CN116350407A - Surgical host computer and surgical system for measuring the length of lower limbs in hip replacement - Google Patents

Abstract

The application provides a surgical host computer and a surgical system for measuring the length of lower limbs in hip replacement surgery, which relate to the field of surgical equipment. A surgical host computer, comprising: a processor; and a memory storing a first program, when the first program is executed by the processor, the processor is executed in an intraoperative execution mode of the surgical host computer , the intraoperative execution mode includes: acquiring intraoperative lower limb medical images in real time, and acquiring intraoperative three-dimensional models of the pelvis and femur based on the intraoperative lower limb medical images; responding to user operations, registering the pelvis and femur respectively to Measure the length of the lower limb; after replacing the prosthesis, mark the multiple intraoperative bony points selected by the user on the intraoperative three-dimensional model; calculate and obtain the intraoperative lower limb based on the multiple intraoperative bony points length. According to the embodiments of the present application, it is possible to accurately and real-time measure the change in length of the lower limb during hip replacement.

Description

Surgical host computer and surgical system for measuring the length of lower limbs in hip replacement

technical field

The present application relates to the field of surgical equipment, in particular, to a surgical host computer and a surgical system for measuring the length of lower limbs in hip replacement surgery.

Background technique

Hip arthroplasty (THA) is a commonly used method for the treatment of hip diseases in clinical practice. development.

However, after THA, the complication of lower limb unequal length (LLD) is prone to occur. The appearance of LLD may lead to scoliosis, pelvic tilt, sciatic nerve palsy, low back pain, loose prosthesis, claudication and other phenomena in patients, which is not conducive to postoperative rehabilitation of patients. Therefore, the phenomenon of LLD in total hip arthroplasty is highly valued clinically.

In the prior art, in order to prevent the occurrence of LLD phenomena, the routine methods adopted by doctors include using a tape measure and standing to assess LLD before or after surgery. Intraoperatively, LLD is usually measured manually by palpating the distal femur or ankle while the patient is supine, which has limitations and may not provide reliable LLD measurements. Although other methods such as the intraoperative suture method are simple to operate and low in cost, there may be errors in the results due to the elasticity of the patient's skin and changes in the position of the affected limb. Although the Kirschner wire positioning method can effectively control the patient's limb extension after operation and is easy to operate, its accuracy is not high.

Therefore, there is a need for a simple, reliable, repeatable, and high-precision method or device for measuring the length of a lower limb used in total hip replacement.

Contents of the invention

This application provides a surgical host computer and a surgical system for measuring the length of lower limbs in hip replacement surgery, which can measure the length of lower limbs without using additional tools and operations, and realize accurate measurement and real-time display of changes in the length of lower limbs in hip replacement surgery The measurement results are compatible with traditional handheld navigation systems and robot-assisted navigation systems to prevent the occurrence of unequal lengths of the lower limbs.

According to one aspect of the present application, a surgical host computer is provided, which is respectively connected with a pelvic tracker and a femur tracker, and is used for measuring the length of the lower limbs and obtaining measurement data during hip replacement surgery, the measurement data including the actual length of the lower limbs and the length of the lower limbs during the operation, the surgical upper computer includes: a processor; and a memory storing a first program, when the first program is executed by the processor, the processor is made to execute the surgical upper computer The intraoperative execution mode includes: obtaining intraoperative lower limb medical images in real time, and obtaining intraoperative three-dimensional models of the pelvis and femur based on the intraoperative lower extremity medical images; Perform registration respectively to measure the length of the lower limbs; after replacing the prosthesis, mark multiple intraoperative bony points selected by the user on the intraoperative three-dimensional model; calculate and obtain based on the multiple intraoperative bony points Intraoperative lower extremity length.

According to some embodiments, registering the pelvis and the femur includes coarse registration and fine registration.

