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CN116942312B - A method and system for assisting positioning in joint replacement surgery - Google Patents

A method and system for assisting positioning in joint replacement surgery Download PDF

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CN116942312B
CN116942312B CN202311212777.XA CN202311212777A CN116942312B CN 116942312 B CN116942312 B CN 116942312B CN 202311212777 A CN202311212777 A CN 202311212777A CN 116942312 B CN116942312 B CN 116942312B
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CN116942312A (en
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姚兴旺
江绍涛
侯木舟
黄玥琳
熊力
林良武
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Second Xiangya Hospital of Central South University
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101Computer-aided simulation of surgical operations
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101Computer-aided simulation of surgical operations
    • A61B2034/105Modelling of the patient, e.g. for ligaments or bones
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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    • A61B2034/2065Tracking using image or pattern recognition

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Abstract

本发明公开了一种关节置换手术辅助定位方法及系统,涉及关节置换手术技术领域,包括第一检测单元、监测单元、处理单元、执行单元和术后检测单元,第一检测单元用于获取患者数据,监测单元用于获取手术工具数据,处理单元用于处理数据,并输出手术策略,执行单元用于执行处理单元输出的手术策略,术后检测单元用于检测术后患者关节稳定性,并将测试数据输出给处理单元,用于辅助处理单元输出手术策略,如最佳方案可行则将最佳方案制定成手术策略向执行单元输出,如最佳方案不可行,则重新制定方案。本发明能有效的帮助医生推荐最合适的手术方案,辅助医生执行手术,获得最好的术后效果,节省了经验丰富的外科医生和手术团队的培养成本。

The invention discloses an auxiliary positioning method and system for joint replacement surgery, which relates to the technical field of joint replacement surgery. It includes a first detection unit, a monitoring unit, a processing unit, an execution unit and a postoperative detection unit. The first detection unit is used to obtain patient information. Data, the monitoring unit is used to obtain surgical tool data, the processing unit is used to process the data and output the surgical strategy, the execution unit is used to execute the surgical strategy output by the processing unit, and the postoperative detection unit is used to detect the stability of the patient's joints after surgery, and The test data is output to the processing unit to assist the processing unit in outputting the surgical strategy. If the best plan is feasible, the best plan will be formulated as a surgical strategy and output to the execution unit. If the best plan is not feasible, the plan will be re-formulated. The invention can effectively help doctors recommend the most appropriate surgical plan, assist doctors in performing operations, obtain the best postoperative results, and save the training costs of experienced surgeons and surgical teams.

Description

一种关节置换手术辅助定位方法及系统A method and system for assisting positioning in joint replacement surgery

技术领域Technical field

本发明涉及关节置换手术技术领域,具体为一种关节置换手术辅助定位方法及系统。The present invention relates to the technical field of joint replacement surgery, specifically an auxiliary positioning method and system for joint replacement surgery.

背景技术Background technique

关节置换手术,也称为关节替换手术,是一种外科手术,旨在治疗关节严重受损或疾病的情况。该手术通常涉及将受损的关节部分移除并替换为人工关节假体,以恢复关节功能、减轻疼痛和改善患者的生活质量。Joint replacement surgery, also called joint replacement surgery, is a surgical procedure designed to treat severely damaged or diseased joints. This surgery typically involves removing the damaged portion of the joint and replacing it with an artificial joint prosthesis to restore joint function, reduce pain, and improve the patient's quality of life.

关节置换手术是一种复杂的手术过程,需要经验丰富的外科医生和手术团队来进行。关节置换术中除了要对关节的病灶进行切除以外,需要深刻理解关节的运动学原理,将人工关节的假体安装在准确的位置上,既能使假体获得良好的稳定性,又能恢复关节的正常运动。Joint replacement surgery is a complex surgical procedure that requires an experienced surgeon and surgical team. In addition to the removal of joint lesions, joint replacement surgery requires a deep understanding of the kinematic principles of the joint and the installation of the artificial joint prosthesis in an accurate position, which can not only achieve good stability of the prosthesis, but also restore the joint. Normal movement of joints.

医生会根据患者的特定情况和需求来制定个性化的手术方案,经验丰富的外科医生和手术团队培养成本很高,培养时间也非常长,如果执行手术的医生缺乏经验,则在安装人工关节假体时,可能会由于定位不准确,引发安装错位或者其他问题,引发手术风险。Doctors will develop personalized surgical plans based on the patient's specific conditions and needs. It is very expensive to train experienced surgeons and surgical teams, and the training time is also very long. If the doctor performing the operation lacks experience, it will be difficult to install the artificial joint prosthesis. When the device is removed from the body, inaccurate positioning may cause installation misalignment or other problems, leading to surgical risks.

为此,本发明提供了一种关节置换手术辅助定位方法及系统。To this end, the present invention provides an auxiliary positioning method and system for joint replacement surgery.

发明内容Contents of the invention

(一)解决的技术问题(1) Technical problems solved

针对现有技术的不足,本发明提供了一种关节置换手术辅助定位方法及系统,可有效的帮助医生推荐最合适的手术方案,辅助医生执行手术,获得最好的术后效果。In view of the shortcomings of the existing technology, the present invention provides an auxiliary positioning method and system for joint replacement surgery, which can effectively help doctors recommend the most appropriate surgical plan, assist doctors in performing operations, and obtain the best postoperative results.

(二)技术方案(2) Technical solutions

为实现以上目的,本发明通过以下技术方案予以实现:一种关节置换手术辅助定位系统,包括第一检测单元、监测单元、处理单元、执行单元和术后检测单元;In order to achieve the above objectives, the present invention is realized through the following technical solutions: a joint replacement surgery auxiliary positioning system, including a first detection unit, a monitoring unit, a processing unit, an execution unit and a postoperative detection unit;

第一检测单元用于获取患者数据,监测单元用于获取手术工具数据,处理单元用于处理数据,并输出手术策略,执行单元用于执行处理单元输出的手术策略,术后检测单元用于检测术后患者关节稳定性,并将测试数据输出给处理单元,用于辅助处理单元输出手术策略;处理单元包括三维模型模块、可视化展示模块、策略模块、仿真计算模块、方案库模块、第二检测单元、评估单元和阈值模块;The first detection unit is used to obtain patient data, the monitoring unit is used to obtain surgical tool data, the processing unit is used to process data and output the surgical strategy, the execution unit is used to execute the surgical strategy output by the processing unit, and the postoperative detection unit is used to detect After surgery, the patient's joint stability is stabilized, and the test data is output to the processing unit to assist the processing unit in outputting the surgical strategy; the processing unit includes a three-dimensional model module, a visual display module, a strategy module, a simulation calculation module, a plan library module, and a second detection Units, evaluation units and threshold modules;

三维模型模块依据患者数据和手术工具数据建立三维模型,形成实时图像数据并向可视化模块输出,可视化展示模块用于展示实时图像数据,策略模块依据患者数据、手术工具数据和实时图像数据制定手术方案,并将方案向仿真计算模块输出,仿真计算模块依据策略模块输出的方案经过仿真计算后,再与方案库模块内的方案进行匹配,最终输出最佳方案,第二检测单元依据最佳方案进行模拟检测,评估单元依据第二检测单元检测数据输出关节稳定度Ev,阈值模块预设有阈值,策略模块依据关节稳定度Ev与阈值模块预设阈值比对结果判断最佳方案是否可行,如最佳方案可行则将最佳方案制定成手术策略向执行单元输出,如最佳方案不可行,则重新制定方案。The three-dimensional model module establishes a three-dimensional model based on patient data and surgical tool data, forms real-time image data, and outputs it to the visualization module. The visual display module is used to display real-time image data. The strategy module develops surgical plans based on patient data, surgical tool data, and real-time image data. , and outputs the plan to the simulation calculation module. The simulation calculation module performs simulation calculation based on the plan output by the strategy module, and then matches it with the plan in the plan library module, and finally outputs the best plan. The second detection unit performs the simulation based on the best plan. Simulation detection, the evaluation unit outputs the joint stability Ev based on the detection data of the second detection unit, the threshold module is preset with a threshold, and the strategy module determines whether the best solution is feasible based on the comparison result of the joint stability Ev and the preset threshold of the threshold module. If the best plan is feasible, the best plan will be formulated into a surgical strategy and output to the execution unit. If the best plan is not feasible, the plan will be re-formulated.

