. The method according to claim 6, wherein, The skeletal three-dimensional model also includes a three-dimensional model of the patient's femur, wherein determining the implantation position of the acetabular cup prosthesis based on the target acetabular fossa center point includes: Based on the target acetabular fossa center point, the 3D model of the acetabular cup prosthesis is simulated and implanted into the affected side pelvic model in the 3D bone model to obtain the first 3D bone model; Based on the positional relationship between the prosthesis 3D model and the teardrop line on the affected side in the first skeletal 3D model, and the positional difference information between the femur on the affected side and the healthy side, it is determined whether the current implantation position of the prosthesis 3D model needs to be adjusted. If it is necessary to adjust the current implantation position, the current implantation position is adjusted to obtain the prosthesis implantation position; If no adjustment is needed to the current implantation position, the current implantation position is determined as the prosthesis implantation position.

8. The method according to claim 6, wherein, The prosthesis information of the acetabular cup prosthesis is determined based on at least one of the prosthesis implantation location and the prosthesis model, including: Based on the implantation location, the 3D model of the acetabular cup prosthesis is simulated and implanted into the affected pelvic model in the 3D bone model to obtain the second 3D bone model; Determine whether the acetabular cup prosthesis needs to be supplemented with a prosthesis pad based on the acetabular cup coverage in the second three-dimensional bone model. In cases where additional prosthesis pads are required, the prosthesis pad model is determined based on the area of ​​the affected acetabulum not covered in the second three-dimensional bone model. The prosthesis information of the acetabular cup prosthesis is determined based on at least one of the prosthesis implantation location and the prosthesis model, as well as the prosthesis pad model.

9. The method according to claim 1, wherein, After establishing a coordinate system in the 3D skeletal model based on the target feature points in the skeletal model, the method further includes: With the affected acetabulum intact, the center point of the acetabulum is identified from the healthy pelvic model to obtain the center point of the second acetabulum. The third acetabular fossa center point is obtained by mirroring the second acetabular fossa center point based on the sagittal plane in the coordinate system. The information of the affected acetabulum is determined based on the center point of the third acetabulum and the affected pelvic model in the three-dimensional skeletal model.

10. A device for determining acetabular cup prosthesis information based on mirror processing, comprising: The acquisition module is configured to acquire a three-dimensional model of the patient's skeleton and establish a coordinate system in the three-dimensional model of the skeleton based on the target feature points in the three-dimensional model of the skeleton, wherein the three-dimensional model of the skeleton includes at least a three-dimensional model of the patient's pelvis. The first determining module is configured to, when the affected side acetabulum is incomplete, mirror the healthy side pelvic model in the three-dimensional skeletal model according to the coordinate system, and determine the affected side acetabulum information based on the mirrored healthy side pelvic model. The second determining module is configured to determine the prosthesis information of the acetabular cup prosthesis based on the information of the affected side acetabular fossa, wherein the prosthesis information includes at least one of the following: prosthesis model and prosthesis implantation location.

11. A computer-readable storage medium storing a computer program, wherein, The computer program is configured to execute the method for determining acetabular cup prosthesis information based on mirror processing as described in any one of claims 1 to 9.

12. An electronic device comprising one or more processors; a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors are configured to run the programs, wherein, The program is configured to execute the method for determining acetabular cup prosthesis information based on mirror processing as described in any one of claims 1 to 9 at runtime.

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