According to some embodiments, the rough registration includes: acquiring a preoperative lower extremity medical image, marking a plurality of first image registration points selected by the user on the preoperative lower extremity medical image and obtaining image coordinate system coordinates; Marking multiple first surgical registration points on the bone surface corresponding to the multiple first image registration points and obtaining camera coordinate system coordinates; based on the image coordinate system coordinates of the first image registration points and the first surgery The coordinates of the camera coordinate system of the registration point are obtained respectively to obtain the coarse registration matrix of the pelvis and the coarse registration matrix of the femur converted from the image coordinate system and the camera coordinate system.

According to some embodiments, the fine registration includes: marking a plurality of second surgical registration points selected by the user on the bone surface and obtaining the coordinates of the camera coordinate system; The registration matrix obtains a plurality of second image registration points corresponding to the plurality of second surgical registration points and obtains image coordinate system coordinates; based on the image coordinate system coordinates of the second image registration points and the second surgical registration point The coordinates of the camera coordinate system are used to obtain the pelvis fine registration matrix and the femur fine registration matrix converted from the image coordinate system and the camera coordinate system respectively.

According to some embodiments, the plurality of intraoperative bony points includes an intraoperative center of rotation, a center of the distal femur, a lesser trochanter, and an anterior superior iliac spine.

According to some embodiments, the intraoperative center of rotation is the intraoperative acetabular center or the intraoperative femoral center after replacement of the prosthesis.

According to some embodiments, calculating and obtaining the length of the lower limbs during the operation includes: responding to user operations, obtaining the coordinates of the camera coordinate system of the center of rotation during the operation, and converting them into coordinates of the image coordinate system through the fine registration matrix of the pelvis; obtaining in real time The position and orientation of the femur in the camera coordinate system are transformed into coordinates of the image coordinate system through the femoral fine registration matrix; the intraoperative three-dimensional model is rotated around the intraoperative rotation center so that the intraoperative femoral center is in line with the The first line of force formed by the connecting line of the center of the distal end of the femur is perpendicular to the transverse plane, and the plane formed by the center of rotation in the operation and the first line of force is parallel to the coronal plane; the calculation of the lesser trochanter to the The distance of the cross-section where the anterior superior iliac spine is located and the length of the lower extremity in the operation were obtained.

According to some embodiments, the memory also stores a second program, and when the second program is executed by the processor, the processor is made to execute the preoperative planning mode of the surgical host computer, the preoperative The planning mode includes: obtaining the preoperative lower limb medical image, and obtaining a preoperative three-dimensional model of the pelvis and femur based on the preoperative lower limb medical image; Points are marked, and the pelvis and femur are corrected according to the user's operation; the actual lower limb length is calculated based on the multiple preoperative bony points.

According to some embodiments, the plurality of preoperative bony points include the anterior superior iliac spine, preoperative center of rotation, pubic symphysis point, the lesser trochanter, and the center of the distal femur.

According to some embodiments, the preoperative center of rotation is the actual acetabular center or femoral center of the human body before the replacement of the prosthesis.

According to some embodiments, the straightening of the pelvis and the femur includes: rotating the preoperative three-dimensional model so that the connecting line of the anterior superior iliac spine is parallel to the horizontal axis of the image coordinate system and parallel to the coronal plane.

According to some embodiments, the normalization of the pelvis and the femur further includes: rotating the preoperative three-dimensional model so that the connecting line of the anterior superior iliac spine is parallel to the horizontal axis of the image coordinate system, and the anterior superior iliac spine and the The plane formed by the pubic symphysis is parallel to the coronal plane.

According to some embodiments, calculating the actual lower limb length includes: rotating the preoperative three-dimensional model around the preoperative rotation center, so that The second line of force is perpendicular to the cross-section, and the plane formed by the preoperative center of rotation and the second line of force is parallel to the coronal plane; calculate the distance from the lesser trochanter to the cross-section where the anterior superior iliac spine is located and Obtain the actual lower limb length.

According to one aspect of the present application, a surgical system is provided, including the aforementioned surgical host computer; and a pelvis tracker and a check rivet; a femur tracker and a check rivet; The real-time position information of the selected bony point is communicated with the surgical host computer; the probe is used to select the bony point; the display is connected to the surgical host computer for visual display of real-time human-computer interaction information.