优选的,第一检测单元包括患者解剖结构检测模块、患者关节运动范围检测模块和患者解剖参考点检测模块,患者解剖结构检测模块用于获取患者解剖结构数据,患者关节运动范围检测模块用于获取患者关节运动范围数据,患者解剖参考点检测模块用于获取患者解剖参考点数据;Preferably, the first detection unit includes a patient's anatomical structure detection module, a patient's joint motion range detection module and a patient's anatomical reference point detection module. The patient's anatomical structure detection module is used to obtain the patient's anatomical structure data, and the patient's joint motion range detection module is used to obtain The patient's joint motion range data, the patient's anatomical reference point detection module is used to obtain the patient's anatomical reference point data;

所述患者数据包括患者解剖结构数据、患者关节运动范围数据和患者解剖参考点数据。The patient data includes patient anatomical structure data, patient joint motion range data, and patient anatomical reference point data.

优选的,监测单元包括手术工具位置监测模块和手术工具方向监测模块,手术工具位置监测模块用于获取手术工具位置数据,手术工具方向监测模块用于获取手术工具方向数据;Preferably, the monitoring unit includes a surgical tool position monitoring module and a surgical tool direction monitoring module, the surgical tool position monitoring module is used to obtain surgical tool position data, and the surgical tool direction monitoring module is used to obtain surgical tool direction data;

手术工具数据包括手术工具位置数据和手术工具方向数据。Surgical tool data includes surgical tool position data and surgical tool direction data.

优选的,第二检测模块包括韧带状态检测模块、关节间隙和对齐检测模块以及关节滑移和旋转检测模块;Preferably, the second detection module includes a ligament status detection module, a joint gap and alignment detection module, and a joint slippage and rotation detection module;

韧带状态检测模块用于获取韧带状态数据集,关节间隙和对齐检测模块用于获取关节第一状态系数Jcad,关节滑移和旋转检测模块用于获取关节第二状态系数Jsrd;The ligament status detection module is used to obtain the ligament status data set, the joint gap and alignment detection module is used to obtain the joint's first state coefficient Jcad, and the joint slip and rotation detection module is used to obtain the joint's second state coefficient Jsrd;

韧带状态检测模块包括韧带完整性检测模块、韧带张力值检测模块和韧带应变值检测模块,韧带完整性检测模块用于获取韧带完整度Lid,韧带张力值检测模块用于获取韧带张力值Ltd,韧带应变值检测模块用于获取韧带应力值Lsd;The ligament status detection module includes a ligament integrity detection module, a ligament tension value detection module and a ligament strain value detection module. The ligament integrity detection module is used to obtain the ligament integrity Lid. The ligament tension value detection module is used to obtain the ligament tension value Ltd. The strain value detection module is used to obtain the ligament stress value Lsd;

韧带状态数据集包括韧带完整度Lid、韧带张力值Ltd和韧带应力值Lsd;The ligament status data set includes ligament integrity Lid, ligament tension value Ltd and ligament stress value Lsd;

关节间隙和对齐检测模块包括关节间隙检测模块和关节对齐度检测模块,关节间隙检测模块用于获取关节间隙比,关节间隙比依据检测的关节状态系数与最佳关节间隙比对得出,关节对齐度检测模块用于获取关节对齐度,关节第一状态系数Jcad依据关节间隙比与关节对齐度以1比1的比例综合所得;The joint gap and alignment detection module includes a joint gap detection module and a joint alignment detection module. The joint gap detection module is used to obtain the joint gap ratio. The joint gap ratio is obtained by comparing the detected joint status coefficient with the optimal joint gap. The joint alignment The degree detection module is used to obtain joint alignment. The joint first state coefficient Jcad is calculated based on the joint gap ratio and joint alignment at a ratio of 1:1;

关节滑移和旋转检测模块包括关节滑移度检测模块和关节旋转度检测模块,关节滑移度检测模块用于获取关节滑移度,关节旋转度检测模块用于获取关节旋转度,关节第二状态系数Jsrd依据关节滑移度与关节旋转度以1比1的比例综合所得。The joint slip and rotation detection module includes a joint slip detection module and a joint rotation detection module. The joint slip detection module is used to obtain the joint slip. The joint rotation detection module is used to obtain the joint rotation. The joint second The state coefficient Jsrd is calculated based on the joint slip and joint rotation at a ratio of 1:1.

优选的,评估单元包括韧带状态评估模块、关节间隙和对齐评估模块以及关节滑移和旋转评估模块;Preferably, the evaluation unit includes a ligament status evaluation module, a joint space and alignment evaluation module, and a joint slip and rotation evaluation module;

韧带评估模块依据韧带状态数据集获取韧带状态评估值Ev1,关节间隙和对齐评估模块依据关节第一状态系数Jcad获取关节间隙和对齐评估值Ev2,关节滑移和旋转评估模块依据关节第二状态系数Jsrd获取关节滑移和旋转评估值Ev3;The ligament evaluation module obtains the ligament status evaluation value Ev1 based on the ligament status data set. The joint space and alignment evaluation module obtains the joint space and alignment evaluation value Ev2 based on the joint first status coefficient Jcad. The joint slip and rotation evaluation module obtains the joint gap and alignment evaluation value Ev2 based on the joint second status coefficient. Jsrd obtains the joint slip and rotation evaluation value Ev3;

关节稳定度Ev依据韧带状态评估值Ev1、关节间隙和对齐评估值Ev2以及关节滑移和旋转评估值Ev3,将各评估值相关联,关联方式如下:The joint stability Ev is based on the ligament status evaluation value Ev1, the joint space and alignment evaluation value Ev2, and the joint slip and rotation evaluation value Ev3, and correlates each evaluation value as follows:

;

其中,权重意义为:θ为韧带状态评估值权重,,μ为关节间隙和对齐评估值权重,/>,/>为关节滑移和旋转评估值权重,/>,D为常数修正系数。Among them, the weight meaning is: θ is the weight of the ligament status evaluation value, , μ is the joint clearance and alignment evaluation value weight, /> ,/> Evaluate value weights for joint slip and rotation, /> , D is a constant correction coefficient.

优选的,韧带状态评估值Ev1依据韧带完整度Lid、韧带张力值Ltd和韧带应力值Lsd,进行无量纲化处理,将各数据相关联,关联公式如下所示:Preferably, the ligament status evaluation value Ev1 is dimensionally processed based on the ligament integrity Lid, the ligament tension value Ltd and the ligament stress value Lsd, and each data is related. The correlation formula is as follows:

;

其中,权重意义为:α为韧带完整性权重,,β为韧带张力值权重,,/>为韧带应变值权重,/>,C为常数修正系数;Among them, the weight meaning is: α is the ligament integrity weight, , β is the weight of ligament tension value, ,/> is the weight of the ligament strain value,/> , C is a constant correction coefficient;

关节间隙和对齐评估值Ev2依据关节第一状态系数Jcad与比例因子Q1相乘所得,其中,The joint clearance and alignment evaluation value Ev2 is obtained by multiplying the joint first state coefficient Jcad and the scaling factor Q1, where, ;

关节滑移和旋转评估值Ev3依据关节第二状态系数Jsrd与比例因子Q2相乘所得,其中,The joint slip and rotation evaluation value Ev3 is obtained by multiplying the joint second state coefficient Jsrd and the scaling factor Q2, where, .