According to the embodiment of the present application, through the analysis of the preoperative planning images and the registration of the patient's pelvis according to the medical images during the operation, the precise measurement and calculation of the length change of the lower limbs during the hip replacement operation can be realized and displayed in real time The measurement results can effectively prevent the unequal length of the lower limbs.

It is to be understood that both the foregoing general description and the following detailed description are exemplary only and are not restrictive of the application.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Apparently, the drawings in the following description are only some embodiments of the present application.

Fig. 1 shows a flowchart of a preoperative planning mode of a surgical host computer according to an exemplary embodiment of the present application.

FIG. 2A shows a schematic diagram of the bony points of the pelvis according to an example embodiment of the present application.

FIG. 2B shows a schematic diagram of a femoral bony point according to an exemplary embodiment of the present application.

Fig. 2C shows a schematic diagram of the bony point of the distal femur according to an exemplary embodiment of the present application.

Fig. 3A shows a schematic diagram of a three-dimensional model of a lower limb before normalization according to an exemplary embodiment of the present application.

Fig. 3B shows a schematic diagram of a three-dimensional model of a lower limb after normalization according to an exemplary embodiment of the present application.

Fig. 4A shows a schematic diagram of the calculation process of the actual lower limb length according to an exemplary embodiment of the present application.

Fig. 4B shows a data display diagram for prosthesis replacement planning according to an exemplary embodiment of the present application.

Fig. 5 shows a flow chart of the intraoperative execution mode of the surgical host computer according to an exemplary embodiment of the present application.

Fig. 6A shows a schematic diagram of registration points for coarse registration of the pelvis according to an exemplary embodiment of the present application.

Fig. 6B shows a schematic diagram of registration points for fine registration of the pelvis according to an exemplary embodiment of the present application.

Fig. 7A shows a schematic diagram of registration points for coarse registration of a femur according to an exemplary embodiment of the present application.

Fig. 7B shows a schematic diagram of registration points of femur fine registration according to an exemplary embodiment of the present application.

Fig. 8 shows a schematic diagram of a calculation process of an intraoperative lower limb length according to an exemplary embodiment of the present application.

Fig. 9 shows a block diagram of a surgical host computer according to an exemplary embodiment of the present application.

Detailed ways

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus their repeated descriptions will be omitted.

The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other methods, components, materials, devices or operations may be used. In these instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.

The flow charts shown in the drawings are only exemplary illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, and some operations/steps can be combined or partly combined, so the actual order of execution may be changed according to the actual situation.

The terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these processes, methods, products or devices.

This application provides a surgical host computer, which can accurately calculate the length change of the lower limbs during hip replacement surgery and display the measurement data in real time through preoperative planning images and intraoperative registration of the pelvis based on medical images, so as to effectively prevent lower limbs. Isometric phenomenon, and compatible with traditional handheld navigation systems and robot-assisted navigation systems.

A surgical host computer according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

Fig. 1 shows a flowchart of a preoperative planning mode of a surgical host computer according to an exemplary embodiment of the present application.

As shown in FIG. 1 , at S101 , the preoperative lower limb medical image data of the patient are obtained, and the three-dimensional models of the pelvis and femur are obtained according to the medical image data.

Generally, medical imaging data includes computed tomography data (CT) and magnetic resonance imaging data (MRI).

According to some embodiments, the three-dimensional model images of the pelvis and the femur are obtained by segmenting the medical image.

In S103, multiple bony points on the pelvis and femur are selected on the three-dimensional model.

According to some embodiments, the user selects bony points on the three-dimensional model through the human-computer interaction interface displayed on the display.

For example, multiple bony points on the 3D model include the anterior superior iliac spine (left and right sides), preoperative center of rotation (actual acetabular center or femoral center of the human body before replacement of the prosthesis), pubic symphysis point, lesser trochanter and The center of the distal femur, as shown in Figure 2A-Figure 2C.

According to some embodiments, bony points may also be selected after the pelvis and femur are normalized.

At S105, the pelvis and femur are brought to normal position.