优选的,阈值模块预设有第一阈值和第二阈值,第一阈值小于第二阈值,所述关节稳定度Ev与阈值模块预设阈值比对产生两种对比结果,当关节稳定度Ev大于等于第一阈值且小于等于第二阈值时,策略模块判断关节稳定度Ev处于稳定状态,当关节稳定度Ev小于第一阈值时,策略模块判断关节稳定度Ev处于异常状态,当关节稳定度Ev大于第二阈值时,策略模块判断关节稳定度Ev处于异常状态;Preferably, the threshold module is preset with a first threshold and a second threshold. The first threshold is smaller than the second threshold. The comparison of the joint stability Ev with the preset threshold of the threshold module produces two comparison results. When the joint stability Ev is greater than When equal to the first threshold and less than or equal to the second threshold, the strategy module determines that the joint stability Ev is in a stable state. When the joint stability Ev is less than the first threshold, the strategy module determines that the joint stability Ev is in an abnormal state. When the joint stability Ev When it is greater than the second threshold, the strategy module determines that the joint stability Ev is in an abnormal state;

当关节稳定度Ev处于稳定状态时,则最佳方案可行;当关节稳定度Ev处于异常状态时,则最佳方案不可行。When the joint stability Ev is in a stable state, the best solution is feasible; when the joint stability Ev is in an abnormal state, the best solution is not feasible.

优选地,术后检测单元包括关节稳定性测试模块和动态运动分析模块;Preferably, the postoperative detection unit includes a joint stability testing module and a dynamic motion analysis module;

关节稳定性测试模块用于获取关节稳定性测试数据,动态运动分析模块用于获取动态运动分析数据;关节稳定性测试数据和动态运动分析数据可与手术执行方案的关节稳定度Ev相比对,寻找偏差,用于优化方案,并将优化后的方案存储在方案库模块中。The joint stability test module is used to obtain joint stability test data, and the dynamic motion analysis module is used to obtain dynamic motion analysis data; the joint stability test data and dynamic motion analysis data can be compared with the joint stability Ev of the surgical execution plan, Find deviations, use them to optimize solutions, and store the optimized solutions in the solution library module.

一种关节置换手术辅助定位方法,包括以下步骤:An auxiliary positioning method for joint replacement surgery, including the following steps:

步骤1、获取患者数据,包括患者解剖结构数据、患者关节运动范围数据和患者解剖参考点数据;Step 1. Obtain patient data, including patient anatomical structure data, patient joint motion range data, and patient anatomical reference point data;

步骤2、将传感器附加到手术工具或患者身体上,用于获取手术工具数据包括手术工具位置数据和手术工具方向数据;Step 2. Attach the sensor to the surgical tool or the patient's body to obtain surgical tool data including surgical tool position data and surgical tool direction data;

步骤3、形成实时三维模型和图像,产生实时图像数据并向可视化模块输出;Step 3. Form real-time three-dimensional models and images, generate real-time image data and output it to the visualization module;

步骤4、可视化展示,可以利用显示屏展示,也可利用投影展示,还可利用手持设备展示,方便医生使用;Step 4. Visual display, which can be displayed using a display screen, a projection display, or a handheld device for the convenience of doctors;

步骤5、规划手术路径和手术目标,包括如下步骤:Step 5. Plan the surgical path and surgical goals, including the following steps:

步骤501、策略模块依据患者数据、手术工具数据和实时图像数据规划手术路径和手术目标,制定出手术方案,并将方案向仿真计算模块输出,规划手术路径和手术目标依据以下原则:Step 501: The strategy module plans the surgical path and surgical goals based on the patient data, surgical tool data and real-time image data, formulates a surgical plan, and outputs the plan to the simulation calculation module. The planned surgical path and surgical goals are based on the following principles:

1、确定正确的关节位置和方向,这包括确定关节置换的准确位置、大小和方向,以恢复关节的正常生物力学功能;1. Determine the correct joint position and direction, which includes determining the exact position, size and direction of joint replacement to restore the normal biomechanical function of the joint;

2、考虑患者的解剖特征,每个患者的解剖特征都可能有所不同,因此手术需要根据患者的个体差异进行调整,这可能包括考虑患者的骨质状况、骨刺或骨缺损的存在以及关节的解剖结构;2. Consider the patient's anatomical characteristics. Each patient's anatomical characteristics may be different, so the surgery needs to be adjusted according to the individual differences of the patient. This may include considering the patient's bone condition, the presence of bone spurs or bone defects, and the joint's condition. anatomy;

3、保留健康组织,手术目标之一是最大限度地保留健康的骨骼和软组织结构,优秀的手术路径可以帮助医生避免无谓的组织切割和损伤,以最小化手术创伤和术后恢复时间;3. Preserve healthy tissue. One of the goals of surgery is to preserve healthy bones and soft tissue structures to the maximum extent. Excellent surgical paths can help doctors avoid unnecessary tissue cutting and damage to minimize surgical trauma and postoperative recovery time;

4、平衡关节稳定性,关节的稳定性对于手术成功和患者的功能恢复至关重要;4. Balance joint stability. Joint stability is crucial to the success of the operation and the patient's functional recovery;

步骤502、仿真计算模块依据策略模块输出的方案经过仿真计算后,再与方案库模块内的方案进行匹配,最终输出最佳方案;Step 502: After the simulation calculation module performs simulation calculation based on the plan output by the strategy module, it matches the plan in the plan library module and finally outputs the best plan;

步骤503、第二检测单元依据最佳方案进行模拟检测,评估单元依据第二检测单元检测数据输出关节稳定度Ev,阈值模块预设有阈值,策略模块依据关节稳定度Ev与阈值模块预设阈值比对结果判断最佳方案是否可行;Step 503: The second detection unit performs simulation detection based on the best solution, the evaluation unit outputs the joint stability Ev based on the detection data of the second detection unit, the threshold module presets a threshold, and the strategy module presets the threshold based on the joint stability Ev and the threshold module. Compare the results to determine whether the best solution is feasible;

步骤504、如最佳方案可行则将最佳方案制定成手术策略向执行单元输出,如最佳方案不可行,则重新制定方案;Step 504: If the best plan is feasible, formulate the best plan into a surgical strategy and output it to the execution unit; if the best plan is not feasible, re-formulate the plan;

步骤505、重新制定的方案再经过步骤503进行验证,直至制定出可行的最佳方案;Step 505: The reformulated plan is then verified in step 503 until the best feasible plan is formulated;

步骤506、可行的最佳方案将方案数据整合,通过可视化展示模块提供对齐指引和参考线,帮助医生进行关节置换手术中的对齐调整;Step 506: The best feasible solution integrates the solution data and provides alignment guidelines and reference lines through the visual display module to help doctors perform alignment adjustments during joint replacement surgery;

步骤6、进行手术;Step 6. Perform surgery;

步骤7、术后检测,包括关节稳定性测试和动态运动分析,包括以下步骤:Step 7. Postoperative testing, including joint stability testing and dynamic motion analysis, includes the following steps:

步骤701、获取关节稳定性测试数据和动态运动分析数据;Step 701: Obtain joint stability test data and dynamic motion analysis data;

步骤702、综合关节稳定性测试数据和动态运动分析数据,与手术执行方案的关节稳定度Ev相比对,确定偏差,寻找偏差原因,提出改进和优化方案;Step 702: Comprehensive joint stability test data and dynamic motion analysis data, compare with the joint stability Ev of the surgical execution plan, determine the deviation, find the cause of the deviation, and propose improvement and optimization plans;

步骤703、将优化方案存储在方案库模块。Step 703: Store the optimization plan in the plan library module.