The 3D model of the lower limbs before straightening is viewed from the positive angle of the monitor, and the 3D model is in a non-upright shape; in the image coordinate system, the 3D model is also in a non-upright shape, as shown in Figure 3A.

According to some embodiments, the righting of the pelvis and femur includes two methods: righting through the left and right anterior superior iliac spines and righting through the left and right anterior superior iliac spines and the pubic symphysis.

Correction is performed through the left and right anterior superior iliac spines, that is, the three-dimensional model is rotated so that the line connecting the anterior superior iliac spines is parallel to the horizontal axis of the image coordinate system and parallel to the coronal plane.

The left and right sides of the anterior superior iliac spine and the pubic symphysis point are corrected, that is, the three-dimensional model is rotated so that the connection line of the anterior superior iliac spine is parallel to the horizontal axis of the image coordinate system, and the left and right anterior superior iliac spine and the pubic symphysis point form The plane is parallel to the coronal plane.

The 3D model of the lower limbs after straightening is in a straight shape in the image coordinate system, as shown in Figure 3B.

In S107, the actual lower limb length is calculated.

The horizontal straight line above the three-dimensional model is a parallel line passing through the line connecting the left and right anterior superior iliac spines, and the left side is the lower limb that has not been planned before prosthetic replacement, as shown in Figure 4A.

According to some embodiments, the three-dimensional model of the femur is rotated around the center of the acetabulum, so that the line of force formed by the line connecting the center of the femur and the center of the distal end of the femur is perpendicular to the transverse plane, and the plane between the center of the acetabulum and the line of force is parallel to the coronal plane.

According to some embodiments, the center of the acetabulum may be replaced by the center of the femur.

Further, through the selected trochanter point, calculate the vertical distance from the trochanter point to the plane of the cross-section where the left and right anterior superior iliac spines are located, as the actual lower limb length.

The horizontal straight line above the three-dimensional model is a parallel line passing through the line connecting the left and right anterior superior iliac spines, and the right side is the lower limb after preoperative planning for prosthesis replacement, as shown in Figure 4A.

According to some embodiments, the three-dimensional model of the femur is rotated around the planned acetabular center, so that the planned line of force formed by the line connecting the planned femoral center and the center of the distal end of the femur is perpendicular to the transverse plane, and the planned acetabular center The plane with the lines of force is parallel to the coronal plane.

The planned positions of the acetabular center and the femoral center are different from the actual positions of the acetabular center and the femoral center of the human body. Correspondingly, the planned position of the line of force also changes relative to the position of the actual line of force.

According to some embodiments, the planned acetabular center may be replaced by the planned femoral center.

Further, through the selected trochanter point, the vertical distance from the trochanter point to the plane of the cross-section where the left and right anterior superior iliac spines are located is calculated as the planned lower limb length.

According to some embodiments, the cross-section used for calculating the length of the lower limb may adopt any plane higher than the cross-section where the lesser tuberosity point is located.

The data shown in Fig. 4B is the change of the lower limb length and combined eccentricity planned before the prosthetic replacement compared to the actual lower limb length and combined eccentricity planned before the prosthetic replacement.

Fig. 5 shows a flow chart of the intraoperative execution mode of the surgical host computer according to an exemplary embodiment of the present application.

As shown in FIG. 5 , at S201 , the intraoperative medical image data of the patient are obtained in real time, and the intraoperative three-dimensional models of the pelvis and femur are obtained according to the medical image data.

Generally, medical imaging data includes CT and/or MRI.

According to some embodiments, the three-dimensional model images of the pelvis and the femur are obtained by segmenting the medical image.

In S203, registration is performed on the pelvis and the femur respectively.

Coarse registration is performed on the pelvis first.

According to some embodiments, on the obtained preoperative lower limb medical image, select a plurality of registration points of the coarse registration image of the pelvis for labeling, as shown in FIG. 6A , and obtain the image coordinate system coordinates of the registration points of the coarse registration image of the pelvis.

Further, the corresponding pelvic coarse registration surgical registration points are selected on the bone surface of the patient's surgical region for marking, and the camera coordinate system coordinates of the pelvic coarse registration surgical registration points are obtained.

Based on the image coordinate system coordinates of the pelvic coarse registration image registration point and the corresponding camera coordinate system coordinates of the pelvic coarse registration surgical registration point, calculate and obtain the pelvis coarse registration converted from the image coordinate system and the camera coordinate system in the embodiment of the present application matrix.

According to some embodiments, the coarse registration matrix of the pelvis is calculated and obtained by a rigid registration algorithm.

After the rough registration of the pelvis, the fine registration is continued.

According to some embodiments, multiple (20-50) pelvic fine registration surgical registration points different from the pelvic coarse registration surgical registration points are additionally selected on the bone surface of the patient's surgical region for labeling, and the pelvic fine registration surgical registration points are obtained. The camera frame coordinates of the registration points.

Further, the camera coordinate system coordinates of the pelvic fine registration operation registration points are converted into image coordinate system coordinates through the pelvic coarse registration matrix, and thus the corresponding pelvic fine registration image registration points are obtained on the medical image, as shown in Figure 6B Show.

Based on the image coordinate system coordinates of the pelvis fine registration image registration points and the camera coordinate system coordinates of the pelvic fine registration surgical registration points, calculate and obtain the pelvis fine registration matrix converted from the image coordinate system and the camera coordinate system in the embodiment of the present application.

According to some embodiments, the fine registration matrix of the pelvis is calculated and acquired through the nearest iteration algorithm, and the calculation accuracy is higher than that of the coarse registration matrix of the pelvis.

Likewise, proceed with coarse registration of the femur.

According to some embodiments, on the obtained preoperative lower limb medical image, a plurality of registration points of the coarse femur registration image are selected for labeling, as shown in FIG. 7A , and image coordinate system coordinates of the registration points of the coarse registration image of the femur are obtained.

Further, the corresponding coarse femoral registration surgical registration points are selected on the bone surface of the patient's surgical region for marking, and the camera coordinate system coordinates of the femoral coarse registration surgical registration points are obtained.

Based on the image coordinate system coordinates of the coarse femoral registration image registration points and the corresponding camera coordinate system coordinates of the femoral coarse registration surgical registration points, calculate and obtain the femoral coarse registration converted from the image coordinate system and the camera coordinate system in the embodiment of the present application matrix.

According to some embodiments, the coarse registration matrix of the femur is calculated and obtained by a rigid registration algorithm.

After the coarse registration of the femur, the fine registration is continued.

According to some embodiments, multiple (20-50) femoral fine registration surgical registration points different from the femoral coarse registration surgical registration points are selected on the bone surface of the patient's surgical region for labeling, and the fine femoral registration surgical registration points are obtained. The camera frame coordinates of the registration points.

Further, the camera coordinate system coordinates of the fine femoral registration surgical registration points are transformed into image coordinate system coordinates through the coarse femoral registration matrix, and thus the corresponding femoral fine registration image registration points are obtained on the medical image, as shown in Figure 7B Show.

Based on the image coordinate system coordinates of the femoral fine registration image registration point and the camera coordinate system coordinates of the femoral fine registration operation registration point, calculate and obtain the femoral fine registration matrix converted from the image coordinate system and the camera coordinate system in the embodiment of the present application.

According to some embodiments, the fine registration matrix of the femur is calculated and acquired through the nearest iteration algorithm, and the calculation accuracy is higher than that of the coarse registration matrix of the femur.

According to some embodiments, the order of pelvic registration and femoral registration is not unique.

At S205, after the replacement of the acetabular and femoral prostheses, multiple intraoperative bony points on the pelvis and femur are selected on the intraoperative three-dimensional model.

According to some embodiments, corresponding acetabular and femoral prostheses are selected for replacement according to preoperative planning.

According to some embodiments, the user selects intraoperative bony points on the intraoperative three-dimensional model through the human-computer interaction interface displayed on the display.