(三)有益效果(3) Beneficial effects

本发明提供了一种关节置换手术辅助定位方法及系统。具备以下有益效果:The invention provides an auxiliary positioning method and system for joint replacement surgery. It has the following beneficial effects:

1、本发明利用依据患者数据、手术工具数据和实时图像数据制定手术方案,该方案是依据患者的特定情况来制定的个性化手术方案,而第二检测单元依据最佳方案进行模拟检测,评估单元依据第二检测单元检测数据输出关节稳定度Ev,阈值模块预设有阈值,策略模块依据关节稳定度Ev与阈值模块预设阈值比对结果判断最佳方案是否可行,如最佳方案可行则将最佳方案制定成手术策略向执行单元输出,如最佳方案不可行,则重新制定方案,而重新制定的方案还可再次验证,直至制定出可行的最佳方案,这就相当于经验丰富的专家多次论证方案,使得每次手术的方案制定环节快速有效;1. The present invention uses patient data, surgical tool data and real-time image data to formulate a surgical plan. This plan is a personalized surgical plan based on the specific situation of the patient, and the second detection unit performs simulation detection and evaluation based on the best plan. The unit outputs the joint stability Ev based on the detection data of the second detection unit. The threshold module has a preset threshold. The strategy module determines whether the best plan is feasible based on the comparison result between the joint stability Ev and the preset threshold of the threshold module. If the best plan is feasible, Formulate the best plan into a surgical strategy and output it to the execution unit. If the best plan is not feasible, the plan will be re-formulated, and the re-formulated plan can be verified again until the best feasible plan is formulated. This is equivalent to rich experience. Experts have demonstrated the plan many times, making the plan formulation process for each operation quick and effective;

2、本发明将可行的最佳方案将方案数据整合,通过可视化展示模块提供对齐指引和参考线,帮助医生进行关节置换手术中的对齐调整,使得手术过程中相当于有经验丰富的医生指导手术;2. The present invention integrates the plan data with the best feasible plan, and provides alignment guidance and reference lines through the visual display module to help doctors perform alignment adjustments during joint replacement surgery, making the surgery equivalent to having an experienced doctor guide the surgery. ;

3、本发明术后检测数据与手术执行方案的关节稳定度Ev相比对,确定偏差,寻找偏差原因,提出改进和优化方案,并将方案存储在方案库模块内,使得本发明可在不断地手术后,积累和优化手术方案,最终使用的越多,手术的效果越好;3. The present invention compares the postoperative detection data with the joint stability Ev of the surgical execution plan, determines the deviation, finds the cause of the deviation, proposes an improvement and optimization plan, and stores the plan in the plan library module, so that the present invention can be continuously used After the operation, accumulate and optimize the surgical plan. The more you use it, the better the surgical effect will be;

4、本发明在术前手术方案的制定,术中手术的操作指导,术后的检测和优化手术方案均可替代经验丰富的外科医生和手术团队,且还可不断的学习和迭代,节省了经验丰富的外科医生和手术团队的培养成本和培养时间。4. The present invention can replace experienced surgeons and surgical teams in the formulation of preoperative surgical plans, intraoperative operating guidance, postoperative detection and optimization of surgical plans, and can also continuously learn and iterate, saving time and money. Cost and time to train experienced surgeons and surgical teams.

附图说明Description of the drawings

图1为本发明中一种关节置换手术辅助定位系统的工作流程图;Figure 1 is a work flow chart of an auxiliary positioning system for joint replacement surgery in the present invention;

图2为本发明中一种关节置换手术辅助定位系统的第二检测单元和评估单元的结构框图;Figure 2 is a structural block diagram of the second detection unit and evaluation unit of a joint replacement surgery auxiliary positioning system in the present invention;

图3为本发明中一种关节置换手术辅助定位方法的流程图。Fig. 3 is a flow chart of an auxiliary positioning method for joint replacement surgery in the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

请参阅图1至图3,本发明提供一种关节置换手术辅助定位系统,包括:第一检测单元、监测单元、处理单元、执行单元和术后检测单元;Referring to Figures 1 to 3, the present invention provides an auxiliary positioning system for joint replacement surgery, including: a first detection unit, a monitoring unit, a processing unit, an execution unit and a postoperative detection unit;

第一检测单元用于获取患者数据,监测单元用于获取手术工具数据,处理单元用于处理数据,并输出手术策略,执行单元用于执行处理单元输出的手术策略,术后检测单元用于检测术后患者关节稳定性,并将测试数据输出给处理单元,用于辅助处理单元输出手术策略;其中,The first detection unit is used to obtain patient data, the monitoring unit is used to obtain surgical tool data, the processing unit is used to process data and output the surgical strategy, the execution unit is used to execute the surgical strategy output by the processing unit, and the postoperative detection unit is used to detect After surgery, the patient's joint stability is measured, and the test data is output to the processing unit to assist the processing unit in outputting surgical strategies; where,

处理单元包括三维模型模块、可视化展示模块、策略模块、仿真计算模块、方案库模块、第二检测单元、评估单元和阈值模块;The processing unit includes a three-dimensional model module, a visual display module, a strategy module, a simulation calculation module, a solution library module, a second detection unit, an evaluation unit and a threshold module;

三维模型模块依据患者数据和手术工具数据建立三维模型,形成实时图像数据并向可视化模块输出,可视化展示模块用于展示实时图像数据,策略模块依据患者数据、手术工具数据和实时图像数据制定手术方案,并将方案向仿真计算模块输出,仿真计算模块依据策略模块输出的方案经过仿真计算后,再与方案库模块内的方案进行匹配,最终输出最佳方案,第二检测单元依据最佳方案进行模拟检测,评估单元依据第二检测单元检测数据输出关节稳定度Ev,阈值模块预设有阈值,策略模块依据关节稳定度Ev与阈值模块预设阈值比对结果判断最佳方案是否可行,如最佳方案可行则将最佳方案制定成手术策略向执行单元输出,如最佳方案不可行,则重新制定方案。The three-dimensional model module establishes a three-dimensional model based on patient data and surgical tool data, forms real-time image data, and outputs it to the visualization module. The visual display module is used to display real-time image data. The strategy module develops surgical plans based on patient data, surgical tool data, and real-time image data. , and outputs the plan to the simulation calculation module. The simulation calculation module performs simulation calculation based on the plan output by the strategy module, and then matches it with the plan in the plan library module, and finally outputs the best plan. The second detection unit performs the simulation based on the best plan. Simulation detection, the evaluation unit outputs the joint stability Ev based on the detection data of the second detection unit, the threshold module is preset with a threshold, and the strategy module determines whether the best solution is feasible based on the comparison result of the joint stability Ev and the preset threshold of the threshold module. If the best plan is feasible, the best plan will be formulated into a surgical strategy and output to the execution unit. If the best plan is not feasible, the plan will be re-formulated.

第一检测单元包括患者解剖结构检测模块、患者关节运动范围检测模块和患者解剖参考点检测模块,患者解剖结构检测模块用于获取患者解剖结构数据,患者关节运动范围检测模块用于获取患者关节运动范围数据,患者解剖参考点检测模块用于获取患者解剖参考点数据;The first detection unit includes a patient's anatomical structure detection module, a patient's joint motion range detection module and a patient's anatomical reference point detection module. The patient's anatomical structure detection module is used to obtain the patient's anatomical structure data, and the patient's joint motion range detection module is used to obtain the patient's joint motion. Range data, the patient anatomical reference point detection module is used to obtain patient anatomical reference point data;

所述患者数据包括患者解剖结构数据、患者关节运动范围数据和患者解剖参考点数据。The patient data includes patient anatomical structure data, patient joint motion range data, and patient anatomical reference point data.