For example, multiple intraoperative bony points on the intraoperative 3D model include intraoperative center of rotation (intraoperative acetabular center or intraoperative femoral center after prosthetic replacement), distal femoral center, lesser trochanter, and anterior iliac Upper spines (left and right sides).

In S207, the intraoperative lower limb length is calculated.

According to some embodiments, the position of the acetabular center and the femur center after the replacement of the pelvis and the femoral prosthesis is different from the actual acetabular center and the position of the femur center of the human body. The ratio also changed accordingly.

First, the camera coordinate system coordinates of the acetabular center (intraoperative acetabular center) after prosthesis replacement are obtained, and converted into image coordinate system coordinates through the pelvic fine registration matrix.

According to some embodiments, the position of the acetabular cup after the prosthesis replacement operation of the patient is obtained first, and the position of the acetabular cup on the image is obtained through the fine registration matrix of the pelvis, and then according to the selected acetabular cup liner and ball head model, the Determine the location of the intraoperative center of rotation (intraoperative acetabular center or intraoperative femoral center).

Secondly, after femoral prosthesis replacement, the position and orientation of the femur in the camera coordinate system are obtained in real time, and converted into image coordinate system coordinates through the femoral fine registration matrix.

Furthermore, the intraoperative three-dimensional model was rotated around the intraoperative rotation center, so that the line of force formed by the line connecting the center of the femur and the center of the distal end of the femur was perpendicular to the transverse plane, and the plane formed by the center of rotation and the line of force was parallel to the coronal plane .

Further, through the selected trochanter point, calculate the vertical distance from the trochanter point to the plane of the cross-section where the left and right anterior superior iliac spines are located, and use it as the length of the lower limb during the operation after prosthesis replacement.

Finally, according to the actual lower limb length and the lower limb length during operation, the change of the lower limb length on the operated side and the lower limb length before operation can be obtained.

As shown in Figure 8, the left side is the lower limb without prosthesis replacement, and the right side is the lower limb after prosthesis replacement.

The displacement difference between the right end point of the left lower line segment (the left end point is the trochanter point) and the left end point of the right lower line segment (the right end point is the small trochanter point) on the center line of the image is the difference between the length of the lower limb during operation and the actual Difference in lower extremity length.

The monitor of the surgical host computer can display in real time the actual length of the lower limb, the length of the lower limb during the operation, the difference between the length of the lower limb on the operated side and the length of the lower limb before the operation, and the difference between the length of the lower limb on the operated side and the length of the contralateral lower limb. Users can adjust the prosthesis according to the data. Adjust accordingly to avoid unequal lengths of the lower limbs.

Fig. 9 shows a block diagram of a surgical host computer according to an exemplary embodiment of the present application.

As shown in FIG. 9 , the electronic device 600 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.

As shown in FIG. 9, electronic device 600 takes the form of a general-purpose computing device. Components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), a display unit 640, and the like. Wherein, the storage unit stores program codes, and the program codes can be executed by the processing unit 610, so that the processing unit 610 executes the methods described in this specification according to various exemplary embodiments of the present application.

For example, the processing unit 610 may execute the method as shown in FIG. 5 .

First, intraoperative 3D models of the pelvis and femur were obtained from real-time intraoperative lower extremity medical images.

Then, according to the image registration points and surgical registration points selected by the user, coarse registration and fine registration are performed on the pelvis and femur respectively.

After the user replaces the acetabular and femoral prosthesis, it will be displayed on the intraoperative lower limb medical image according to the multiple intraoperative bony points selected by the user.

According to the user's operation, the intraoperative three-dimensional model is rotated to the corresponding position, and the intraoperative lower limb length is calculated based on the position of the intraoperative bony point.

The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 6201 and/or a cache storage unit 6202 , and may further include a read-only storage unit (ROM) 6203 .

Storage unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, Implementations of networked environments may be included in each or some combination of these examples.

For example, the storage unit 620 may store the first program when the processing unit 610 executes the intraoperative execution mode.

Bus 630 may represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local area using any of a variety of bus structures. bus.

The electronic device 600 can also communicate with one or more external devices 700 (such as keyboards, pointing devices, Bluetooth devices, etc.), and can also communicate with one or more devices that enable the user to interact with the electronic device 600, and/or communicate with Any device (eg, router, modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 650 . Moreover, the electronic device 600 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and/or a public network such as the Internet) through the network adapter 660 . The network adapter 660 can communicate with other modules of the electronic device 600 through the bus 630 . It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives And data backup storage system, etc.

Through the above description of the implementation manners, those skilled in the art can easily understand that the exemplary embodiments described here can be implemented by software, or by combining software with necessary hardware. The technical solutions according to the embodiments of the present application can be embodied in the form of software products, which can be stored in a non-volatile storage medium (which can be CD-ROM, U disk, mobile hard disk, etc.) or on the network, including Several instructions enable a computing device (which may be a personal computer, server, mobile terminal or network device, etc.) to execute the method according to the embodiment of the present application.

A software product may utilize any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connection with one or more conductors, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

A computer readable storage medium may include a data signal carrying readable program code in baseband or as part of a carrier wave traveling as part of a data signal. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium other than a readable storage medium that can send, propagate or transport a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the readable storage medium may be transmitted by any suitable medium, including but not limited to wireless, cable, optical cable, RF, etc., or any suitable combination of the above.

Program codes for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural programming Language - such as "C" or similar programming language. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server to execute. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (for example, using an Internet service provider). business to connect via the Internet).

The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by one device, the computer-readable medium can realize the aforementioned functions.

Those skilled in the art can understand that the above-mentioned modules can be distributed in the device according to the description of the embodiment, and corresponding changes can also be made in one or more devices that are only different from the embodiment. The modules in the above embodiments can be combined into one module, and can also be further split into multiple sub-modules.

According to some embodiments of the present application, the technical solution of the present application requires both the hip joint and the femur to be registered, and without using additional tools, it is possible to accurately measure the changes in the length of the lower limb on the operated side, the length of the lower limb before the operation, and the length of the contralateral lower limb in real time. Obtain measurement data and prevent the phenomenon of lower limb length inequality.

The above describes the embodiments of the present application in detail, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the application, specific implementation methods and application scopes of the application all belong to the scope of protection of the application. To sum up, the contents of this specification should not be understood as limiting the application.

Claims (14)

1. The utility model provides an operation host computer, is connected with pelvis tracer and thighbone tracer respectively for measurement low limbs length and obtain measurement data in the hip joint replacement operation, measurement data includes actual low limbs length and intra-operative low limbs length, its characterized in that, the operation host computer includes:

a processor; and

a memory storing a first program that, when executed by the processor, causes the processor to execute an intra-operative execution mode of the surgical host computer, the intra-operative execution mode including:

acquiring an intraoperative lower limb medical image in real time, and acquiring an intraoperative three-dimensional model of pelvis and femur based on the intraoperative lower limb medical image;

in response to user operation, registering the pelvis and the femur respectively to perform lower limb length measurement;

after replacing the prosthesis, marking a plurality of intraoperative bone points selected by a user on the intraoperative three-dimensional model;

the intraoperative lower limb length is calculated and acquired based on the plurality of intraoperative osseous points.

2. The surgical host computer of claim 1, wherein registering the pelvis and femur comprises a coarse registration and a fine registration.

3. The surgical host computer of claim 2, wherein the coarse registration comprises:

acquiring a preoperative lower limb medical image, marking a plurality of first image registration points selected by a user on the preoperative lower limb medical image, and acquiring coordinates of an image coordinate system;

labeling a plurality of first operation registration points on the bone surface corresponding to the plurality of first image registration points and acquiring camera coordinate system coordinates;

based on the image coordinate system coordinates of the first image registration points and the camera coordinate system coordinates of the first surgical registration points, a pelvis coarse registration matrix and a femur coarse registration matrix converted by the image coordinate system and the camera coordinate system are respectively obtained.