监测单元包括手术工具位置监测模块和手术工具方向监测模块,手术工具位置监测模块用于获取手术工具位置数据,手术工具方向监测模块用于获取手术工具方向数据;The monitoring unit includes a surgical tool position monitoring module and a surgical tool direction monitoring module. The surgical tool position monitoring module is used to obtain surgical tool position data, and the surgical tool direction monitoring module is used to obtain surgical tool direction data;

手术工具数据包括手术工具位置数据和手术工具方向数据。Surgical tool data includes surgical tool position data and surgical tool direction data.

进一步的,第二检测模块包括韧带状态检测模块、关节间隙和对齐检测模块以及关节滑移和旋转检测模块;韧带状态检测模块用于获取韧带状态数据集,关节间隙和对齐检测模块用于获取关节第一状态系数Jcad,关节滑移和旋转检测模块用于获取关节第二状态系数Jsrd;韧带状态检测模块包括韧带完整性检测模块、韧带张力值检测模块和韧带应变值检测模块,韧带完整性检测模块用于获取韧带完整度Lid,韧带张力值检测模块用于获取韧带张力值Ltd,韧带应变值检测模块用于获取韧带应力值Lsd;韧带状态数据集包括韧带完整度Lid、韧带张力值Ltd和韧带应力值Lsd;Further, the second detection module includes a ligament status detection module, a joint gap and alignment detection module, and a joint slip and rotation detection module; the ligament status detection module is used to obtain the ligament status data set, and the joint gap and alignment detection module is used to obtain the joint The first state coefficient Jcad, the joint slip and rotation detection module is used to obtain the second state coefficient Jsrd of the joint; the ligament state detection module includes a ligament integrity detection module, a ligament tension value detection module and a ligament strain value detection module, and the ligament integrity detection module The module is used to obtain the ligament integrity Lid, the ligament tension value detection module is used to obtain the ligament tension value Ltd, and the ligament strain value detection module is used to obtain the ligament stress value Lsd; the ligament status data set includes the ligament integrity Lid, ligament tension value Ltd and Ligament stress value Lsd;

关节间隙和对齐检测模块包括关节间隙检测模块和关节对齐度检测模块,关节间隙检测模块用于获取关节间隙比,关节间隙比依据检测的关节状态系数与最佳关节间隙比对得出,关节对齐度检测模块用于获取关节对齐度,关节第一状态系数Jcad依据关节间隙比与关节对齐度以1比1的比例综合所得;The joint gap and alignment detection module includes a joint gap detection module and a joint alignment detection module. The joint gap detection module is used to obtain the joint gap ratio. The joint gap ratio is obtained by comparing the detected joint status coefficient with the optimal joint gap. The joint alignment The degree detection module is used to obtain joint alignment. The joint first state coefficient Jcad is calculated based on the joint gap ratio and joint alignment at a ratio of 1:1;

关节滑移和旋转检测模块包括关节滑移度检测模块和关节旋转度检测模块,关节滑移度检测模块用于获取关节滑移度,关节旋转度检测模块用于获取关节旋转度,关节第二状态系数Jsrd依据关节滑移度与关节旋转度以1比1的比例综合所得。The joint slip and rotation detection module includes a joint slip detection module and a joint rotation detection module. The joint slip detection module is used to obtain the joint slip. The joint rotation detection module is used to obtain the joint rotation. The joint second The state coefficient Jsrd is calculated based on the joint slip and joint rotation at a ratio of 1:1.

评估单元包括韧带状态评估模块、关节间隙和对齐评估模块以及关节滑移和旋转评估模块;Assessment units include ligament status assessment modules, joint space and alignment assessment modules, and joint slippage and rotation assessment modules;

韧带评估模块依据韧带状态数据集获取韧带状态评估值Ev1,关节间隙和对齐评估模块依据关节第一状态系数Jcad获取关节间隙和对齐评估值Ev2,关节滑移和旋转评估模块依据关节第二状态系数Jsrd获取关节滑移和旋转评估值Ev3;The ligament evaluation module obtains the ligament status evaluation value Ev1 based on the ligament status data set. The joint space and alignment evaluation module obtains the joint space and alignment evaluation value Ev2 based on the joint first status coefficient Jcad. The joint slip and rotation evaluation module obtains the joint gap and alignment evaluation value Ev2 based on the joint second status coefficient. Jsrd obtains the joint slip and rotation evaluation value Ev3;

关节稳定度Ev依据韧带状态评估值Ev1、关节间隙和对齐评估值Ev2以及关节滑移和旋转评估值Ev3,将各评估值相关联,关联方式如下:The joint stability Ev is based on the ligament status evaluation value Ev1, the joint space and alignment evaluation value Ev2, and the joint slip and rotation evaluation value Ev3, and correlates each evaluation value as follows:

;

其中,权重意义为:θ为韧带状态评估值权重,,μ为关节间隙和对齐评估值权重,/>,/>为关节滑移和旋转评估值权重,/>,D为常数修正系数。Among them, the weight meaning is: θ is the weight of the ligament status evaluation value, , μ is the joint clearance and alignment evaluation value weight, /> ,/> Evaluate value weights for joint slip and rotation, /> , D is a constant correction coefficient.

韧带状态评估值Ev1依据韧带完整度Lid、韧带张力值Ltd和韧带应力值Lsd,进行无量纲化处理,将各数据相关联,关联公式如下所示:The ligament status evaluation value Ev1 is dimensionally processed based on the ligament integrity Lid, ligament tension value Ltd and ligament stress value Lsd, and each data is related. The correlation formula is as follows:

;

其中,权重意义为:α为韧带完整性权重,,β为韧带张力值权重,,/>为韧带应变值权重,/>,C为常数修正系数;Among them, the weight meaning is: α is the ligament integrity weight, , β is the weight of ligament tension value, ,/> is the weight of the ligament strain value,/> , C is a constant correction coefficient;

关节间隙和对齐评估值Ev2依据关节第一状态系数Jcad与比例因子Q1相乘所得,其中,The joint clearance and alignment evaluation value Ev2 is obtained by multiplying the joint first state coefficient Jcad and the scaling factor Q1, where, ;

关节滑移和旋转评估值Ev3依据关节第二状态系数Jsrd与比例因子Q2相乘所得,其中,The joint slip and rotation evaluation value Ev3 is obtained by multiplying the joint second state coefficient Jsrd and the scaling factor Q2, where, .

进一步的,阈值模块预设有第一阈值和第二阈值,第一阈值小于第二阈值,所述关节稳定度Ev与阈值模块预设阈值比对产生两种对比结果,当关节稳定度Ev大于等于第一阈值且小于等于第二阈值时,策略模块判断关节稳定度Ev处于稳定状态,当关节稳定度Ev小于第一阈值时,策略模块判断关节稳定度Ev处于异常状态,当关节稳定度Ev大于第二阈值时,策略模块判断关节稳定度Ev处于异常状态;Further, the threshold module is preset with a first threshold and a second threshold. The first threshold is smaller than the second threshold. The comparison of the joint stability Ev with the preset threshold of the threshold module produces two comparison results. When the joint stability Ev is greater than When equal to the first threshold and less than or equal to the second threshold, the strategy module determines that the joint stability Ev is in a stable state. When the joint stability Ev is less than the first threshold, the strategy module determines that the joint stability Ev is in an abnormal state. When the joint stability Ev When it is greater than the second threshold, the strategy module determines that the joint stability Ev is in an abnormal state;

当关节稳定度Ev处于稳定状态时,则最佳方案可行;当关节稳定度Ev处于异常状态时,则最佳方案不可行。When the joint stability Ev is in a stable state, the best solution is feasible; when the joint stability Ev is in an abnormal state, the best solution is not feasible.

进一步的,术后检测单元包括关节稳定性测试模块和动态运动分析模块;Further, the postoperative detection unit includes a joint stability testing module and a dynamic motion analysis module;

关节稳定性测试模块用于获取关节稳定性测试数据,动态运动分析模块用于获取动态运动分析数据;The joint stability test module is used to obtain joint stability test data, and the dynamic motion analysis module is used to obtain dynamic motion analysis data;

关节稳定性测试数据和动态运动分析数据可与手术执行方案的关节稳定度Ev相比对,寻找偏差,用于优化方案,并将优化后的方案存储在方案库模块中。The joint stability test data and dynamic motion analysis data can be compared with the joint stability Ev of the surgical execution plan to find deviations and used to optimize the plan, and the optimized plan is stored in the plan library module.

请参阅图1至图3,本发明还提供一种关节置换手术辅助定位方法,包括以下步骤:Please refer to Figures 1 to 3. The present invention also provides an auxiliary positioning method for joint replacement surgery, which includes the following steps:

获取患者数据,包括患者解剖结构数据、患者关节运动范围数据和患者解剖参考点数据;将传感器附加到手术工具及患者身体上,用于获取手术工具数据包括手术工具位置数据和手术工具方向数据;结合采集到的数据,形成实时三维模型和图像,产生实时图像数据并可视化展示;Obtain patient data, including patient anatomical structure data, patient joint motion range data, and patient anatomical reference point data; attach sensors to surgical tools and the patient's body to obtain surgical tool data, including surgical tool position data and surgical tool direction data; Combine the collected data to form real-time three-dimensional models and images, generate real-time image data and display it visually;

规划手术路径和手术目标,包括如下步骤:Planning the surgical path and surgical goals includes the following steps:

策略模块依据患者数据、手术工具数据和实时图像数据规划手术路径和手术目标,制定出手术方案,并对手术方案进行仿真分析,与预先配置的方案库内的现有的方案进行匹配,最终输出最佳方案;对最佳方案进行仿真分析,从仿真分析结果中输出关节稳定度Ev,阈值模块预设有阈值,策略模块依据关节稳定度Ev与阈值模块预设阈值比对结果判断最佳方案是否可行。The strategy module plans the surgical path and surgical goals based on patient data, surgical tool data and real-time image data, formulates a surgical plan, conducts simulation analysis of the surgical plan, matches it with existing plans in the pre-configured plan library, and finally outputs Best solution; perform simulation analysis on the best solution, and output the joint stability Ev from the simulation analysis results. The threshold module has a preset threshold, and the strategy module determines the best solution based on the comparison result between the joint stability Ev and the preset threshold of the threshold module. Is it feasible.

如最佳方案可行则将最佳方案制定成手术策略并输出,如最佳方案不可行,则重新制定方案;将重新制定的方案再经过逐步进行验证后,直至制定出可行的最佳方案;If the best plan is feasible, the best plan will be formulated into a surgical strategy and output; if the best plan is not feasible, a new plan will be formulated; the re-formulated plan will be verified step by step until a feasible best plan is formulated;

将可行的最佳方案将方案数据整合,通过可视化展示提供对齐指引和参考线;Integrate solution data with the best possible solution and provide alignment guidelines and reference lines through visual display;

进行术后检测,包括关节稳定性测试和动态运动分析,具体包括以下步骤:Perform postoperative testing, including joint stability testing and dynamic motion analysis, which includes the following steps:

获取关节稳定性测试数据和动态运动分析数据,综合关节稳定性测试数据和动态运动分析数据,与手术执行方案的关节稳定度Ev相比对,确定偏差并寻找偏差原因,对手术执行方案进行修正。Obtain the joint stability test data and dynamic motion analysis data, combine the joint stability test data and dynamic motion analysis data, compare it with the joint stability Ev of the surgical execution plan, determine the deviation and find the cause of the deviation, and correct the surgical execution plan .

其中,制定出手术方案,并将方案向仿真计算模块输出,规划手术路径和手术目标依据以下原则:Among them, the surgical plan is formulated and output to the simulation calculation module. The surgical path and surgical goals are planned according to the following principles:

1、确定正确的关节位置和方向,这包括确定关节置换的准确位置、大小和方向,以恢复关节的正常生物力学功能;1. Determine the correct joint position and direction, which includes determining the exact position, size and direction of joint replacement to restore the normal biomechanical function of the joint;

2、考虑患者的解剖特征,每个患者的解剖特征都可能有所不同,因此手术需要根据患者的个体差异进行调整,这可能包括考虑患者的骨质状况、骨刺或骨缺损的存在以及关节的解剖结构;2. Consider the patient's anatomical characteristics. Each patient's anatomical characteristics may be different, so the surgery needs to be adjusted according to the individual differences of the patient. This may include considering the patient's bone condition, the presence of bone spurs or bone defects, and the joint's condition. anatomy;

3、保留健康组织,手术目标之一是最大限度地保留健康的骨骼和软组织结构,优秀的手术路径可以帮助医生避免无谓的组织切割和损伤,以最小化手术创伤和术后恢复时间;3. Preserve healthy tissue. One of the goals of surgery is to preserve healthy bones and soft tissue structures to the maximum extent. Excellent surgical paths can help doctors avoid unnecessary tissue cutting and damage to minimize surgical trauma and postoperative recovery time;

4、平衡关节稳定性,关节的稳定性对于手术成功和患者的功能恢复至关重要;4. Balance joint stability. Joint stability is crucial to the success of the operation and the patient's functional recovery;

本发明利用第二检测单元依据最佳方案进行模拟检测,评估单元依据第二检测单元检测数据输出关节稳定度Ev,阈值模块预设有阈值,策略模块依据关节稳定度Ev与阈值模块预设阈值比对结果判断最佳方案是否可行,如最佳方案可行则将最佳方案制定成手术策略向执行单元输出,如最佳方案不可行,则重新制定方案,而重新制定的方案还可再次验证,直至制定出可行的最佳方案,这就相当于经验丰富的专家多次论证方案,使得每次手术的方案制定环节快速有效;The present invention uses the second detection unit to perform simulation detection based on the best solution, the evaluation unit outputs the joint stability Ev based on the detection data of the second detection unit, the threshold module is preset with a threshold, and the strategy module presets the threshold based on the joint stability Ev and the threshold module. The comparison results determine whether the best plan is feasible. If the best plan is feasible, the best plan will be formulated as a surgical strategy and output to the execution unit. If the best plan is not feasible, the plan will be re-formulated, and the re-formulated plan can be verified again. , until the best feasible plan is formulated, which is equivalent to experienced experts demonstrating the plan multiple times, making the plan formulation of each operation quick and effective;

可行的最佳方案将方案数据整合,通过可视化展示模块提供对齐指引和参考线,帮助医生进行关节置换手术中的对齐调整,使得手术过程中相当于有经验丰富的医生指导手术;The Best Possible Solution integrates plan data and provides alignment guidelines and reference lines through a visual display module to help doctors make alignment adjustments during joint replacement surgery, making the surgery equivalent to having an experienced doctor guide the surgery;

将术后检测数据与手术执行方案的关节稳定度Ev相比对,确定偏差及寻找偏差原因,提出改进和优化方案,并将方案存储在方案库模块内,使得本发明可在不断的手术后,积累和优化手术方案,最终使用的越多,手术的效果越好。Compare the postoperative detection data with the joint stability Ev of the surgical execution plan, determine the deviation and find the cause of the deviation, propose an improvement and optimization plan, and store the plan in the plan library module, so that the present invention can be used after continuous operations , accumulate and optimize surgical plans, and ultimately the more they are used, the better the surgical effect will be.