4. The surgical host computer of claim 2, wherein the fine registration comprises:

marking a plurality of second surgical registration points selected by a user on a bone surface and acquiring coordinates of a camera coordinate system;

acquiring a plurality of second image registration points corresponding to the plurality of second operation registration points through the pelvis coarse registration matrix and the femur coarse registration matrix respectively and acquiring coordinates of an image coordinate system;

and respectively acquiring a pelvic precision registration matrix and a femur precision registration matrix converted by the image coordinate system and the camera coordinate system based on the image coordinate system coordinates of the second image registration point and the camera coordinate system coordinates of the second operation registration point.

5. The surgical host computer of claim 1, wherein the plurality of intraoperative osseous points includes an intraoperative rotation center, a distal femoral center, a microtuberosity, and an anterior superior iliac spine.

6. The surgical host computer of claim 5, wherein the intraoperative center of rotation is an intraoperative acetabular center or an intraoperative femoral center after replacement of a prosthesis.

7. The surgical host computer of claim 1, wherein calculating and obtaining the intra-operative lower limb length comprises:

responding to user operation, obtaining the camera coordinate system coordinate of the intraoperative rotation center, and converting the camera coordinate system coordinate into the image coordinate system coordinate through the pelvis essence registration matrix;

acquiring the position and the direction of the femur in a camera coordinate system in real time, and converting the position and the direction into an image coordinate system coordinate through the femur precision registration matrix;

rotating the intraoperative three-dimensional model about the intraoperative rotation center such that a first force line formed by a line connecting the intraoperative femoral center and the femoral distal center is perpendicular to a cross section, and a plane formed by the intraoperative rotation center and the first force line is parallel to a coronal plane;

and calculating the distance from the small tuberosity to the cross section of the anterior superior iliac spine and obtaining the length of the intraoperative lower limb.

8. The surgical host computer of any one of claims 1-7, wherein the memory further stores a second program that, when executed by the processor, causes the processor to perform a pre-operative planning mode of the surgical host computer, the pre-operative planning mode comprising:

acquiring the preoperative lower limb medical image, and acquiring a preoperative three-dimensional model of pelvis and femur based on the preoperative lower limb medical image;

marking a plurality of preoperative osseous points selected by a user on the preoperative three-dimensional model, and correcting pelvis and femur according to the operation of the user;

the actual lower limb length is calculated based on the plurality of preoperative osseous points.

9. The surgical host computer of claim 8, wherein the plurality of preoperative osseous points includes the anterior superior iliac spine, a preoperative center of rotation, a pubic symphysis point, the lesser tuberosity, and the distal femoral center.

10. The surgical host computer of claim 9, wherein the preoperative rotation center is an actual acetabular center or femoral center of the human body before the replacement prosthesis.

11. The surgical host computer of claim 8, wherein the pelvic and femoral alignment comprises:

the preoperative three-dimensional model is rotated such that the line of the anterior superior iliac spine is parallel to the transverse axis of the image coordinate system and parallel to the coronal plane.

12. The surgical host computer of claim 8, wherein the pelvic and femoral alignment further comprises:

the preoperative three-dimensional model is rotated such that the line connecting the anterior superior iliac spine is parallel to the transverse axis of the image coordinate system and the plane of the anterior superior iliac spine and the pubic symphysis is parallel to the coronal plane.

13. The surgical host computer of claim 8, wherein calculating the actual lower limb length comprises:

rotating the preoperative three-dimensional model about the preoperative center of rotation such that a second force line formed by a line connecting the actual femoral center of the human body and the distal femoral center is perpendicular to the cross-section, and a plane formed by the preoperative center of rotation and the second force line is parallel to the coronal plane;

and calculating the distance from the small tuberosity to the cross section of the anterior superior iliac spine and obtaining the actual length of the lower limb.

14. A surgical system comprising the surgical host computer of any one of claims 1-13; and

pelvic tracers and verification rivets;

femur tracer and verification rivet;

the navigation camera is used for acquiring real-time position information of pelvis, femur and selected osseous points and is in communication connection with the surgical upper computer;

a probe for selecting the osseous site;

and the display is connected with the surgical upper computer and used for visually displaying real-time man-machine interaction information.

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