本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以所述权利要求的保护范围为准。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims (7)

1.一种关节置换手术辅助定位系统,其特征在于:包括第一检测单元、监测单元、处理单元、执行单元和术后检测单元;1. An auxiliary positioning system for joint replacement surgery, characterized by: including a first detection unit, a monitoring unit, a processing unit, an execution unit and a postoperative detection unit; 第一检测单元用于获取患者数据,监测单元用于获取手术工具数据,处理单元用于处理数据,并输出手术策略,执行单元用于执行处理单元输出的手术策略,术后检测单元用于检测术后患者关节稳定性,并将测试数据输出给处理单元,用于辅助处理单元输出手术策略;The first detection unit is used to obtain patient data, the monitoring unit is used to obtain surgical tool data, the processing unit is used to process data and output the surgical strategy, the execution unit is used to execute the surgical strategy output by the processing unit, and the postoperative detection unit is used to detect Postoperative patient joint stability, and output test data to the processing unit to assist the processing unit in outputting surgical strategies; 处理单元包括三维模型模块、可视化展示模块、策略模块、仿真计算模块、方案库模块、第二检测单元、评估单元和阈值模块;其中,The processing unit includes a three-dimensional model module, a visual display module, a strategy module, a simulation calculation module, a solution library module, a second detection unit, an evaluation unit and a threshold module; among which, 三维模型模块依据患者数据和手术工具数据建立三维模型,形成实时图像数据并向可视化模块输出,可视化展示模块用于展示实时图像数据,策略模块依据患者数据、手术工具数据和实时图像数据制定手术方案,并将方案向仿真计算模块输出,仿真计算模块依据策略模块输出的方案经过仿真计算后,再与方案库模块内的方案进行匹配,最终输出最佳方案;The three-dimensional model module establishes a three-dimensional model based on patient data and surgical tool data, forms real-time image data, and outputs it to the visualization module. The visual display module is used to display real-time image data. The strategy module develops surgical plans based on patient data, surgical tool data, and real-time image data. , and output the plan to the simulation calculation module. The simulation calculation module performs simulation calculations based on the plan output by the strategy module, and then matches it with the plan in the plan library module, and finally outputs the best plan; 第二检测单元依据最佳方案进行模拟检测,评估单元依据第二检测单元检测数据输出关节稳定度Ev,阈值模块预设有阈值,策略模块依据关节稳定度Ev与阈值模块预设阈值比对结果判断最佳方案是否可行,如最佳方案可行则将最佳方案制定成手术策略向执行单元输出,如最佳方案不可行,则重新制定方案;The second detection unit performs simulation detection based on the best solution, the evaluation unit outputs the joint stability Ev based on the detection data of the second detection unit, the threshold module has a preset threshold, and the strategy module compares the joint stability Ev with the threshold preset by the threshold module. Determine whether the best plan is feasible. If the best plan is feasible, the best plan will be formulated as a surgical strategy and output to the execution unit. If the best plan is not feasible, the plan will be re-formulated; 第二检测模块包括韧带状态检测模块、关节间隙和对齐检测模块以及关节滑移和旋转检测模块;韧带状态检测模块用于获取韧带状态数据集,关节间隙和对齐检测模块用于获取关节第一状态系数Jcad,关节滑移和旋转检测模块用于获取关节第二状态系数Jsrd;The second detection module includes a ligament status detection module, a joint gap and alignment detection module, and a joint slip and rotation detection module; the ligament status detection module is used to obtain the ligament status data set, and the joint gap and alignment detection module is used to obtain the first joint status Coefficient Jcad, the joint slip and rotation detection module is used to obtain the second state coefficient of the joint Jsrd; 韧带状态检测模块包括韧带完整性检测模块、韧带张力值检测模块和韧带应变值检测模块,韧带完整性检测模块用于获取韧带完整度Lid,韧带张力值检测模块用于获取韧带张力值Ltd,韧带应变值检测模块用于获取韧带应力值Lsd;The ligament status detection module includes a ligament integrity detection module, a ligament tension value detection module and a ligament strain value detection module. The ligament integrity detection module is used to obtain the ligament integrity Lid. The ligament tension value detection module is used to obtain the ligament tension value Ltd. The strain value detection module is used to obtain the ligament stress value Lsd; 韧带状态数据集包括韧带完整度Lid、韧带张力值Ltd和韧带应力值Lsd;关节间隙和对齐检测模块包括关节间隙检测模块和关节对齐度检测模块,关节间隙检测模块用于获取关节间隙比,关节间隙比依据检测值与最佳关节间隙比对得出;关节对齐度检测模块用于获取关节对齐度,关节第一状态系数Jcad依据关节间隙比与关节对齐度在无量纲后,以1比1的平均所得;The ligament status data set includes ligament integrity Lid, ligament tension value Ltd and ligament stress value Lsd; the joint space and alignment detection module includes a joint space detection module and a joint alignment detection module. The joint space detection module is used to obtain the joint space ratio, joint The gap ratio is obtained based on the comparison between the detected value and the optimal joint gap; the joint alignment detection module is used to obtain the joint alignment. The joint first state coefficient Jcad is based on the joint gap ratio and the joint alignment in a dimensionless manner, 1 to 1. average income; 关节滑移和旋转检测模块包括关节滑移度检测模块和关节旋转度检测模块,关节滑移度检测模块用于获取关节滑移度,关节旋转度检测模块用于获取关节旋转度,关节第二状态系数Jsrd依据关节滑移度与关节旋转度以1比1的比例平均所得;评估单元包括韧带状态评估模块、关节间隙和对齐评估模块以及关节滑移和旋转评估模块;The joint slip and rotation detection module includes a joint slip detection module and a joint rotation detection module. The joint slip detection module is used to obtain the joint slip. The joint rotation detection module is used to obtain the joint rotation. The joint second The status coefficient Jsrd is averaged based on the joint slippage and joint rotation at a ratio of 1:1; the evaluation unit includes a ligament status evaluation module, a joint gap and alignment evaluation module, and a joint slippage and rotation evaluation module; 韧带评估模块依据韧带状态数据集获取韧带状态评估值Ev1,关节间隙和对齐评估模块依据关节第一状态系数Jcad获取关节间隙和对齐评估值Ev2,关节滑移和旋转评估模块依据关节第二状态系数Jsrd获取关节滑移和旋转评估值Ev3;关节稳定度Ev依据韧带状态评估值Ev1、关节间隙和对齐评估值Ev2以及关节滑移和旋转评估值Ev3,将各评估值相关联,关联方式如下:The ligament evaluation module obtains the ligament status evaluation value Ev1 based on the ligament status data set. The joint space and alignment evaluation module obtains the joint space and alignment evaluation value Ev2 based on the joint first status coefficient Jcad. The joint slip and rotation evaluation module obtains the joint gap and alignment evaluation value Ev2 based on the joint second status coefficient. Jsrd obtains the joint slip and rotation evaluation value Ev3; the joint stability Ev is based on the ligament status evaluation value Ev1, the joint gap and alignment evaluation value Ev2, and the joint slip and rotation evaluation value Ev3, and associates each evaluation value as follows: ; 其中,权重意义为:为韧带状态评估值权重,/>,/>为关节间隙和对齐评估值权重,/>,/>为关节滑移和旋转评估值权重,/>,D为常数修正系数;Among them, the meaning of weight is: Is the weight of the ligament status evaluation value,/> ,/> Evaluate value weights for joint clearance and alignment, /> ,/> Evaluate value weights for joint slip and rotation, /> , D is a constant correction coefficient; 韧带状态评估值Ev1依据韧带完整度Lid、韧带张力值Ltd和韧带应力值Lsd,进行无量纲化处理,将各数据相关联,关联公式如下所示:The ligament status evaluation value Ev1 is dimensionally processed based on the ligament integrity Lid, ligament tension value Ltd and ligament stress value Lsd, and each data is related. The correlation formula is as follows: ; 其中,权重意义为:为韧带完整性权重,/>,/>为韧带张力值权重,,/>为韧带应变值权重,/>,C为常数修正系数;Among them, the meaning of weight is: is the ligament integrity weight,/> ,/> is the weight of the ligament tension value, ,/> is the weight of the ligament strain value,/> , C is a constant correction coefficient; 关节间隙和对齐评估值Ev2依据关节第一状态系数Jcad与比例因子Q1相乘所得,其中,;关节滑移和旋转评估值Ev3依据关节第二状态系数Jsrd与比例因子Q2相乘所得,其中,/>The joint clearance and alignment evaluation value Ev2 is obtained by multiplying the joint first state coefficient Jcad and the scaling factor Q1, where, ;The joint slip and rotation evaluation value Ev3 is obtained by multiplying the joint second state coefficient Jsrd and the scaling factor Q2, where, /> . 2.根据权利要求1所述一种关节置换手术辅助定位系统,其特征在于:第一检测单元包括患者解剖结构检测模块、患者关节运动范围检测模块和患者解剖参考点检测模块,患者解剖结构检测模块用于获取患者解剖结构数据,患者关节运动范围检测模块用于获取患者关节运动范围数据,患者解剖参考点检测模块用于获取患者解剖参考点数据;所述患者数据包括患者解剖结构数据、患者关节运动范围数据和患者解剖参考点数据。2. A joint replacement surgery auxiliary positioning system according to claim 1, characterized in that: the first detection unit includes a patient anatomical structure detection module, a patient joint motion range detection module and a patient anatomical reference point detection module, and the patient anatomical structure detection module The module is used to obtain patient anatomical structure data, the patient joint motion range detection module is used to obtain patient joint motion range data, and the patient anatomical reference point detection module is used to obtain patient anatomical reference point data; the patient data includes patient anatomical structure data, patient Joint range of motion data and patient anatomical reference point data. 3.根据权利要求1所述一种关节置换手术辅助定位系统,其特征在于:监测单元包括手术工具位置监测模块和手术工具方向监测模块,手术工具位置监测模块用于获取手术工具位置数据,手术工具方向监测模块用于获取手术工具方向数据;手术工具数据包括手术工具位置数据和手术工具方向数据。3. A joint replacement surgery auxiliary positioning system according to claim 1, characterized in that: the monitoring unit includes a surgical tool position monitoring module and a surgical tool direction monitoring module, and the surgical tool position monitoring module is used to obtain surgical tool position data. The tool direction monitoring module is used to obtain surgical tool direction data; surgical tool data includes surgical tool position data and surgical tool direction data. 4.根据权利要求3所述一种关节置换手术辅助定位系统,其特征在于:阈值模块预设有第一阈值和第二阈值,第一阈值小于第二阈值,所述关节稳定度Ev与阈值模块预设阈值比对产生两种对比结果,当关节稳定度Ev大于等于第一阈值且小于等于第二阈值时,策略模块判断关节稳定度Ev处于稳定状态,当关节稳定度Ev小于第一阈值时,策略模块判断关节稳定度Ev处于异常状态,当关节稳定度Ev大于第二阈值时,策略模块判断关节稳定度Ev处于异常状态;当关节稳定度Ev处于稳定状态时,则最佳方案可行;当关节稳定度Ev处于异常状态时,则最佳方案不可行。4. A joint replacement surgery auxiliary positioning system according to claim 3, characterized in that: the threshold module is preset with a first threshold and a second threshold, the first threshold is smaller than the second threshold, and the joint stability Ev is equal to the threshold The module's preset threshold comparison produces two comparison results. When the joint stability Ev is greater than or equal to the first threshold and less than or equal to the second threshold, the strategy module determines that the joint stability Ev is in a stable state. When the joint stability Ev is less than the first threshold When , the strategy module determines that the joint stability Ev is in an abnormal state. When the joint stability Ev is greater than the second threshold, the strategy module determines that the joint stability Ev is in an abnormal state. When the joint stability Ev is in a stable state, the best solution is feasible. ; When the joint stability Ev is in an abnormal state, the best solution is not feasible. 5.根据权利要求4所述一种关节置换手术辅助定位系统,其特征在于:术后检测单元包括关节稳定性测试模块和动态运动分析模块;关节稳定性测试模块用于获取关节稳定性测试数据,动态运动分析模块用于获取动态运动分析数据。5. A joint replacement surgery auxiliary positioning system according to claim 4, characterized in that: the postoperative detection unit includes a joint stability test module and a dynamic motion analysis module; the joint stability test module is used to obtain joint stability test data , the dynamic motion analysis module is used to obtain dynamic motion analysis data. 6.一种关节置换手术辅助定位方法,应用权利要求1-5中任意一项权利要求所述系统,其特征在于:包括以下步骤:6. A joint replacement surgery auxiliary positioning method, using the system according to any one of claims 1-5, characterized in that it includes the following steps: 获取患者数据,包括患者解剖结构数据、患者关节运动范围数据和患者解剖参考点数据;将传感器附加到手术工具及患者身体上,用于获取手术工具数据包括手术工具位置数据和手术工具方向数据;Obtain patient data, including patient anatomical structure data, patient joint motion range data, and patient anatomical reference point data; attach sensors to surgical tools and the patient's body to obtain surgical tool data, including surgical tool position data and surgical tool direction data; 结合采集到的数据,形成实时三维模型和图像,产生实时图像数据并并可视化展示;Combine the collected data to form real-time three-dimensional models and images, generate real-time image data and display it visually; 规划手术路径和手术目标,包括如下步骤:Planning the surgical path and surgical goals includes the following steps: 策略模块依据患者数据、手术工具数据和实时图像数据规划手术路径和手术目标,制定出手术方案,并对手术方案进行仿真分析,The strategy module plans the surgical path and surgical goals based on patient data, surgical tool data and real-time image data, formulates a surgical plan, and conducts simulation analysis of the surgical plan. 与预先配置的方案库内的现有的方案进行匹配,最终输出最佳方案;Match existing solutions in the pre-configured solution library and finally output the best solution; 对最佳方案进行仿真分析,从仿真分析结果中输出关节稳定度Ev,阈值模块预设有阈值,策略模块依据关节稳定度Ev与阈值模块预设阈值比对结果判断最佳方案是否可行。Carry out simulation analysis on the best solution, and output the joint stability Ev from the simulation analysis results. The threshold module has a preset threshold. The strategy module determines whether the best solution is feasible based on the comparison result between the joint stability Ev and the preset threshold of the threshold module. 7.根据权利要求6所述一种关节置换手术辅助定位方法,其特征在于:7. A joint replacement surgery auxiliary positioning method according to claim 6, characterized in that: 如最佳方案可行则将最佳方案制定成手术策略并输出,如最佳方案不可行,则重新制定方案;将重新制定的方案再经过步进行验证后,直至制定出可行的最佳方案;将可行的最佳方案将方案数据整合,通过可视化展示提供对齐指引和参考线;If the best plan is feasible, the best plan will be formulated into a surgical strategy and output. If the best plan is not feasible, a new plan will be formulated; the re-formulated plan will be verified step by step until a feasible best plan is formulated; Integrate solution data with the best possible solution and provide alignment guidelines and reference lines through visual display; 进行术后检测,包括关节稳定性测试和动态运动分析,具体包括以下步骤:获取关节稳定性测试数据和动态运动分析数据,综合关节稳定性测试数据和动态运动分析数据,与手术执行方案的关节稳定度Ev相比对,确定偏差并寻找偏差原因,对手术执行方案进行修正。Conduct postoperative testing, including joint stability testing and dynamic motion analysis, specifically including the following steps: obtaining joint stability test data and dynamic motion analysis data, integrating joint stability test data and dynamic motion analysis data, and aligning the joints with the surgical execution plan Compare the stability Ev, determine the deviation and find the cause of the deviation, and correct the surgical execution plan.
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